CN115181826B - Blast furnace trial rod control method and device, computing equipment and storage medium - Google Patents
Blast furnace trial rod control method and device, computing equipment and storage medium Download PDFInfo
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- C21B7/24—Test rods or other checking devices
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Abstract
The embodiment of the invention provides a control method and device for a blast furnace trial rod, computing equipment and a storage medium. The method comprises the following steps: determining the moment of the supporting ruler; acquiring the real-time rotating speed of a driving motor of the blast furnace trial rod; determining the linear speed of the blast furnace trial rod according to the real-time rotating speed, and determining a first compensation moment according to the linear speed and a preset dynamic self-adaptive coefficient; and determining a given moment according to the supporting rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment so as to enable the blast furnace stock rod to perform at least one posture adjustment after reaching a material level, so that the inclination angle of the blast furnace stock rod relative to the vertical direction is smaller than a preset angle. According to the invention, the inclination angle of the stock rod on the material surface can be dynamically adjusted, so that the judgment accuracy of the material surface is improved.
Description
Technical Field
The invention relates to the technical field of industrial production, in particular to a control method and device for a blast furnace trial rod, computing equipment and a storage medium.
Background
In the iron and steel industry production, blast furnace ironmaking is an initial link, the material level of materials in the blast furnace continuously changes 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 determined by a blast furnace stock rod, so the blast furnace stock rod becomes an important device in the production activity of the blast furnace.
With the continuous improvement of the driving technology of the blast furnace trial rod, the purpose of the blast furnace trial rod is to accurately track the material level from early voltage regulation of a power grid to current frequency converter driving. Firstly, the frequency converter drives the heavy hammer to be lowered to the material surface through the chain, and after the heavy hammer reaches the material surface, the position of the heavy hammer is changed along with the change of the material surface through the control of the frequency converter, so that the floating rule following of the stock rod is realized. However, in an actual scene, after the heavy hammer reaches the material level, problems such as scale distortion and scale fall often occur, and thus inaccurate judgment of the material level can be caused, and the judgment accuracy of the production activity process is affected.
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 material level, thereby improving the judgment accuracy of the material level.
In a first aspect, an embodiment of the present invention provides a method for controlling a blast furnace sounding rod, including:
determining the moment of the supporting ruler; the direction of the ruler force corresponding to the ruler force moment is vertical upwards;
Acquiring the real-time rotating speed of a driving motor of the blast furnace trial rod;
Determining the linear speed of the blast furnace trial rod according to the real-time rotating speed, and determining a first compensation moment according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of the first compensation force corresponding to the first compensation moment is opposite to the direction of the linear speed of the blast furnace trial rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear speed;
And determining a given moment according to the supporting rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment so as to enable the blast furnace stock rod to perform at least one posture adjustment after reaching a material 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 gauge control apparatus, comprising:
The first determining module is used for determining the moment of the supporting ruler; the direction of the ruler force corresponding to the ruler force moment is vertical upwards;
the first acquisition module is used for acquiring the real-time rotating speed of the driving motor of the blast furnace trial 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 compensation moment according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of the first compensation force corresponding to the first compensation moment is opposite to the direction of the linear speed of the blast furnace trial rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear speed;
And the third determining module is used for determining a given moment according to the supporting rod moment and the first compensating moment, and controlling the blast furnace stock rod according to the given moment so as to enable the blast furnace stock rod to perform at least one posture adjustment after reaching a material level, and enable the inclination angle of the blast furnace stock rod relative to the vertical direction to be smaller than a preset angle.
In a third aspect, one embodiment of the present invention provides a computing device comprising: at least one memory and at least one processor;
the at least one memory for storing a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method provided in the first aspect.
In a fourth aspect, embodiments of the present invention provide a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method provided in the first aspect.
