CN207431209U - The continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving - Google Patents
The continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving Download PDFInfo
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- CN207431209U CN207431209U CN201721578339.5U CN201721578339U CN207431209U CN 207431209 U CN207431209 U CN 207431209U CN 201721578339 U CN201721578339 U CN 201721578339U CN 207431209 U CN207431209 U CN 207431209U
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- cast mold
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Abstract
This practicality discloses a kind of continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving, including Monitor Computer Control System, n stream caster non-sinusoidal oscillation of mould control systems, each stream caster non-sinusoidal oscillation of mould control system includes motion controller, servo-driver, servomotor, retarder, driving mechanism and continuous casting crystallizer vibration platform, continuous cast mold, displacement sensor etc..Each stream caster non-sinusoidal oscillation of mould is individually controlled by a motion controller, Monitor Computer Control System monitors all stream caster non-sinusoidal oscillation of mould situations in real time, when wherein first-class motion controller breaks down, monitoring system sends alarm, but does not influence other strand normal works.This practicality can avoid influencing the situation of all strand productions due to programmable controller failure, improve the safety and reliability of system, and have many advantages, such as that at low cost, structure simplifies compared with the centralized control system based on high performance programmable controller.
Description
Technical field
The utility model belongs to continuously casting field, and in particular to a kind of continuous cast mold non-sine of servomotor driving
Vibrate Distributed Control System.
Background technology
Continuous cast mold non-sinusoidal oscillation has positive effect to improving casting speed, improving slab quality etc., by state
Inside and outside continuous casting worker confirms as one of key technology of development high efficiency continuous casting.
At present, the continuous cast mold non-sinusoidal oscillation device applied in the industry be broadly divided into hydraulic-driven, Mechanical Driven,
Servo electric jar drives three kinds of modes and a kind of more advanced Servo motor drive control.It is mainly watched both at home and abroad using electro-hydraulic
Type of drive is taken, but easily occurs oil leak there are servo-cylinder, the shortcomings of servo valve floats there are zero, and system complex, investment
Greatly, it is difficult in maintenance.The country also developed the non-sine of several Mechanical Drivens (such as common alternating current generator is driven by elliptic gear)
Vibrating device, but there is transmission system is complicated, occupied space is big, control accuracy is low etc..In addition, also servo electric jar
The non-sinusoidal oscillation device of driving, there are the frequent rotating of servomotor, the deficiencies of four servoBcylinder Synchronization Controls are difficult.
The continuous casting crystallizer non sine vibration generating arrangement of servomotor driving overcomes the deficiency of above-mentioned driving device,
By controlling servomotor one direction, variable angular velocity continuous rotation, and by retarder, eccentric shaft, linkage and continuous casting knot
Brilliant device shake table realizes continuous cast mold non-sinusoidal oscillation, has transmission system simplified, compact-sized, large carrying capacity is convenient for
The advantages that safeguarding, be energy-saving.The device can realize the continuous cast mold non-sinusoidal oscillation device of original electro-hydraulic servo driving
Almost all function, such as the online given and switching of non-sine or sinusoidal waveform, frequency, waveform deviation proportion change with casting speed
On-line automatic adjusting.
But the continuous cast mold non-sinusoidal oscillation control system of existing servomotor driving is typically one and concentrates control
System processed uses a high-performance, expensive programmable controller to control Multi-strand Continuous Casting crystallizer as control core
It realizes non-sinusoidal oscillation, if a certain module breaks down in high performance programmable controller, all strands will be caused to stop work
Make, therefore, there are certain security risks for entire centralized control system.Such as：2016《Metallurgical automation》Magazine volume 40
6th phase P12-18 has published " the continuous cast mold non-sinusoidal oscillation control system of servomotor driving " text, and article discloses
One high-performance PLC+FM458 control system controls 8 servomotors to drive 8 stream caster knots by controlling 8 S120
Brilliant device realizes non-sinusoidal oscillation, and a certain module will influence the continuous casting of all streams once breaking down in PLC+FM458 control systems
Production；Also, the control section of this system includes the servo controller CU320 tri- in PLC+FM458 and drive control S120
Part, wherein S7-400PLC+FM458 are expensive.Therefore, although this centralized control system has, control accuracy is high, response is fast
The advantages of degree is soon and stability is good, but there are the deficiencies that certain security risk and cost is higher, structure is more complicated.
Utility model content
Deficiency existing for the continuous cast mold non-sinusoidal oscillation centralized control system driven for existing servomotor, this
Utility model provides a kind of continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving.
