CN115181826A - Blast furnace stock rod control method and device, computing equipment and storage medium - Google Patents
Blast furnace stock rod control method and device, computing equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a blast furnace stock rod control method and device, computing equipment and a storage medium. The method comprises the following steps: determining the moment of the righting ruler; acquiring the real-time rotating speed of a driving motor of the blast furnace stock rod; determining the linear speed of the blast furnace stock rod according to the real-time rotating speed, and determining a first compensation torque according to the linear speed and a preset dynamic self-adaptive coefficient; determining a given moment according to the holding rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment so as to adjust the posture of the blast furnace stock rod for at least one time after the blast furnace stock rod reaches the charge level, so that the inclination angle of the blast furnace stock rod relative to the vertical direction is smaller than a preset angle. The invention can dynamically adjust the inclination angle of the stock rod on the charge level, thereby improving the judgment accuracy of the charge level.
Description
Technical Field
The invention relates to the technical field of industrial production, in particular to a blast furnace stock rod control method and device, computing equipment and a storage medium.
Background
In the production of iron and steel industry, the blast furnace iron making is the initial link, the material level of materials in the blast furnace is continuously changed along with the production process, and the change of the material level reflects the change condition of the materials in the furnace. The detection of the charge level is generally judged by a blast furnace stock rod, so the blast furnace stock rod becomes important equipment in blast furnace production activities.
With the continuous improvement of the driving technology of the blast furnace stock rod, the aim is to accurately track the charge level from the early power grid voltage regulation to the current frequency converter driving. Firstly, the frequency converter drives the heavy hammer through the chain and transfers to the charge level, and after the heavy hammer reaches the charge level, the position of the heavy hammer is changed along with the change of the charge level through the control of the frequency converter, and the floating ruler of the stock rod is realized to follow. However, in an actual scene, after the weight reaches the material level, the problems of the slant and the falling of the ruler and the like often occur, which further results in inaccurate judgment of the material level and influences the judgment accuracy of the production activity process.
Disclosure of Invention
The invention provides a control method and device for a blast furnace stock rod, computing equipment and a storage medium, which can dynamically adjust the inclination angle of the stock rod on a charge level so as to improve the judgment accuracy of the charge level.
In a first aspect, an embodiment of the present invention provides a blast furnace stock rod control method, including:
determining the moment of the righting ruler; the direction of the righting ruler corresponding to the righting ruler moment is vertical upward;
acquiring the real-time rotating speed of a driving motor of the blast furnace stock rod;
determining the linear speed of the blast furnace stock rod according to the real-time rotating speed, and determining a first compensation torque according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of a first compensation force corresponding to the first compensation moment is opposite to the direction of the linear velocity of the blast furnace stock rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear velocity;
determining a given moment according to the holding rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment so as to adjust the posture of the blast furnace stock rod at least once after the blast furnace stock rod reaches the charge level, so that the inclination angle of the blast furnace stock rod relative to the vertical direction is smaller than a preset angle.
In a second aspect, an embodiment of the present invention provides a blast furnace rod control device, including:
the first determination module is used for determining the moment of the righting ruler; the direction of the righting ruler corresponding to the righting ruler moment is vertical upward;
the first acquisition module is used for acquiring the real-time rotating speed of a driving motor of the blast furnace stock rod;
the second determining module is used for determining the linear speed of the blast furnace stock rod according to the real-time rotating speed and determining a first compensating moment according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of a first compensation force corresponding to the first compensation moment is opposite to the direction of the linear velocity of the blast furnace stock rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear velocity;
and the third determining module is used for determining a given moment according to the holding rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment so as to adjust the posture of the blast furnace stock rod at least once after the blast furnace stock rod reaches the charge level, so that the inclination angle of the blast furnace stock rod relative to the vertical direction is smaller than a preset angle.
In a third aspect, an embodiment of the present invention provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method provided by the first aspect.
In a fourth aspect, the present invention provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method provided in the first aspect.
The blast furnace stock rod control method and device, the computing equipment and the storage medium provided by the embodiment of the invention are characterized in that a vertically upward holding rod moment is firstly determined, then the real-time rotating speed of the driving motor is obtained, the linear speed of the stock rod is calculated according to the real-time rotating speed, and then a first compensation moment is calculated according to the linear speed and a preset dynamic self-adaptive coefficient, wherein a first compensation force corresponding to the first compensation moment is in direct proportion to the linear speed, but the direction is opposite. The given torque is determined according to the holding rod torque and the first compensation torque, and then the blast furnace stock rod is controlled according to the given torque, so that the blast furnace stock rod can be subjected to attitude adjustment after being placed on the charge level, the inclination angle of the blast furnace stock rod is smaller than a certain angle, the charge level can be accurately tracked by the blast furnace stock rod, and the judgment accuracy of the charge level is improved.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions in the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is also possible for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for controlling a blast furnace probe according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating one implementation of S100 in an embodiment of the present invention;
FIG. 3 is a schematic flow diagram of one implementation of determining a first compensation torque in an embodiment of the present invention;
fig. 4 is a block diagram showing the structure of a blast furnace stock rod control device according to an embodiment of the present invention.
