CN1654142A - Servo motor driven continuous casting crystallizer non sine vibration generating arrangement - Google Patents

Abstract

The servo motor driven non-sinusoidal vibration generator for continuous casting crystallizer has electric control part comprising computer, D/A converter board and speed regulating driver to control the servo motor for continuous rotation in one direction and rotation speed corresponding to required varying angular speed and to drive the crystallizer via the mechanical part comprising speed reducer, eccentric shaft, link rod, etc. for periodical non-sinusoidal vibration. The varying angular speed of the servo motor has certain mathematic model. The present invention has the advantages of simple system, compact structure, great bearing capacity, great impact strength, etc.

Description

The continuous casting crystallizer non sine vibration generating arrangement of driven by servomotor

Technical field

The present invention relates to the continuous casting steel machine technical field, particularly relate to a kind of non sine vibration generating arrangement of continuous cast mold.

Background technology

The continuous cast mold non-sinusoidal oscillation was at first developed by Japan the eighties in 20th century, there is the flourishing country of some industry to study and adopt this technology in succession subsequently, because it is to improving casting speed, improve aspect such as slab quality and have positive effect, confirmed as one of key technology of development high efficiency continuous casting by continuous casting worker both at home and abroad.All adopt electrohydraulic servo system to drive by the continuous cast mold non-sinusoidal oscillation of external development and application and realize, the weak point of this system is that system complex, investment are expensive, maintenance workload is big.Therefore, its promotion and application have been limited to a great extent.Several mechanically operated non sine vibration generating arrangements have also been developed in domestic for this reason continuous cast mold non-sinusoidal oscillation of not only having developed the electrohydraulic servo system driving simultaneously, and for example: mechanically operated non sine vibration generating arrangement, the patent No. are ZL99212823.4; Continuous cast mold zigzag vibration generating arrangement, the patent No. are ZL98211614.4; Anti-parallelogram mechanism crystallizer non sine vibration generating arrangement, the patent No. are ZL99216172.X etc.The shortcoming of mechanically operated non sine vibration generating arrangement is: compare with the mechanically operated sinusoidal vibration generating means of extensive use both at home and abroad at present, its transmission system complexity: the gear-box and the shaft coupling that between decelerator and eccentric shaft, have increased a non-circular gear transmission, owing to the increase of transmission link, reduced the stationarity and the kinematic accuracy of mold oscillation inevitably; Also because the transmission system occupation space is bigger, therefore, mechanically operated non sine vibration generating arrangement is not easy to be applied in the less multiple-strand caster of stream spacing; Compare with the non sine vibration generating arrangement that electrohydraulic servo system drives, its shortcoming is that vibrational waveform (waveform deviation proportion α) can not on-line automaticly be regulated, and therefore, this has also limited the performance of non-sinusoidal oscillation superiority to a certain extent.In September, 2004, " exploitation of mould non-sinusoidal vibrational system and application " literary composition was published in " iron and steel " magazine the 39th volume supplementary issue P623～626.Article discloses a kind of mould non-sinusoidal vibrational system.This system is made up of machinery and automatically controlled two parts, its mechanical part is to adopt four servo electric jars to be installed in the interior outer arc both sides of shake table respectively, as direct driven in synchronism shake table of power source and mold oscillation, so-called servo electric jar is exactly that the driven by servomotor ball-screw alternately just changes, reverses continuously, thereby realizes the upper and lower double vibrations of shake table and crystallizer.The shortcoming of this non-sinusoidal oscillation system is: because the quality of crystallizer and shake table is bigger, the rotating that servomotor is frequent will produce bigger influence to the tracking accuracy and the response speed of curves such as the displacement of mold oscillation, speed; Four servoBcylinders be synchronized with the movement also that difficulty reaches high control precision; The bearing capacity of ball-screw and impact resistance also are difficult to compare favourably with hydraulic cylinder or connecting rod.

Summary of the invention

The object of the present invention is to provide a kind of continuous casting crystallizer non sine vibration generating arrangement of driven by servomotor, this device has overcome the deficiency that prior art exists, have transmission system simplification, compact conformation, it is little to take up room, bearing capacity is big, advantages such as strong shock resistance, owing to servomotor is to have avoided frequent rotating start and stop by folk prescription to continuous rotation, so long service life.