According to the blast furnace trial rod control method and device, the computing equipment and the storage medium, firstly, a vertically upward trial rod moment is determined, then the real-time rotating speed of the driving motor is obtained, the linear speed of the trial rod is computed according to the real-time rotating speed, and further, the first compensation moment is computed according to the linear speed and a preset dynamic self-adaptive coefficient, and the first compensation force corresponding to the first compensation moment is in direct proportion to the linear speed, but opposite in direction. The given moment is determined according to the supporting rod moment and the first compensation moment, and then the blast furnace stock rod is controlled according to the given moment, so that the blast furnace stock rod can be subjected to posture adjustment after being lowered to the material level, the inclination angle of the blast furnace stock rod is smaller than a certain angle, and therefore the blast furnace stock rod can accurately track the material level, and the judgment accuracy of the material level is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained based on these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for controlling a blast furnace feeler according to an embodiment of the present invention;
FIG. 2 is a flow diagram of one implementation of S100 in one embodiment of the invention;
FIG. 3 is a flow diagram of one implementation of determining a first compensation torque in one embodiment of the invention;
FIG. 4 is a block diagram showing the construction of a control apparatus for a blast furnace sound according to an embodiment of the present invention.
| 1000 | Control device for blast furnace trial rod |
| 100 | First determining module |
| 200 | First acquisition module |
| 300 | A second determination module |
| 400 | Third determination module |
| S310～S320 | Step (a) |
| S110～S120 | Step (a) |
| S100～S400 | Step (a) |
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
In a first aspect, one embodiment of the present invention provides a method of controlling a blast furnace sound.
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 of the driving motor is higher, the driving motor is connected with a 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 reaching the material level and the like are controlled.
Specifically, in the process of lowering the blast furnace trial rod and in the process of adjusting the posture after reaching the material level, the frequency converter controls the reduction gearbox to output a given moment. The given moment is determined by the righting moment, the first compensating moment, or by the righting moment, the first compensating moment, and the second compensating moment. In the lowering process, the force corresponding to the given moment is lowered under the combined action of the gravity applied to the blast furnace trial rod. After reaching the material level, the posture of the blast furnace is adjusted under the combined action of the force corresponding to the given moment, the gravity and the buoyancy of the blast furnace trial rod. It can be seen that a given moment is present throughout the control of the blast furnace sonde.
Referring to fig. 1, the method for controlling the blast furnace stock rod provided by the embodiment of the invention comprises the following steps S100 to S400:
S100, determining the moment of the supporting ruler; the direction of the ruler force corresponding to the ruler force moment is vertical upwards;
the moment of the supporting ruler can be a fixed value, and the moment of the supporting ruler exists in the descending process of the blast furnace stock rod and after the stock rod reaches the stock level.
Since the chain is constantly changing in its run length during the run. If the chain falls down after reaching the level, a part of the chain may be loosened above the level. The weight of the chain can thus be taken into account not only in determining the holding moment, but also in the case of a weight, the weight influence of the chain being solved by means of the second compensation moment described below, or the weight influence of the chain being integrated into the first compensation moment, in any case irrespective of the weight influence of the chain in the holding moment.
The blast furnace trial rod can comprise a chain and a heavy hammer connected with the chain. Based on this structure of the blast furnace gauge, 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 that G 1 is the weight force to which the weight is subjected;
It can be seen that the force of the supporting ruler is smaller than the weight force of the heavy hammer.
The following describes the setting principle of the preset value range:
When the weight is poured on the material surface, the force required for righting the weight is
Beta is the inclination angle of the chain relative to the vertical direction, which can be approximately 0 DEG due to the small inclination angle of the chain, namely
It can be seen that the range of the force of the supporting ruler is
Because the gravity of the descending part of the chain always changes, the gravity influence of the chain is not considered, and 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 range of the force of the supporting ruler isIn order to make the embodiment of the invention more flexible and reliable, a specific value of the solidifying handrail force is not set, but a value range is set.
S120, determining the ruler holding moment according to the ruler holding force.
That is, from the rangeAnd selecting a value as the supporting ruler force, and further calculating the corresponding supporting ruler moment by using the supporting ruler force.
In particular implementations, S120 may calculate the righting moment using the following equation, which may be referred to as a third equation:
Wherein M F is the supporting ruler moment, F F is the supporting ruler force, p n is the rated power of the driving motor, v n is the rated linear speed of the driving motor, eta motor is the mechanical efficiency of the driving motor, eta gear is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace trial rod.
In the third calculation formula described above, the rated torque of the drive motor is set to 100%. And (5) bringing the ruler holding force selected in the step (S110) into the third calculation formula to obtain the ruler holding moment.
The principle of derivation of the third calculation formula is as follows:
The moment of the supporting ruler is in direct proportion to the force of the supporting ruler, namely: Where M n is the rated torque of the motor, and F n is the force output by the motor at the rated torque.
And then can obtain:
the rated power of the driving motor is as follows: p n＝Fn*Vn × η
Thus, it is possible to obtain:
Where η=η motor*ηgear.