| 1000 | Blast furnace stock |
| 100 | First determining |
| 200 | |
| 300 | Second determining |
| 400 | Third determining module |
| S310～S320 | Step (ii) of |
| S110～S120 | Step (ii) of |
| S100～S400 | Step (ii) of |
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, it is obvious that the described embodiments are some, but not all embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
In a first aspect, an embodiment of the present invention provides a method for controlling a blast furnace probe.
The method provided by the embodiment of the invention can be executed by a frequency converter, and the frequency converter is connected with a driving motor. Because the rotating speed ratio of the driving motor is higher, the driving motor is connected with the reduction gearbox, and the reduction gearbox is connected with the blast furnace stock rod, so that the lowering of the blast furnace stock rod, the posture adjustment after the blast furnace stock rod reaches the charge level and the like are controlled.
Specifically, in the process of lowering the blast furnace stock rod and the process of adjusting the posture after the blast furnace stock rod reaches the charge level, the frequency converter controls the reduction gearbox to output a given torque. The given moment is determined by the weight moment and the first compensation moment or by the weight moment, the first compensation moment and the second compensation moment. In the lowering process, the given moment is lowered under the combined action of the corresponding force and the gravity of the blast furnace stock rod. After the material surface is reached, the posture is adjusted under the combined action of the force corresponding to the given moment, the gravity and the buoyancy force borne by the blast furnace stock rod. It can be seen that a given torque is present throughout the control of the blast furnace probe.
Referring to fig. 1, the blast furnace stock rod control method provided by the embodiment of the invention includes the following steps S100 to S400:
s100, determining a righting ruler moment; the direction of the righting ruler corresponding to the righting ruler moment is vertical upward;
wherein, this holding up rule moment can be a definite value, all has this holding up rule moment after the process of transferring and arriving the charge level of blast furnace stock rod.
Since the lowering length of the chain is constantly changing during lowering. If toppling occurs after reaching the level, the chain may have a portion loose above the level. The weight of the chain can therefore be disregarded when determining the cutting edge moment, but only the weight, as far as the influence of the weight of the chain can be resolved in the manner of the second compensation moment described below, or the influence of the weight of the chain can be incorporated into the first compensation moment, in any case the influence of the weight of the chain is disregarded in the cutting edge moment.
The blast furnace probe can comprise a chain and a heavy hammer connected with the chain. Based on this structure of the blast furnace probe, referring to fig. 2, the following steps S110 to S120 may be specifically included in S100:
s110, selecting a value from a preset value range as a ruler holding force;
wherein the preset value range is
G 1 The gravity borne by the heavy hammer;
it can be seen that the righting ruler force is smaller than the gravity of the weight.
The following explains the setting principle of the preset value range:
the force required for righting the weight after the weight is toppled over on the material surface is
Beta is the angle of inclination of the chain with respect to the vertical, which can be approximated to 0 deg. due to the small angle of inclination of the chain, i.e. the angle of inclination of the chain
It can be seen that the range of the righting ruler force is
Because the gravity of the lowering part of the chain changes all the time, the gravity influence of the chain is not considered, the gravity influence of the chain is counted into the first compensation moment or the second compensation moment, and the ruler holding force only aims at the gravity of the heavy hammer. The value range of the righting ruler force is
In order to make the embodiment of the invention more flexible and reliable, a value range is set without solidifying the specific value of the length-supporting force.
And S120, determining the righting ruler moment according to the righting ruler force.
That is, from the range
And selecting a value as a holding force, and calculating the corresponding holding force moment by using the holding force.
In a specific implementation, the step S120 may calculate the righting ruler moment by using the following calculation formula, which may be referred to as a third calculation formula, where the third calculation formula is:
in the formula, M F For the righting ruler moment, F F Is the holding force, p n Is that theRated power of the drive motor, v n For the rated linear speed, eta, of the drive motor motor For the mechanical efficiency of the drive motor, η gear Is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace stock rod.
In the third calculation formula, the rated torque of the drive motor is set to 100%. The righting ruler force selected in the step S110 is substituted into the third calculation formula, so that the righting ruler moment can be obtained.
The derivation principle of the third calculation formula is as follows:
the proportional ratio between the righting ruler moment and the righting ruler force is that:
wherein M is n Rated torque of the motor, F n The force output by the motor under the rated torque.