The technical solution adopted for the present invention to solve the technical problems is: servomotor 1 drives shake table and crystallizer 7 mounted thereto by shaft coupling 2 and connecing of decelerator 3, makes crystallizer 7 realize non-sinusoidal oscillation (seeing Fig. 1, Fig. 2); Eccentric shaft 5 also can drive shake table and crystallizer 7 (seeing Fig. 1, Fig. 3) mounted thereto indirectly by connecting rod 6 and shaker arm 9, and directly or indirectly each of the eccentric shaft that drives is changeed a vibration period corresponding to crystallizer.

Crystallizer is realized the non-sinusoidal oscillation principle: the angular speed curve that eccentric shaft 5 is wished, can select following two kinds of functions for use:

ω(t)＝ω[1-Acos(ωt)] (1)

$\mathrm{\&omega;}\left(t\right)=\frac{(1-E^2)\mathrm{\&omega;}}{1+{\mathrm{<figure-callout\; id="2"\; label="E"\; filenames="A20051006003200081.png"\; state="\{\{state\}\}">E</figure-callout>}}^2+2E\cos \left(\mathrm{\&omega;t}\right)}---\left(2\right)$

Realize (respectively as Fig. 5, shown in Figure 6), in the formula: ω=2 π f/60, wherein f is the basic parameter of mould non-sinusoidal vibration---frequency (inferior/minute), the span of general f is 0～300 time/minute, can be according to the online adjusting of casting speed; $A=\frac{\mathrm{\&pi;\&alpha;}}{2\sin \left[\frac{\mathrm{\&pi;}}{2}(1+\mathrm{\&alpha;})\right]},$ $E=\frac{\mathrm{tg}\left[\frac{\mathrm{\&pi;}}{4}(\mathrm{\&alpha;}+1)\right]-1}{\mathrm{tg}\left[\frac{\mathrm{\&pi;}}{t}(\mathrm{\&alpha;}+1)\right]+1},$ α wherein is basic parameter---the waveform deviation proportion of mould non-sinusoidal vibration, and the span of general α is-0.4～0.4, can onlinely regulate.Then above-mentioned two kinds of functions (1) and (2) pairing mould non-sinusoidal vibration velocity wave function are respectively: V (t)=h ω [1-A cos (ω t)] cos[ω t-A sin (ω t)] and

$V\left(t\right)=h\frac{(1-E^2)\mathrm{\&omega;}}{1+{\mathrm{<figure-callout\; id="2"\; label="E"\; filenames="A20051006003200081.png"\; state="\{\{state\}\}">E</figure-callout>}}^2+2E\cos \left(\mathrm{\&omega;t}\right)}\cos \left\{2\mathrm{arctg}\right[\frac{1-\mathrm{<figure-callout\; id="1"\; label="E"\; filenames="A20051006003200107.png,A20051006003200108.png"\; state="\{\{state\}\}">E</figure-callout>}}{1+E}\mathrm{tg}\left(\frac{\mathrm{\&omega;}}{2}t\right)\left]\right\},$ Fig. 7, the curve that is respectively these two velocity wave form functions shown in Figure 8, in the formula: h is basic parameter---the amplitude (mm) of mould non-sinusoidal vibration, and the span of general h is 2～8mm.

Eccentric shaft 5 drives shake table and crystallizer 7 (see figure 3)s mounted thereto indirectly by connecting rod 6 and shaker arm 9, its principle that realizes the non-sinusoidal oscillation waveform is compared with above-mentioned direct drive mode, both differences only are: owing to increasing shaker arm 9 in the type of drive indirectly, and make both when servomotor 1 rotates for same direction, the latter's the shake table and the direction of motion of crystallizer are opposite with the former, therefore, (rate of climb is slow for the non-sinusoidal oscillation rate curve unanimity that guarantees shake table and crystallizer mounted thereto, decrease speed is fast), the rotation direction of servomotor direction of rotation of servomotor when directly driving gets final product in the time of only need making indirect driving.