Since specific values cannot be directly input in the parameter setting of the frequency converter, but are expressed in percentages, 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 trial rod;
It can be understood that, since the driving motor is connected with the reduction gearbox, if the rotation speed of the driving motor is n and the transformation ratio of the reduction gearbox is i, the real-time rotation speed of the reduction gearbox is the ratio between n and i.
Specifically, the real-time rotation speed of the driving motor can be obtained through the encoder.
S300, determining the linear speed of the blast furnace trial rod according to the real-time rotating speed, and determining a first compensation moment according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of the first compensation force corresponding to the first compensation moment is opposite to the direction of the linear speed of the blast furnace trial rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear speed;
That is, the linear velocity of the blast furnace gauge may be calculated from the real-time rotational speed of the reduction gearbox, and then the first compensation torque may be 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 speed is vertically downward, and at the moment, the direction of the first compensation force is vertically upward. Moreover, since the first compensation force is proportional to the linear velocity, that is, as the lowering speed of the weight increases, the magnitude of the first compensation force increases. When the heavy hammer descends at a constant speed, the first compensation force is unchanged.
In a specific implementation, the determining the first compensation moment according to the linear velocity and the preset dynamic adaptive coefficient in S300, referring to fig. 3, may specifically include S310 to S320:
s310, multiplying the linear velocity by the dynamic self-adaptive coefficient to obtain the first compensation force; the first compensation force can enable the lowering acceleration of the blast furnace trial rod to be reduced to 0 in the lowering process and then to be lowered to the material surface 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 lowering process, the linear speed is 0 just at the beginning, and the first compensation force is 0 at the moment, and after the heavy hammer is lowered, the first compensation force is larger and larger because the speed of the heavy hammer is larger and larger. The first compensating force is upward, and when the first compensating force increases to a value that can make the resultant force of the weight be 0, the downward acceleration of the weight decreases to 0, and the downward velocity of the weight is the maximum, and then the weight decreases to the level. That is, when the weight is lowered, it is accelerated to move down for a period of time and then move down to the level at a constant speed.
S320, determining a corresponding first compensation moment according to the first compensation force.
That is, after the first compensation force is determined, a corresponding first compensation torque may be calculated from the first compensation force.
In one embodiment, if the gravity influence of the chain is eliminated by using the following second compensation moment, that is, the magnitude of the second compensation force is equal to the gravity of the chain, the resultant force f=holding force+second compensation force+first compensation force-chain gravity-weight gravity=holding force+first compensation force-weight gravity is applied to the blast furnace gauge during the lowering process. Therein, wherein Wherein i is a transformation ratio, D is the roller diameter of the reduction gearbox, v is the downlink speed, and K v is a dynamic self-adaptive coefficient. When the linear speed of the trial rod is constant, the resultant force F is 0, and at this time, the first compensation force=the weight gravity-the rod supporting force. At this time, the paying-off speed of the stock rod is v s, and the magnitude of the dynamic self-adaptive coefficient is the ratio of the first compensation force to the linear speed, namely/>Since the linear velocity during the lowering process is smaller than v s, the dynamic adaptive coefficient should be chosen as much as possibleLarge value, so the value range of the adaptive dynamic coefficient is greater than or equal to/>V s is influenced by the maximum stroke, maximum speed and maximum time of the chain, and thus v s is equal to or greater than the ratio between the maximum stroke and the maximum time of the chain and equal to or less than the maximum speed.
In one embodiment, if the effect of the chain is taken into account simultaneously by the first compensation force, the blast furnace runner is subjected to a resultant force f=holding force+first compensation force-chain gravity-weight gravity during lowering. Therein, wherein Wherein i is a transformation ratio, D is the roller diameter of the reduction gearbox, v is the downlink speed, and K v is a dynamic self-adaptive coefficient. When the linear speed of the trial rod is uniform, the resultant force F is 0, and at the moment, the first compensation force=the weight gravity+the chain gravity-the rod supporting force. At this time, the paying-off speed of the stock rod is v s, and the magnitude of the dynamic self-adaptive coefficient is the ratio of the first compensation force to the linear speed, namely/>Since the linear velocity during the lowering process is smaller than v s, the dynamic adaptive coefficient should be chosen as much as possibleLarge values. G 2-t has a certain value range, and is G 2-0 when the material is put down, and the weight is still smaller than the full-length weight of the chain when the material is put down, so that the value range of the dynamic self-adaptive coefficient is determined according to the value range of G 2-t.