Further, it is possible to obtain:
the rated power of the driving motor is as follows: p n ＝F n *V n *η
Thereby, it is possible to obtain:
wherein, eta = eta motor *η gear 。
Since the specific values cannot be directly input in the parameter setting of the frequency converter, but are expressed in percentage, the rated torque of the motor is expressed as 100%, so that the third calculation formula is obtained, and the principle of the second calculation formula is similar.
S200, acquiring the real-time rotating speed of a driving motor of the blast furnace stock rod;
understandably, because the driving motor is connected with the reduction gearbox, if the rotating speed of the driving motor is n and the transformation ratio of the reduction gearbox is i, the real-time rotating speed of the reduction gearbox is the ratio between n and i.
Specifically, the real-time rotating speed of the driving motor can be obtained through the encoder.
S300, determining the linear speed of the blast furnace stock rod according to the real-time rotating speed, and determining a first compensation torque according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of a first compensation force corresponding to the first compensation torque is opposite to the direction of the linear velocity of the blast furnace sounding rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear velocity;
that is to say, the linear speed of the blast furnace stock rod can be calculated according to the real-time rotating speed of the reduction gearbox, and then the first compensation torque is calculated. The first compensation moment corresponds to a first compensation force, and the direction of the first compensation force is opposite to the direction of the linear velocity. In the lowering process, the linear velocity is vertically downward, and the direction of the first compensation force is vertically upward at the moment. Moreover, since the first compensation force is proportional to the linear velocity, the magnitude of the first compensation force will be larger and larger as the weight lowering speed is larger and larger. When the weight goes down at a constant speed, the magnitude of the first compensation force is unchanged.
In a specific implementation, the determining a first compensation torque according to the linear velocity and a preset dynamic adaptive coefficient in S300, referring to fig. 3, may specifically include S310 to S320:
s310, multiplying the linear velocity and the dynamic self-adaptive coefficient to obtain the first compensation force; the first compensation force can reduce the lowering acceleration to 0 in the lowering process of the blast furnace stock rod and then lower the blast furnace stock rod to the charge level at a constant speed;
that is, the first compensation force is the product of the linear velocity of the weight and the dynamic adaptive coefficient.
In the process of lowering, the linear velocity is 0 at the beginning, and the magnitude of the first compensation force is 0 at this moment, and after the weight is lowered, the first compensation force is larger and larger because the velocity of the weight is larger and larger. The weight goes down, so the direction of the first compensation force is upward, when the first compensation force is increased to make the resultant force on the weight be 0, the downward acceleration of the weight is reduced to 0, the downward linear velocity of the weight is the maximum, and then the weight drops to the material level at the linear velocity. That is, when the weight is lowered, the weight will descend for a certain time at an accelerated speed and then descend to the material level at a constant speed.
And S320, determining a corresponding first compensation torque according to the first compensation force.
That is, after determining the first compensation force, a corresponding first compensation torque may be calculated from the first compensation force.
In one embodiment, if the second compensation moment is used to eliminate the influence of the chain gravity, i.e. the second compensation force is equal to the chain gravity, the blast furnace rod is subjected to a resultant force F = righting means force + second compensation force + first compensation force-chain gravity-weight gravity = righting means force + first compensation force-weight gravity during lowering. Therein
Wherein i is the transformation ratio, D is the roller diameter of the reduction gearbox, v is the down line speed, K v Are dynamic adaptive coefficients. When the linear speed of lowering the trial rod is at a constant speed, the resultant force F is 0, and the first compensation force = weight gravity-holding rod force at the moment. At the moment, the lowering linear velocity of the stock rod is v s The magnitude of the dynamic adaptive coefficient is the ratio of the first compensation force and the linear velocity, i.e. the ratio is
Since the linear velocity during lowering is less than v s So that the dynamic adaptive coefficients should be selected as much as possible
Large value, therefore, the adaptive dynamic coefficient has a value range of not less than
v s V is affected by the maximum travel, maximum speed, and maximum time of the chain s The ratio between the maximum travel and the maximum time of the chain is greater than or equal to the maximum travel and less than or equal to the maximum speed.
In one embodiment, if the influence of the chain is taken into account by the first compensation force at the same time, the blast furnace rod is subjected to a resultant force F = stock rod force + first compensation force-chain weight-weight force during lowering. Therein
Wherein i is the transformation ratio, D is the roller diameter of the reduction gearbox, v is the down line speed, K v Are dynamic adaptive coefficients. When the linear speed of the lowering of the stock rod is uniform, the resultant force F is 0, and at the moment, the first compensation force = weight gravity + chain gravity-rod holding force. At the moment, the lowering linear velocity of the stock rod is v s The magnitude of the dynamic adaptive coefficient is the ratio of the first compensation force and the linear velocity, i.e. the ratio is
Since the linear velocity during lowering is less than v s Therefore, the ratio of the dynamic adaptive coefficients should be selected as much as possible
A large value. G 2-t Has a certain value range of G at the beginning of lowering 2-0 When lowered to the level, is still less than the full length gravity of the chain, and is therefore according to G 2-t The value range of the dynamic adaptive coefficient is determined.