The basic functional principle that automatically controlled part servomotor rotating speed calculates is: the casting speed signal V that industrial control computer system utilizes the sampling of A/D (A/D converter) plate to obtain _L, calculate the frequency that mould non-sinusoidal vibrates, as f=aV _L+ b (inferior/minute), in the formula: a, b are the constant relevant with technology; And then calculate the average angle frequency that eccentric shaft 5 rotates by ω=2 π f/60; Basic parameter---waveform deviation proportion α according to given mould non-sinusoidal vibration, can calculate A and E, and can be according to time varying corner velocity function (1) or (2) of the eccentric shaft 5 of above-mentioned hope, the angular velocity varies rule that servomotor is wished can be obtained after multiply by the gearratio i of decelerator again, and then the rotation speed change rule that servomotor is wished can be obtained by converting; As the angular speed curvilinear function is formula (1), then has: ω _L(t)=and i ω [1-A cos (ω t)], can obtain the rotation speed change rule that servomotor wishes by converting and be: $n_1\left(t\right)=\frac{60}{2\mathrm{\&pi;}}\mathrm{i\&omega;}[1-A\cos \left(\mathrm{\&omega;t}\right)];$ As the angular speed curvilinear function is formula (2), then by the rotation speed change rule that can obtain another hope of servomotor that converts is: $n_2\left(t\right)=\frac{60}{2\mathrm{\&pi;}}i\frac{(1-E^2)\mathrm{\&omega;}}{1+{\mathrm{<figure-callout\; id="2"\; label="E"\; filenames="A20051006003200081.png"\; state="\{\{state\}\}">E</figure-callout>}}^2+2E\cos \left(\mathrm{\&omega;t}\right)}.$

During the actual realization of automatically controlled part, the rotating speed of servomotor 1 be the angular speed correspondence that on time becomes by computer the rotating speed formula (as $n_1\left(t\right)=\frac{60}{2\mathrm{\&pi;}}\mathrm{i\&omega;}[1-A\cos \left(\mathrm{\&omega;t}\right)]$ Or $n_2\left(t\right)=\frac{60}{2\mathrm{\&pi;}}i\frac{(1-E^2)\mathrm{\&omega;}}{1+{\mathrm{<figure-callout\; id="2"\; label="E"\; filenames="A20051006003200081.png"\; state="\{\{state\}\}">E</figure-callout>}}^2+2E\cos \left(\mathrm{\&omega;t}\right)}$ ), by certain time interval Δ t (computing cycle of promptly sampling), automatically calculate the speed setting value of wishing in each sampling instant, provide in proportion by D/A then, the speed governing drive unit compares speed setting value and actual speed value, remove to control servomotor 1 after computing and the power amplification, can obtain actual servomotor speed curves---notch cuttype curve (being respectively Figure 11, shown in Figure 12); Behind decelerator, can obtain the angular speed curve (being respectively Fig. 9, shown in Figure 10) of actual eccentric shaft; Through obtaining after the mold oscillation mechanism driving and the actual non-sinusoidal oscillation waveform (being respectively Fig. 7, shown in Figure 8) of wishing the crystallizer of waveform basically identical.And t is more little for Δ, then actual curve with wish that the approximation ratio of curve is high more.Computer can also be on display the speed waveform curve of online demonstration servomotor or the velocity wave form curve or the displacement wavy curve of continuous cast mold, show that actually which kind of curve can be selected by keyboard.

The speed governing drive unit can not adopt velocity sensor yet and directly adopts its inner state to feed back, and removes to control the rotating speed of servomotor.

The computer hardware system main frame of automatically controlled part can be selected general-purpose industrial control computer or personal computer, is equipped with Peripheral Interface plates such as suitable D/A plate and A/D plate.Control software can adopt the realization of programming of language such as C language or VC++.

Computer hardware system also can select for use speed PLC higher, that calculation function is stronger (Programmable Logic Controller) to realize, as adopt the PLC etc. of the higher CPU module of Siemens S7-400 series of PLC control device, S7-300 series medium velocity, TDC (technology and transmission control) system and device, Modicon or ABB, and be equipped with suitable analog quantity input, output interface template and DP net stencil.

When servomotor power bigger, or the weight of shake table and crystallizer is less, though or the power of servomotor 1 is not that the weight of very big, shake table and crystallizer neither be very little, but in the time of most of weight balancing of shake table and crystallizer can being fallen by employing balancing spring 8, then can use servomotor 1 directly to drive eccentric shaft 5, and needn't adopt decelerator 3, promptly be equivalent to speed reducing ratio i=1.