Wherein F F is the force of the supporting ruler corresponding to the moment of the supporting ruler, G 1 is the weight force applied to the heavy hammer, v s is the speed reached by the heavy hammer when the acceleration of the heavy hammer is 0 in the process of lowering, and G 2-t is the weight force of the chain at the time t of lowering.
In either case, only one adaptive dynamic coefficient needs to be selected in a certain range in advance, and then the magnitude of the first compensation force can be determined according to the adaptive dynamic coefficient and the downlink speed of the heavy hammer in the process of lowering or posture adjustment of the material level.
S400, determining a given moment according to the supporting rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment so that the blast furnace stock rod can carry out posture adjustment at least once after reaching a material level, and the inclination angle of the blast furnace stock rod relative to the vertical direction is smaller than a preset angle.
In specific implementation, the moment of the supporting rod and the first compensation moment are summed to obtain a given moment, and 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 in descending to achieve uniform speed, and the posture of the blast furnace stock rod can be adjusted for multiple times after the blast furnace stock rod descends to the material level at uniform speed until the inclination angle of the stock rod is smaller than a certain degree. Of course, the heavy hammer also descends along with the descent of the material level, and the dumping angle is kept smaller than a certain degree through posture adjustment in the descending process, so that the judgment of the material level through the blast furnace stock rod can be more accurate.
When the descending speed of the heavy hammer reaches a uniform speed, the first compensation force is unchanged, and at the moment, the first compensation force is maximum because the speed is maximum. At the moment when the weight is lowered to the level, the first compensation force is still the maximum. Because the buoyancy is added to the resultant force applied to the heavy hammer, the resultant force applied to the heavy hammer is upward, and the heavy hammer descends at a reduced speed. As the speed decreases, the first compensation force decreases. When the speed of the heavy hammer is reduced to 0, the heavy hammer can reversely move, namely, move upwards, at the moment, the linear speed is upward, so that the first compensation force is downward, and as the linear speed is increased, the first compensation force is increased, so that the resultant force of the upward heavy hammer becomes vertically downward, further the heavy hammer can be decelerated, further the upward heavy hammer is stopped, and the heavy hammer still does not leave the material surface, so that the posture adjustment is completed once. The weight descends because the resultant force received at this time is vertically downward when the upward movement is stopped, and the first compensation force becomes upward because the linear velocity is downward, so that the larger the linear velocity is, the larger the first compensation force becomes, the resultant force received becomes an upward value, and the weight becomes upward again after the speed of the weight is reduced to 0. The direction of the first compensation force is changed to be downward, so that the resultant force born by the ascending heavy hammer is changed to be vertical downward, the heavy hammer is further reduced in speed, the ascending is stopped, and the heavy hammer does not leave the material surface at the moment, so that the posture adjustment is finished for one time.
Through multiple gesture adjustment, the dumping angle of the heavy hammer is smaller and smaller. In each posture adjustment process, the change of the linear speed of the heavy hammer, the ascending distance and the descending distance of the heavy hammer are very small in practice, namely, the heavy hammer can gently reduce the dumping angle through multiple micro adjustment.
That is, the process of each posture adjustment roughly includes: the direction of resultant force received by the blast furnace stock rod when reaching the material surface is vertical upwards, so that the blast furnace stock rod is reversely pulled up after the downward linear speed of the blast furnace stock rod is reduced to 0, and the direction of resultant force received by the pulled blast furnace stock rod is changed into vertical downwards, 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 descending 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 posture adjustment process is influenced, so that the gravity influence of the chain is considered independently as much as possible, and the second compensation moment is set in one embodiment of the invention.
In one embodiment, the method provided by the embodiment of the invention can further include:
Determining chain gravity corresponding to the real-time lowering length of the chain in the lowering process of the blast furnace trial rod according to the real-time rotating speed of the driving motor; determining a second compensation moment according to the chain gravity; the 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 upwards;
correspondingly, the determining a given moment according to the supporting ruler moment and the first compensation moment comprises the following steps: and determining the given moment according to the supporting rule moment, the first compensation moment and the second compensation moment.
That is, in the case where the second compensation torque is provided, the given torque is the sum of the holding-up torque, the first compensation torque, and the second compensation torque.