Wherein, F F The holding-up force corresponding to the holding-up force moment, G 1 Is the weight force, v, to which the weight is subjected s The velocity, G, of the weight achieved when the acceleration is 0 during the downward movement 2-t Is the weight of the chain at the drop time t.
In any case, only one self-adaptive dynamic coefficient needs to be selected within a certain range in advance, and then the magnitude of the first compensation force can be determined according to the self-adaptive dynamic coefficient and the downward linear velocity of the heavy hammer in the process of lowering or carrying out attitude adjustment on the burden surface.
S400, determining a given moment according to the holding rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment so as to adjust the posture of the blast furnace stock rod at least once after the blast furnace stock rod reaches the charge level, so that the inclination angle of the blast furnace stock rod relative to the vertical direction is smaller than a preset angle.
During specific implementation, the holding rod moment and the first compensation moment are summed to obtain a given moment, then the reduction gearbox can output the given moment through the driving motor, so that the blast furnace stock rod can be controlled to accelerate for a period of time to reach a constant speed during descending, and multiple times of posture adjustment can be performed after the blast furnace stock rod descends to a material surface at the constant speed until the inclination angle of the stock rod is smaller than a certain degree. The weight dropper can also descend along with the descending of the charge level, and the inclination angle is kept smaller than a certain degree through posture adjustment in the descending process, so that the charge level can be judged more accurately through the blast furnace stock rod.
When the lowering speed of the heavy hammer reaches a constant speed, the magnitude of the first compensation force is unchanged, and at the moment, the magnitude of the first compensation force is the maximum because the speed is the maximum. At the moment when the weight is lowered to the material level, the first compensation force is still at its maximum. Because the buoyancy is added to the resultant force applied to the weight, the resultant force applied to the weight is upward, and the weight decelerates downward. As the speed decreases, the first compensation force decreases. When the speed of the heavy hammer is reduced to 0, the resultant force applied to the heavy hammer is upward, so the heavy hammer can reverse direction, namely, move upwards, at the moment, the linear velocity is upward, so the first compensation force is downward, and the first compensation force is increased along with the increase of the linear velocity, so the resultant force applied to the upward heavy hammer becomes vertically downward, further the heavy hammer can be decelerated, the upward movement is stopped, at the moment, the heavy hammer still does not leave the material level, and thus the posture adjustment is completed. The weight moves downwards due to the fact that the upward movement is stopped and the resultant force received at the moment is vertical downwards, the first compensation force is changed to be upward due to the fact that the linear speed is downward, the linear speed is larger, the first compensation force is larger, the resultant force received is changed to be an upward value, and the weight is changed to be upward after the weight is decelerated to be 0. The direction of the first compensation force is changed to be downward, so that resultant force applied to the upward heavy hammer is changed to be vertical downward, the heavy hammer is decelerated, then the upward movement is stopped, the heavy hammer still does not leave the material surface, and the posture adjustment is completed.
After many times of posture adjustment, the dumping angle of the heavy hammer is smaller and smaller. In each attitude adjustment process, the linear velocity change of the heavy hammer, the ascending distance and the descending distance of the heavy hammer are actually very small, namely, the inclination angle of the heavy hammer can be gently reduced through a plurality of times of micro adjustment.
That is, each process of the attitude adjustment roughly includes: the resultant force direction of the blast furnace stock rod when reaching the charge level is vertical and upward, so that the downward linear speed of the blast furnace stock rod is reduced to 0 and then pulled up reversely, and the resultant force direction of the pulled blast furnace stock rod is changed to vertical and downward, so that the blast furnace stock rod stops ascending.
In an actual scene, the gravity influence of the chain can be combined into the first compensation force, but because the gravity of the lowering part of the chain changes in real time, if the gravity influence is combined into the first compensation force, the calculation difficulty of the self-adaptive dynamic coefficient is increased, the selected self-adaptive dynamic coefficient is possibly inaccurate, and the attitude adjustment process is influenced, so that the gravity influence of the chain is considered separately as much as possible, and a second compensation moment is set in one embodiment of the invention.