The invention has the beneficial effects as follows: compare with mechanically operated non sine vibration generating arrangement, have transmission system simplification, compact conformation, it is little to take up room, and therefore, is convenient to be applied in the less multiple-strand caster of stream spacing; Because vibrational waveform can on-line automaticly be regulated, therefore, it can make the superiority of non-sinusoidal oscillation bring into play to a greater degree; Because the minimizing of transmission link has improved the stationarity and the kinematic accuracy of vibration.Compare with the mould non-sinusoidal vibrating device of driven by servomotor ball-screw, because the non-sinusoidal oscillation that is produced passes to shake table and crystallizer by connecting rod, therefore, it is big to have bearing capacity, the advantage of strong shock resistance; Owing to servomotor is that to have avoided having bearing capacity frequently by folk prescription to continuous rotation big, the advantage of strong shock resistance; Owing to servomotor is to have avoided frequent rotating start and stop by folk prescription to continuous rotation, therefore, its tracking accuracy and response speed are all better, long service life.

Description of drawings

Fig. 1 is the continuous cast mold vibration generating arrangement mechanical part sketch of driven by servomotor;

Fig. 2 is a kind of common continuous cast mold vibrating mechanism schematic diagram;

Fig. 3 is another kind of common continuous cast mold vibrating mechanism schematic diagram;

Fig. 4 is the basic structure schematic diagram of the continuous casting crystallizer non sine vibration generating arrangement electric-control system of driven by servomotor;

Fig. 5 is corresponding to the 1st kind of speed functions n ₁(t) the angular speed curve that each commentaries on classics (corresponding to a vibration period of crystallizer) of eccentric shaft is wished the time;

Fig. 6 is corresponding to the 2nd kind of speed functions n ₂(t) the angular speed curve that each commentaries on classics (corresponding to a vibration period of crystallizer) of eccentric shaft is wished the time;

Fig. 7 is corresponding to the 1st kind of speed functions n ₁(t) interior non-sinusoidal oscillation rate curve of wishing of vibration period of crystallizer the time;

Fig. 8 is corresponding to the 2nd kind of speed functions n ₂(t) interior non-sinusoidal oscillation rate curve of wishing of vibration period of crystallizer the time;

Fig. 9 is corresponding to the 1st kind of speed functions n ₁(t) the actual angular speed curve of each commentaries on classics of eccentric shaft the time;

Figure 10 is corresponding to the 2nd kind of speed functions n ₂(t) the actual angular speed curve of each commentaries on classics of eccentric shaft the time;

Figure 11 is corresponding to the 1st kind of speed functions n ₁(t) computer-chronograph is in the speed curves of crystallizer actual given servomotor in vibration period;

Figure 12 is corresponding to the 2nd kind of speed functions n ₂(t) computer-chronograph is in the speed curves of crystallizer actual given servomotor in vibration period.

In Fig. 1, Fig. 2, Fig. 3,1. servomotor, 2. shaft coupling, 3. decelerator, 4. shaft coupling, 5. eccentric shaft, 6 connecting rods, 7. crystallizer, 8. balancing spring, 9. shaker arm.

The specific embodiment

Embodiment: the mold oscillation mechanism principle figure of certain billet caster as shown in Figure 2, the mechanical part (see figure 1) of its non sine vibration generating arrangement, servomotor 1 is connected by the power shaft of shaft coupling 2 with decelerator 3, the output shaft of decelerator 3 is connected with eccentric shaft 5 by shaft coupling 4, and eccentric shaft 5 directly drives shake table and crystallizer 7 mounted thereto by connecting rod 6.Vibrational loading is shake table and crystallizer, heavy 20KN, amplitude h=4mm, vibration frequency f=130min ^-1, waveform deviation proportion α=0.24, can convert obtains A=0.4, and E=0.19 selects servomotor rated power P=11KW, rated speed n _e=1500r/min, decelerator speed ratio i=5 requires crystallizer to realize non-sine HY-6050 type D/A plate, and A/D adopts HY-6040 type A/D plate.