In the lowering process, the resultant force F=the supporting rod force, the first compensation force, the second compensation force, the weight gravity and the chain gravity, so that the influence caused by the length change of the chain can be eliminated as long as the second compensation force is equal to the weight of the chain, and therefore, 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 weight of the chain when the lowering of the chain is started, the weight of the unit length of the chain and the like, and the length of the chain of the lowering part can be calculated according to the parameters.
In one embodiment, in the step of determining the chain gravity corresponding to the real-time lowering length of the chain during the lowering process of the blast furnace steel gauge, the chain gravity may be calculated by using a calculation formula, which may be referred to as a first calculation formula, where the first calculation formula is:
Wherein G 2-t is the weight of the chain corresponding to the lowering length of the chain when the lowering length is t; g 2-0 is the chain gravity corresponding to the chain descending length at the initial descending moment; g 2-r is 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 trial rod.
After the chain gravity of the lowered part is calculated, the second compensation moment can be calculated based on the chain gravity of the lowered part, specifically, the second compensation moment can be calculated by adopting a calculation formula, which can be called a second calculation formula, and the second calculation formula is as follows:
Wherein M 2 is the second compensation moment, G 2-t is the chain gravity corresponding to the chain falling length when the falling length is t, p n is the rated power of the driving motor, v n is the rated linear speed of the driving motor, eta motor is the mechanical efficiency of the driving motor, eta gear is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace trial rod.
On the basis of setting the second compensation moment, the resultant force F=the supporting force, the first compensation force and the second compensation force, the chain gravity and the heavy hammer gravity of the stock rod in the descending process; the resultant force F can enable the trial rod to descend at a constant speed after a period of time. The resultant force f=holding force+first compensation force+second compensation force+buoyancy-chain gravity-weight gravity when the material is lowered to the level. Because the linear speed and the direction of the heavy hammer are continuously changed, the direction and the direction of the resultant force are continuously changed, and the heavy hammer can spontaneously perform multiple gesture adjustment because of the continuous change of the direction and the direction of the resultant force, and the dumping angle is reduced when the dynamic balance process is performed once, so that the dumping angle is gradually smaller than the preset angle, and the stock rod is positioned on the material surface in an almost vertical 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 rapidly to expand the accident, but can reach a stable speed rapidly, and then the stock rod is lowered to a limit position, so that the accident expansion is avoided.
In practice, for example, when the dumping angle of the heavy hammer reaches the material level just before the dumping angle reaches the material level is 60 degrees, the dumping angle can be reduced to 5 degrees after 11 times of adjustment, and the dumping angle is very small at the moment, so that the material level can be accurately measured. However, if it is desired to further speed up the attitude adjustment process, so that each adjustment will be reduced by more angles, it will not be necessary to go through 11 times to reduce the tip angle to 5%. In order to be able to provide a button on the control device, the person activates the button once, the frequency converter receives a pulse signal, the duration of which is T seconds, in which the frequency converter increases a new compensation torque. This increases the adjustment amplitude of the attitude adjustment process during the duration T, as a result of the addition of a new compensation torque. When the pulse signal is disappeared, the compensation moment disappears. Thus, personnel can flexibly control and adjust the posture according to the actual situation.
That is, in one embodiment, the method provided by the embodiment of the present invention may further include:
When receiving a pulse signal for adjusting the acceleration gesture, determining a third compensation moment, and superposing the third compensation moment on the given moment; the direction of a third compensation force corresponding to the third compensation moment is vertical upwards, the magnitude of the third compensation force is the product of the gravity born by the heavy hammer and a preset proportion, and the preset proportion is a numerical value larger than 0 and smaller than 1; and when the pulse signal disappears, enabling the third compensation moment to be 0.
That is, for the duration of the pulse signal, for example, T is 3 seconds, the direction of the third compensation force and the direction of the second compensation force, the direction of the righting force are the same, and the magnitude of the third compensation force is a value greater than 0 and less 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 stage of supporting ruler following after the heavy hammer reaches the material level, namely a posture adjustment stage, the state of the stock rod is manually interfered through an external signal, the stock rod is activated in a signal triggering mode, the maintaining time after each activation is T seconds, a third vertical compensating force is output, and the magnitude of the third compensating force is smaller than that of the gravity of the heavy hammer. The third compensation force acts together with the ruler supporting force, the first compensation force, the second compensation force, the buoyancy, the chain gravity and the weight gravity to accelerate the progress of the gesture adjustment process. For example, the third compensation force is added, so that the upward resultant force applied to the heavy hammer during descending is larger, the acceleration is larger, the heavy hammer is decelerated to 0 and then is reversed, and the posture adjustment is accelerated.