In an embodiment, the method provided in the embodiment of the present invention may further include:
determining the chain gravity corresponding to the real-time lowering length of the chain in the lowering process of the blast furnace stock rod according to the real-time rotating speed of the driving motor; determining a second compensation moment according to the weight of the chain; a second compensation force corresponding to the second compensation moment is equal to the gravity of the chain, and the direction of the second compensation force is vertical upward;
correspondingly, the determining the given torque according to the righting ruler torque and the first compensation torque comprises: and determining the given moment according to the ruler supporting moment, the first compensation moment and the second compensation moment.
That is, in the case where the second compensation torque is set, the given torque is the sum of the blade torque, the first compensation torque, and the second compensation torque.
In the process of lowering, the resultant force F = righting bar force + first compensation force + second compensation force-weight gravity-chain gravity, the influence caused by the length change of the chain can be eliminated as long as the second compensation force is equal to the chain gravity, so that in order to accurately calculate the chain gravity, the real-time rotating speed of the driving motor can be obtained from the encoder to calculate the length h of the lowered chain, the initial gravity of the chain when the chain starts to be lowered, the gravity of the unit length of the chain and the like can be obtained, and the length of the chain of the lowered part can be calculated according to the parameters.
In one embodiment, the step of determining the chain gravity corresponding to the real-time lowering length of the chain during the lowering process may include calculating the chain gravity by using the following calculation formula, where the calculation formula may be referred to as a first calculation formula:
in the formula, G 2-t The weight of the chain is corresponding to the lowering length of the chain when the lowering time is t; g 2-0 The weight of the chain is corresponding to the lowering length of the chain at the initial lowering moment; g 2-r The gravity corresponding to the unit length of the chain is shown as n, the rotating speed of the driving motor is shown as n, and the transformation ratio of a reduction gearbox connected between the driving motor and the blast furnace stock rod is shown as i.
After the weight of the chain of the lowering part is obtained through calculation, the second compensation torque can be calculated based on the weight of the chain of the lowering part, specifically, the second compensation torque can be calculated by using the following calculation formula, which can be referred to as a second calculation formula, where the second calculation formula is:
in the formula, M 2 For the second compensation moment, G 2-t For the weight of the chain, p, corresponding to the lowering length of the chain when the lowering duration is t n Is the rated power, v, of the drive motor n For the rated linear speed, eta, of the drive motor motor For the mechanical efficiency of the drive motor, eta gear Is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace stock rod.
On the basis of setting the second compensation torque, the resultant force F = righting the ruler force + the first compensation force + the second compensation force-chain gravity-heavy hammer gravity; the resultant force F can enable the stock rod to descend at a constant speed after accelerating to descend for a period of time. And the resultant force F = the righting ruler force + the first compensation force + the second compensation force + the buoyancy force-the chain gravity-the weight gravity when the chain is placed on the material surface. Because the size and the direction of the linear velocity of weight constantly change for resultant force direction and size constantly change, because the size and the direction constantly change of resultant force, can make the weight spontaneous carry out a lot of attitude adjustment, this kind of dynamic equilibrium process, the angle of dump reduces a little every time adjusting, thereby makes the angle of dump be less than preset angle gradually, makes the stock rod be located the charge level with a nearly vertically state. Through the dynamic balance mode, even if a material collapse accident occurs in the production process of the blast furnace, the stock rod can not fall quickly to enlarge the accident, but can reach a stable speed quickly and then is lowered to a limit position, so that the accident enlargement is avoided.
In practice, for example, the pouring angle of the weight at the beginning of reaching the material level is 60 °, which is reduced by 5 ° for each adjustment, and after 11 adjustments, the pouring angle can be reduced to 5 °, at which time the pouring angle is already small, so that the material level can be measured more accurately. However, if it is desired to speed up the attitude adjustment process further so that each adjustment reduces the angle even more, it is not necessary to go through 11 times to reduce the flip angle to 5%. In order to be able to set a button on the control device, the person triggers the button once, and the frequency converter receives a pulse signal, the duration of which is T seconds, during which time the frequency converter adds a new compensation torque. This increases the adjustment range of the posture adjustment process over the duration T, since a new compensation torque is added. When the pulse signal disappears, the compensation torque disappears. Therefore, personnel can flexibly control and adjust the posture adjustment according to actual conditions.
That is, in an embodiment, the method provided in the embodiment of the present invention may further include:
when a pulse signal for adjusting the acceleration attitude is received, determining a third compensation torque, and superposing the third compensation torque on the given torque; the direction of a third compensation force corresponding to the third compensation moment is vertical upward, the magnitude of the third compensation force is the product of the gravity borne by the heavy hammer and a preset proportion, and the preset proportion is a numerical value greater than 0 and less than 1; and when the pulse signal disappears, the third compensation torque is set to be 0.
That is, during the duration of the pulse signal, for example, T is 3 seconds, the direction of the third compensation force is the same as the direction of the second compensation force and the righting ruler force, and the magnitude of the third compensation force is greater than 0 and smaller than the weight gravity, for example, 0.7G 1 . When the pulse signal disappears, the third compensation force is 0.