Industrial control computer is by sampling period Δ t=0.01s, by servomotor rotating speed computing formula $n_1\left(t\right)=\frac{60}{2\mathrm{\&pi;}}\mathrm{i\&omega;}[1-A\cos \left(\mathrm{\&omega;t}\right)]$ Or $n_2\left(t\right)=\frac{60}{2\mathrm{\&pi;}}i\frac{(1-E^2)\mathrm{\&omega;}}{1+{\mathrm{<figure-callout\; id="2"\; label="E"\; filenames="A20051006003200081.png"\; state="\{\{state\}\}">E</figure-callout>}}^2+2E\cos \left(\mathrm{\&omega;t}\right)}$ Calculate the value (speed curves of mold oscillation cycle in servomotor respectively as Figure 11, shown in Figure 12) of servomotor in each different sampling instants, provide speed setting value in proportion by digital to analog converter (D/A) then, speed governing drive unit among Fig. 4 compares speed setting value and actual speed value, remove to control servomotor after computing and the power amplification, can obtain actual servomotor speed curves (seeing Figure 11, Figure 12); Behind decelerator, can obtain the angular speed curve (seeing Fig. 9, Figure 10) of actual eccentric shaft again; Through obtaining the non-sinusoidal oscillation waveform (seeing Fig. 7, Fig. 8) of crystallizer reality after the mold oscillation mechanism driving.

Claims (6)

1. the continuous casting crystallizer non sine vibration generating arrangement of a driven by servomotor is grouped into by mechanical part and electric control part, it is characterized in that:

Mechanical part: servomotor (1) is connected by the power shaft of shaft coupling (2) with decelerator (3), the output shaft of decelerator (3) is connected with eccentric shaft (5) by shaft coupling (4), eccentric shaft (5) directly or indirectly drives shake table by connecting rod (6) and crystallizer (7) mounted thereto is realized non-sinusoidal oscillation, wherein servomotor (1) be periodically the variable angular velocity folk prescription to continuous rotation;

Automatically controlled part: computer is pressed the variable angular velocity rotating speed Mathematical Modeling of servomotor $n_1\left(t\right)=\frac{60}{2\mathrm{\&pi;}}\mathrm{i\&omega;}[1-A\cos \left(\mathrm{\&omega;t}\right)]$ Or $n_2\left(t\right)=\frac{60}{2\mathrm{\&pi;}}i\frac{(1-E^2)\mathrm{\&omega;}}{1+E^2+2E\cos \left(\mathrm{\&omega;t}\right)},$ By certain time interval Δ t, automatically calculate the speed setting value of wishing in each sampling instant, and provide in proportion by digital to analog converter (D/A), by the speed governing drive unit speed setting value and actual speed value are compared, remove to control servomotor (1) after computing and the power amplification, can obtain speed curves---the notch cuttype curve of actual servomotor (1); Behind decelerator (3), can obtain the angular speed curve of actual eccentric shaft (5); Through obtaining after the mold oscillation mechanism driving and the actual non-sinusoidal oscillation waveform of wishing the crystallizer of waveform basically identical.

2. the continuous casting crystallizer non sine vibration generating arrangement of driven by servomotor according to claim 1, it is characterized in that: the speed governing drive unit also can not adopt the speed probe feedback and directly adopt its inner state to feed back, and removes to control the rotating speed of servomotor (1).

3. the continuous casting crystallizer non sine vibration generating arrangement of driven by servomotor according to claim 1 and 2, it is characterized in that: the span of the frequency f of mould non-sinusoidal vibration is 0～300 time/minute, the span of the waveform deviation proportion α of mould non-sinusoidal vibration is-0.4～0.4, the span of mould non-sinusoidal vibration amplitude h is 2～8mm, and wherein the waveform deviation proportion α of frequency f and non-sinusoidal oscillation can onlinely regulate.

4. the continuous casting crystallizer non sine vibration generating arrangement of driven by servomotor according to claim 1 and 2, it is characterized in that: shaker arm (9) drives shake table indirectly and crystallizer (7) mounted thereto is realized the non-sinusoidal oscillation waveform, and the rotation direction of servomotor direction of rotation of servomotor when directly driving gets final product in the time of only need making indirect driving.

5. the continuous casting crystallizer non sine vibration generating arrangement of driven by servomotor according to claim 1 and 2 is characterized in that servomotor (1) can exchange, and also can be direct current; Servomotor (1) can be split with its speed governing, drive unit, also can be one.

6. the continuous casting crystallizer non sine vibration generating arrangement of driven by servomotor according to claim 1, it is characterized in that: when the most of weight balancing that adopts balancing spring (8) with shake table and crystallizer falls, then can use servomotor (1) directly to drive eccentric shaft (5), and needn't adopt decelerator (3), promptly be equivalent to speed reducing ratio i=1.

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