It can be seen that in the embodiment of the invention, the frequency converter adopts a torque control strategy in the lowering process and in the supporting rule following stage. The moment of the guiding rod is used as a main given moment, the first compensation moment, the second compensation moment and the third compensation moment are used as additional given moment, and the sum of the moments is used as the given moment to control the descending process of the guiding rod and the following process of the guiding rod. The first compensation moment has the function of enabling the heavy hammer to descend 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 continuously changed due to the relation between the direction and the magnitude of the linear speed and the direction and the magnitude of the first compensation force, so that the heavy hammer is continuously subjected to posture adjustment. The second compensation moment is used for eliminating the influence caused by the change of the lowering length of the chain, and the third compensation moment is used for accelerating posture adjustment through manual intervention. The embodiment of the scheme relates to the elimination of gravity applied to a chain lowering part, the manual intervention of the falling angle of the trial rod, the dynamic adjustment process of the falling angle of the trial rod and the like.
According to the method provided by the embodiment of the invention, firstly, a vertical upward supporting ruler moment is determined, then, the real-time rotating speed of the driving motor is obtained, the linear speed of the trial rod is calculated according to the real-time rotating speed, and further, the first compensation moment is calculated according to the linear speed and a preset dynamic self-adaptive coefficient, and the first compensation force corresponding to the first compensation moment is in direct proportion to the linear speed, but opposite in direction. The given moment is determined according to the supporting rod moment and the first compensation moment, and then the blast furnace stock rod is controlled according to the given moment, so that the blast furnace stock rod can be subjected to posture adjustment after being lowered to the material level, the inclination angle of the blast furnace stock rod is smaller than a certain angle, and therefore the blast furnace stock rod can accurately track the material level, and the judgment accuracy of the material level is improved.
In a second aspect, an embodiment of the present invention provides a control apparatus for a blast furnace sound rod.
Referring to fig. 4, the apparatus 1000 includes:
A first determination module 100 for determining a righting moment; the direction of the ruler force corresponding to the ruler force moment is vertical upwards;
the first acquisition module 200 is used for acquiring the real-time rotating speed of the driving motor of the blast furnace trial rod;
The second determining module 300 is configured to determine a linear speed of the blast furnace sounding rod according to the real-time rotation speed, and determine a first compensation moment according to the linear speed and a preset dynamic adaptive coefficient; the direction of the first compensation force corresponding to the first compensation moment is opposite to the direction of the linear speed of the blast furnace trial rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear speed;
And the third determining module 400 is configured to determine a given moment according to the supporting rod moment and the first compensating moment, and control the blast furnace sounding rod according to the given moment, so that the blast furnace sounding rod performs at least one posture adjustment after reaching the material level, and the inclination angle of the blast furnace sounding rod relative to the vertical direction is smaller than a preset angle.
In one embodiment, the blast furnace gauge rod includes a chain and a weight connected to the chain, the apparatus further comprising:
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 trial rod according to the real-time rotating speed of the driving motor;
A fifth determining module for determining a second compensation moment according to the chain gravity; the 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 upwards;
Correspondingly, the third determining module is specifically configured to: and determining the given moment according to the supporting rule moment, the first compensation moment and the second compensation moment.
Further, the fourth determining module is configured to calculate the chain gravity using a first calculation formula, where the first calculation formula is:
Wherein G 2-t is the weight of the chain corresponding to the lowering length of the chain when the lowering length is t; g 2-0 is the chain gravity corresponding to the chain descending length at the initial descending moment; g 2-r is 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 trial rod.
Further, the fifth determining module is configured to calculate the second compensation torque using a second calculation formula, where the second calculation formula is:
Wherein M 2 is the second compensation moment, G 2-t is the chain gravity corresponding to the chain falling length when the falling length is t, p n is the rated power of the driving motor, v n is the rated linear speed of the driving motor, eta motor is the mechanical efficiency of the driving motor, eta gear is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace trial rod.
In one embodiment, the apparatus further comprises:
the sixth determining module is used for determining a third compensation moment when receiving the pulse signal for adjusting the acceleration gesture, and superposing the third compensation moment on the given moment; the direction of a third compensation force corresponding to the third compensation moment is vertical upwards, the magnitude of the third compensation force is the product of the gravity born by the heavy hammer and a preset proportion, and the preset proportion is a numerical value larger than 0 and smaller than 1; and when the pulse signal disappears, enabling the third compensation moment to be 0.