The function is applied to a holding rod following stage after the heavy hammer reaches the material surface, namely an attitude adjustment stage, manual intervention is carried out on the state of the stock rod through an external signal, the stock rod is activated in a signal triggering mode, the time is kept for T seconds after each activation, a third compensation force which faces upwards vertically is output, and the magnitude of the third compensation force is smaller than that of the gravity of the heavy hammer. The third compensation force acts together with the righting ruler force, the first compensation force, the second compensation force, the buoyancy force, the chain gravity and the heavy hammer gravity to accelerate the progress of the posture adjustment process. For example, the third compensation force is added, so that the upward resultant force applied to the weight during descending is larger, and thus the acceleration is larger, and the weight can be decelerated to 0 more quickly and then reversed, thereby accelerating the posture adjustment.
It can be seen that in the embodiment of the invention, the torque control strategy is adopted by the frequency converter during the lowering process and in the ruler following stage. The moment of the measuring rod is used as a main given moment, the first compensating moment, the second compensating moment and the third compensating moment are used as additional given moments, and the sum of the moments is used as the given moment to control the descending process of the measuring rod and the following process of the measuring rod. The first compensation moment has the effect that the heavy hammer descends at a constant speed after descending for a period of time, and the magnitude and the direction of resultant force received after reaching the material surface are constantly changed due to the relationship between the direction and the magnitude of the linear speed and the direction and the magnitude of the first compensation moment, so that the posture of the heavy hammer is constantly adjusted. The second compensation moment has the effect of eliminating the influence caused by the change of the lowering length of the chain, and the third compensation moment has the effect of accelerating the posture adjustment through manual intervention. The embodiment of the scheme relates to the elimination of the gravity on the chain lowering part, the manual intervention on the dip angle of the stock rod, the dynamic adjustment process of the dip angle of the stock rod and the like.
The method provided by the embodiment of the invention comprises the steps of firstly determining a vertical upward righting ruler moment, then obtaining the real-time rotating speed of the driving motor, calculating the linear speed of the stock rod according to the real-time rotating speed, and further calculating a first compensation moment according to the linear speed and a preset dynamic self-adaptive coefficient, wherein the first compensation force corresponding to the first compensation moment is in direct proportion to the linear speed, but the direction is opposite. The given torque is determined according to the holding rod torque and the first compensation torque, and then the blast furnace stock rod is controlled according to the given torque, so that the posture of the blast furnace stock rod can be adjusted after the blast furnace stock rod is placed on the charge level, the inclination angle of the blast furnace stock rod is smaller than a certain angle, the charge level can be accurately tracked by the blast furnace stock rod, and the judgment accuracy of the charge level is improved.
In a second aspect, an embodiment of the present invention provides a blast furnace stock rod control device.
Referring to fig. 4, the apparatus 1000 includes:
the first determination module 100 is used for determining the righting ruler moment; the direction of the righting ruler corresponding to the righting ruler moment is vertical upward;
the first acquisition module 200 is used for acquiring the real-time rotating speed of a driving motor of the blast furnace stock rod;
the second determining module 300 is configured to determine a linear velocity of the blast furnace probe according to the real-time rotating speed, and determine a first compensation torque according to the linear velocity and a preset dynamic adaptive coefficient; the direction of a first compensation force corresponding to the first compensation torque is opposite to the direction of the linear velocity of the blast furnace sounding rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear velocity;
and a third determining module 400, configured to determine a given torque according to the holding rod torque and the first compensation torque, and control the blast furnace probe according to the given torque, so that the blast furnace probe performs at least one attitude adjustment after reaching a charge level, so that an inclination angle of the blast furnace probe with respect to a vertical direction is smaller than a preset angle.
In one embodiment, the blast furnace probe includes a chain and a weight connected to the chain, and the apparatus further includes:
the fourth determining module is used for determining chain gravity corresponding to the real-time lowering length of the chain in the lowering process of the blast furnace stock rod according to the real-time rotating speed of the driving motor;
the fifth determining module is used for determining a second compensation moment according to the weight of the chain; a second compensation force corresponding to the second compensation moment is equal to the gravity of the chain, and the direction of the second compensation force is vertical upward;
correspondingly, the third determining module is specifically configured to: and determining the given torque according to the righting ruler torque, the first compensation torque and the second compensation torque.
Further, the fourth determining module is configured to calculate the chain gravity by using a first calculation formula, where the first calculation formula is:
in the formula, G 2-t The weight of the chain is corresponding to the lowering length of the chain when the lowering time is t; g 2-0 The weight of the chain is corresponding to the lowering length of the chain at the initial lowering moment; g 2-r The gravity corresponding to the unit length of the chain is shown as n, the rotating speed of the driving motor is shown as n, and the transformation ratio of a reduction gearbox connected between the driving motor and the blast furnace stock rod is shown as i.
Further, the fifth determining module is configured to calculate the second compensation torque by using a second calculation formula, where the second calculation formula is:
in the formula, M 2 For the second compensation moment, G 2-t For the weight of the chain, p, corresponding to the lowering length of the chain when the lowering duration is t n Is the rated power, v, of the drive motor n For the rated linear speed, eta, of the drive motor motor For the mechanical efficiency of the drive motor, η gear Is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace stock rod.
In one embodiment, the apparatus further comprises:
a sixth determining module, configured to determine a third compensation torque when a pulse signal for adjusting an acceleration attitude is received, and superimpose the third compensation torque on the given torque; the direction of a third compensation force corresponding to the third compensation moment is vertical upward, the magnitude of the third compensation force is the product of the gravity borne by the heavy hammer and a preset proportion, and the preset proportion is a numerical value greater than 0 and less than 1; and when the pulse signal disappears, the third compensation torque is set to be 0.
Further, the first determining module comprises:
the first selecting unit is used for selecting one value from a preset value range as a ruler holding force; wherein the preset value range is
G 1 The gravity to which the heavy hammer is subjected;
and the first determining unit is used for determining the righting ruler moment according to the righting ruler force.
Further, the first determination unit is configured to calculate the righting ruler moment by using a third calculation formula, where the third calculation formula is:
in the formula, M F For the holding-up rule moment, F F Is the righting ruler force, p n Is the rated power, v, of the drive motor n For the rated linear speed, eta, of the drive motor motor For the mechanical efficiency of the drive motor, η gear Is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace stock rod.
In one embodiment, a second determining unit in the second determining module is configured to determine a first compensating torque according to the linear velocity and a preset dynamic adaptive coefficient; the second determination unit includes:
the first calculating subunit is configured to multiply the linear velocity and the dynamic adaptive coefficient to obtain a magnitude of the first compensation force; the first compensation force can reduce the lowering acceleration to 0 in the lowering process of the blast furnace stock rod and then lower the blast furnace stock rod to the charge level at a constant speed;
and the first determining subunit is used for determining a corresponding first compensation moment according to the first compensation force.
Further, the value range of the dynamic adaptive coefficient is greater than or equal to
Wherein, F F The holding-up force corresponding to the holding-up force moment, G 1 Is the weight force, v, to which the weight is subjected s The speed of the weight when the acceleration is 0 during the downward putting process.
It is to be understood that for the explanation, the detailed description, the beneficial effects, the examples and the like of the contents in the apparatus provided in the embodiment of the present invention, reference may be made to the corresponding parts in the method provided in the first aspect, and details are not described herein again.
In a third aspect, an embodiment of the present invention provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method provided by the first aspect.
It is to be understood that for the explanation, the detailed description, the beneficial effects, the examples and the like of the related contents in the device provided in the embodiment of the present invention, reference may be made to the corresponding parts in the method provided in the first aspect, and details are not described here.
In a fourth aspect, the present invention provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method provided in the first aspect.
Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a flexible disk, hard disk, magneto-optical disk, optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), magnetic tape, nonvolatile memory card, and ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It is to be understood that for the explanation, the detailed description, the beneficial effects, the examples and the like of the contents in the computer-readable medium provided in the embodiment of the present invention, reference may be made to the corresponding parts in the method provided in the first aspect, and details are not described here.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
Those skilled in the art will recognize that, in one or more of the examples described above, the functions described in this disclosure may be implemented in hardware, software, hardware, or any combination thereof. When implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present invention should be included in the scope of the present invention.
Claims (12)
1. A blast furnace stock rod control method is characterized by comprising the following steps:
determining the moment of the righting ruler; the direction of the righting ruler corresponding to the righting ruler moment is vertical upward;
acquiring the real-time rotating speed of a driving motor of the blast furnace stock rod;
determining the linear speed of the blast furnace stock rod according to the real-time rotating speed, and determining a first compensation torque according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of a first compensation force corresponding to the first compensation moment is opposite to the direction of the linear velocity of the blast furnace stock rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear velocity;
determining a given moment according to the holding rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment so as to adjust the posture of the blast furnace stock rod for at least one time after the blast furnace stock rod reaches the charge level, so that the inclination angle of the blast furnace stock rod relative to the vertical direction is smaller than a preset angle.