Further, the first determining module includes:
the first selecting unit is used for selecting a value from a preset value range as the ruler holding force; wherein the preset value range is that G 1 is the weight force to which the weight is subjected;
And the first determining unit is used for determining the supporting ruler moment according to the supporting ruler force.
Further, the first determining unit is configured to calculate the supporting ruler moment by using a third calculation formula, where the third calculation formula is:
Wherein M F is the supporting ruler moment, F F is the supporting ruler force, p n is the rated power of the driving motor, v n is the rated linear speed of the driving motor, eta motor is the mechanical efficiency of the driving motor, eta gear is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace trial rod.
In one embodiment, the second determining unit in the second determining module is configured to determine the first compensation torque according to the linear velocity and a preset dynamic adaptive coefficient; the second determination unit includes:
A first calculating subunit, configured to multiply the linear velocity and the dynamic adaptive coefficient to obtain the first compensation force; the first compensation force can enable the lowering acceleration of the blast furnace trial rod to be reduced to 0 in the lowering process and then to be lowered to the material surface at a constant speed;
And the first determination subunit is used for determining a corresponding first compensation moment according to the first compensation force.
Further, the value range of the dynamic self-adaptive coefficient is more than or equal toWherein F F is the force of the supporting ruler corresponding to the moment of the supporting ruler, G 1 is the gravity applied to the heavy hammer, and v s is the speed reached by the heavy hammer when the acceleration of the heavy hammer in the process of lowering is 0.
It may be understood that, for explanation, specific implementation, beneficial effects, examples, etc. of the content in the apparatus provided by the embodiment of the present invention, reference may be made to corresponding parts in the method provided in the first aspect, which are not repeated herein.
In a third aspect, embodiments of the present invention provide a computing device, the device comprising: at least one memory and at least one processor;
the at least one memory for storing a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method provided in the first aspect.
It may be understood that, for explanation, specific implementation, beneficial effects, examples, etc. of the content in the apparatus provided by the embodiment of the present invention, reference may be made to corresponding parts in the method provided in the first aspect, which are not repeated herein.
In a fourth aspect, embodiments of the present invention provide a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method provided in the first aspect.
Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD+RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any 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 part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It may be appreciated that, for explanation, specific implementation, beneficial effects, examples, etc. of the content in the computer readable medium provided by the embodiment of the present invention, reference may be made to corresponding parts in the method provided in the first aspect, and details are not repeated herein.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
Those skilled in the art will appreciate that in one or more of the examples described above, the functions described in the present invention may be implemented in hardware, software, a pendant, or any combination thereof. When implemented in software, these functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention in further detail, and are not to be construed as limiting the scope of the invention, but are merely intended to cover any modifications, equivalents, improvements, etc. based on the teachings of the invention.
Claims (12)
1. A control method of a blast furnace trial rod is characterized by comprising the following steps:
determining the moment of the supporting ruler; the direction of the ruler force corresponding to the ruler force moment is vertical upwards; wherein the moment of the supporting ruler is a fixed value, and the moment of the supporting ruler is arranged in the descending process of the blast furnace stock rod and after the blast furnace stock rod reaches the material surface;
Acquiring the real-time rotating speed of a driving motor of the blast furnace trial rod;
Determining the linear speed of the blast furnace trial rod according to the real-time rotating speed, and determining a first compensation moment according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of the first compensation force corresponding to the first compensation moment is opposite to the direction of the linear speed of the blast furnace trial rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear speed;
And determining a given moment according to the supporting rod moment and the first compensation moment, and controlling the blast furnace stock rod according to the given moment, wherein the given moment exists in the whole control process of the blast furnace stock rod, so that the blast furnace stock rod can perform at least one posture adjustment after reaching a material surface, and 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 sonde comprises a chain and a weight coupled to the chain, the method further comprising:
Determining chain gravity corresponding to the real-time lowering length of the chain in the lowering process of the blast furnace trial rod according to the real-time rotating speed of the driving motor;
Determining a second compensation moment according to the chain gravity; the 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 upwards;
correspondingly, the determining a given moment according to the supporting ruler moment and the first compensation moment comprises the following steps: and determining the given moment according to the supporting rule moment, the first compensation moment and the second compensation moment.