2. The method of claim 1, wherein the blast furnace probe comprises a chain and a weight connected to the chain, the method further comprising:
determining the chain gravity corresponding to the real-time lowering length of the chain in the lowering process of the blast furnace stock rod according to the real-time rotating speed of the driving motor;
determining a second compensation moment according to the weight of the chain; a second compensation force corresponding to the second compensation moment is equal to the gravity of the chain, and the direction of the second compensation force is vertical upward;
correspondingly, the determining the given torque according to the righting ruler torque and the first compensation torque comprises: and determining the given torque according to the righting ruler torque, the first compensation torque and the second compensation torque.
3. The method of claim 2, wherein the determining the chain gravity corresponding to the real-time lowering length of the chain during the lowering process of the blast furnace probe comprises: calculating the chain gravity by adopting a first calculation formula, wherein the first calculation formula is as follows:
in the formula, G 2-t The weight of the chain is corresponding to the lowering length of the chain when the lowering time length is t; g 2-0 The weight of the chain is corresponding to the lowering length of the chain at the initial lowering moment; g 2-r The gravity corresponding to the unit length of the chain, n is the rotating speed of the driving motor, and i is the transformation ratio of a reduction gearbox connected between the driving motor and the blast furnace stock rod.
4. The method of claim 2, wherein the determining a second compensation torque comprises: calculating the second compensation torque by adopting a second calculation formula, wherein the second calculation formula is as follows:
in the formula, M 2 For the second compensation moment, G 2-t For the weight of the chain, p, corresponding to the lowering length of the chain when the lowering duration is t n Is the rated power, v, of the drive motor n Rated linear speed, eta, of said drive motor motor For the mechanical efficiency of the drive motor, η gear Is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace stock rod.
5. The method of claim 1, further comprising:
when a pulse signal for adjusting the acceleration attitude is received, determining a third compensation torque, and superposing the third compensation torque on the given torque; the direction of a third compensation force corresponding to the third compensation moment is vertical upward, the magnitude of the third compensation force is the product of the gravity borne by the heavy hammer and a preset proportion, and the preset proportion is a numerical value greater than 0 and less than 1;
and when the pulse signal disappears, the third compensation torque is set to be 0.
6. The method of claim 2, wherein determining the stock bar moment comprises:
selecting a value from a preset value range as a ruler force; wherein the preset value range is
G 1 The gravity to which the heavy hammer is subjected;
and determining the righting ruler moment according to the righting ruler force.
7. The method of claim 6, wherein determining the righting ruler torque as a function of the righting ruler force comprises: calculating the righting ruler moment by adopting a third calculation formula, wherein the third calculation formula is as follows:
in the formula, M F For the righting ruler moment, F F Is the holding force, p n Is the rated power, v, of the drive motor n For the rated linear speed, eta, of the drive motor motor For the mechanical efficiency of the drive motor, η gear Is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace stock rod.
8. The method of claim 2, wherein determining the first compensation torque based on the linear velocity and a preset dynamic adaptive coefficient comprises:
multiplying the linear velocity and the dynamic self-adaptive coefficient to obtain the first compensation force; the first compensation force can reduce the lowering acceleration to 0 in the lowering process of the blast furnace stock rod and then lower the blast furnace stock rod to the charge level at a constant speed;
and determining a corresponding first compensation moment according to the first compensation force.
9. The method of claim 8, wherein the dynamic adaptive coefficient has a value range of greater than or equal to
Wherein, F F The holding-up force corresponding to the holding-up force moment, G 1 Is the weight force, v, to which the weight is subjected s The speed of the weight when the acceleration is 0 during the downward putting process is obtained.
10. A blast furnace stock rod control device is characterized by comprising:
the first determining module is used for determining the supporting ruler moment; the direction of the righting ruler corresponding to the righting ruler moment is vertical upward;
the first acquisition module is used for acquiring the real-time rotating speed of a driving motor of the blast furnace stock rod;
the second determining module is used for determining the linear speed of the blast furnace stock rod according to the real-time rotating speed and determining a first compensating moment according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of a first compensation force corresponding to the first compensation moment is opposite to the direction of the linear velocity of the blast furnace stock rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear velocity;
and the third determining module is used for determining a given moment according to the holding rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment so as to adjust the posture of the blast furnace stock rod at least once after the blast furnace stock rod reaches the charge level, so that the inclination angle of the blast furnace stock rod relative to the vertical direction is smaller than a preset angle.
11. A computing device, the device comprising: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor, configured to invoke the machine readable program, to perform the method of any of claims 1-9.
12. A computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 9.
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| CN211972390U (en) * | 2020-05-07 | 2020-11-20 | 河南环能阀门设备有限公司 | Integrated stock rod device |
| CN114214475A (en) * | 2021-11-22 | 2022-03-22 | 吉林金钢钢铁股份有限公司 | Intelligent control method for torque of blast furnace stock rod |
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