3. The method according to claim 2, wherein determining the chain gravity corresponding to the real-time lowering length of the chain during the lowering of the blast furnace gauge includes: calculating the chain gravity by adopting a first calculation formula, wherein the first calculation formula is as follows:
Wherein G 2-t is the weight of the chain corresponding to the lowering length of the chain when the lowering length is t; g 2-0 is the chain gravity corresponding to the chain descending length at the initial descending moment; g 2-r is 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 trial rod.
4. The method of claim 2, wherein the determining the second compensation torque comprises: calculating the second compensation moment by adopting a second calculation formula, wherein the second calculation formula is as follows:
Wherein M 2 is the second compensation moment, G 2-t is the chain gravity corresponding to the chain falling length when the falling length is t, p n is the rated power of the driving motor, v n is the rated linear speed of the driving motor, eta motor is the mechanical efficiency of the driving motor, eta gear is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace trial rod.
5. The method as recited in claim 2, further comprising:
When receiving a pulse signal for adjusting the acceleration gesture, determining a third compensation moment, and superposing the third compensation moment on the given moment; the direction of a third compensation force corresponding to the third compensation moment is vertical upwards, the magnitude of the third compensation force is the product of the gravity born by the heavy hammer and a preset proportion, and the preset proportion is a numerical value larger than 0 and smaller than 1;
and when the pulse signal disappears, enabling the third compensation moment to be 0.
6. The method of claim 2, wherein the determining the righting moment comprises:
Selecting a value from a preset value range as the ruler holding force; wherein the preset value range is that G 1 is the weight force to which the weight is subjected;
and determining the moment of the supporting ruler according to the supporting ruler force.
7. The method of claim 6, wherein said determining said righting moment from said righting force comprises: calculating the moment of the supporting ruler by adopting a third calculation formula, wherein the third calculation formula is as follows:
Wherein M F is the supporting ruler moment, F F is the supporting ruler force, p n is the rated power of the driving motor, v n is the rated linear speed of the driving motor, eta motor is the mechanical efficiency of the driving motor, eta gear is the mechanical efficiency of a reduction gearbox connected between the driving motor and the blast furnace trial rod.
8. The method of claim 2, wherein said determining a first compensation torque based on said linear velocity and a preset dynamic adaptation coefficient comprises:
Multiplying the linear velocity by the dynamic adaptive coefficient to obtain the first compensation force; the first compensation force can enable the lowering acceleration of the blast furnace trial rod to be reduced to 0 in the lowering process and then to be lowered to the material surface 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 coefficients have a range of values greater than or equal toWherein F F is the force of the supporting ruler corresponding to the moment of the supporting ruler, G 1 is the gravity applied to the heavy hammer, and v s is the speed reached by the heavy hammer when the acceleration of the heavy hammer in the process of lowering is 0.
10. A blast furnace sound control apparatus, comprising:
The first determining module is used for determining the moment of the supporting ruler; the direction of the ruler force corresponding to the ruler force moment is vertical upwards; wherein the moment of the supporting ruler is a fixed value, and the moment of the supporting ruler is arranged in the descending process of the blast furnace stock rod and after the blast furnace stock rod reaches the material surface;
the first acquisition module is used for acquiring the real-time rotating speed of the driving motor of the blast furnace trial 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 compensation moment according to the linear speed and a preset dynamic self-adaptive coefficient; the direction of the first compensation force corresponding to the first compensation moment is opposite to the direction of the linear speed of the blast furnace trial rod, and the magnitude of the first compensation force is in direct proportion to the magnitude of the linear speed;
The third determining module is used for determining a given moment according to the supporting rod moment and the first compensating moment and controlling the blast furnace trial rod according to the given moment, wherein the given moment exists in the whole control process of the blast furnace trial rod; so that the blast furnace stock rod can be subjected to at least one posture adjustment after reaching the material level, and 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 for storing a machine readable program;
the at least one processor being 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 of claims 1 to 9.
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| CN202210749288.7A CN115181826B (en) | 2022-06-29 | 2022-06-29 | Blast furnace trial rod control method and device, computing equipment and storage medium |
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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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| SU1468917A1 (en) * | 1987-03-09 | 1989-03-30 | Сибирский металлургический институт им.Серго Орджоникидзе | Apparatus for correcting coke weight |
| CN1376802A (en) * | 2001-03-26 | 2002-10-30 | 金卫民 | Balancing and speed stabilizing device of test rod |
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| CN115181826A (en) | 2022-10-14 |
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