Technical solution adopted in the utility model is as follows：
A kind of continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving, monitors including host computer
System, n stream caster non-sinusoidal oscillation of mould control systems, host computer monitoring system and n stream caster mould non-sinusoidals
Vibration control system is connected by Industrial Ethernet, forms entire Distributed Control System, it is non-to the continuous cast mold of all streams just
Chord vibration situation is monitored in real time, and each stream caster non-sinusoidal oscillation of mould control system includes motion controller, watches
Take driver, servomotor, retarder, driving mechanism and continuous casting crystallizer vibration platform, continuous cast mold, detection continuous cast mold
The displacement sensor of vibration displacement, sensor interface module, casting speed extension input system；Wherein, host computer monitors
System is connected with the motion controller of n stream caster non-sinusoidal vibration systems by Industrial Ethernet, motion controller
Output control terminal is connected with the input control end of servo-driver, and the power supply that the output of servo-driver terminates to servomotor is defeated
Enter end, the internal encoder of servomotor is connected with the input terminal of motion controller, and displacement sensor passes through sensor interface mould
Continuous cast mold vibration displacement is fed back to motion controller by block, and the actual casting speed of each strand is expanded by casting speed
Exhibition input system is connected with motion controller；The non-sinusoidal oscillation of each stream caster crystallizer is individually controlled by respective motion controller
System, between each strand independently of each other, do not interfere with each other；Per first-class motion controller according to the casting speed of acquisition, calculate not
Corresponding continuous cast mold vibration frequency, waveform deviation proportion parameter with casting speed obtain continuous cast mold non-sinusoidal oscillation song
The corresponding servomotor of line it is expected tachometer value, and by servo-driver servomotor is controlled to be run by expectation rotating speed, and then drives
Dynamic continuous cast mold realizes non-sinusoidal oscillation.
Preferably, the motion controller for Siemens's Simotion motion controllers, Germany's KEB motion controllers,
ABB motion controllers, Mitsubishi's motion controller, Schneider motion controller, Rockwell motion controller, Bei Jialai movement controls
Any one in device processed, Delta motion controller, and it is servomotor motion controller.
Preferably, the casting speed extension input system includes power module, communication module, Analog input mModule,
It is communicated between each module by core bus, the actual casting speed signal of each strand is adopted by Analog input mModule
Collection, motion controller is sent to through communication module and fieldbus.
Preferably, the n value ranges are integer for 1~8, n.
Further, the driving mechanism is direct drive mechanism or indirect drive mechanism.
Preferably, the indirect drive mechanism includes eccentric shaft 5, linkage 6, shaker arm 10, and servomotor 1 is by subtracting
Fast device 3, eccentric shaft 5, linkage 6, shaker arm 10 driving continuous casting crystallizer vibration platform 7 and continuous cast mold 8 thereon indirectly
Realize non-sinusoidal oscillation (see Fig. 3, Fig. 4).
Preferably, the direct drive mechanism is eccentric shaft 5, linkage 6, i.e., without described in above-mentioned indirect drive mechanism
Shaker arm, servomotor 1 by retarder 3, eccentric shaft 5, linkage 6 directly drive continuous casting crystallizer vibration platform 7 and its
On continuous cast mold 8；Or servomotor directly drives continuous casting by mechanisms such as ball-screw, worm and gear, rack-and-pinion
Crystallizer.
Further, when servomotor 1 is using torque motor driving continuous cast mold oscillating load, can save at this time
Fall retarder 3.
Preferably, moral mark's non-sinusoidal oscillation shown in formula (1) may be employed in the non-sinusoidal oscillation waveform of continuous cast mold
Li Xian Kui non-sinusoidal oscillation wave functions shown in wave function or formula (2) etc..
S1(t)=hsin (ω t-Asin (ω t)) (1)
Wherein, formula (1) is moral mark's non-sinusoidal oscillation displacement wave function of moral mark company exploitation, and formula (2) is Li Xian
The Li Xian Kui non-sinusoidal oscillation displacement wave functions that professor Kui proposes, within one vibration period of crystallizer, corresponding crystallizer
Vibration displacement curve difference is as shown in Figure 6, Figure 7；The desired speed preset wave function of corresponding continuous cast mold non-sinusoidal oscillation
Respectively：
V1(t)=h ω (1-Acos (ω t)) cos (ω t-Asin (ω t)) (3)
In formula (1)-(2)：The π f/60 of ω=2 are eccentric axis angular rate,
For intermediate parameters, h is the amplitude of non-sinusoidal oscillation of mould (value range of unit mm, h are generally 0~8mm)；
Wherein：F be non-sinusoidal oscillation of mould frequency (unit beat/min, the value range of f are generally 0~300, can
With according to actual casting speed on-line control), calculation formula f=aVL+ b, wherein a, b be technological parameter, VL(m/min) it is drawing
Base speed；α is waveform deviation proportion, and value range is -0.4~+0.4, and as α=0, mold oscillation displacement curve is sine
Oscillating curve；Within one vibration period of crystallizer, corresponding mold oscillation rate curve difference is as shown in Figure 8, Figure 9.
Above two continuous cast mold non-sinusoidal oscillation displacement, the desired speed curves of the corresponding servomotor of velocity wave form
Rule is respectively：
In formula：I is the reduction ratio of retarder, within one vibration period of crystallizer, corresponding servomotor speed curves
Respectively as shown in Figure 10, Figure 11.The rotating speed side of the rotary speed direction of servomotor and servomotor when directly driving when driving indirectly
To on the contrary, being respectively：
Corresponding servomotor speed curves difference is as shown in Figure 12 and Figure 13.The corresponding motion controller of each strand
All comprising above-mentioned servomotor rotating speed mathematical model calculating and the desired displacement of continuous cast mold non-sinusoidal oscillation (or
Speed) mathematical model realization.
It is using advantageous effect caused by above-mentioned technical proposal：The continuous casting crystallining of the utility model servomotor driving
Device non-sinusoidal oscillation Distributed Control System with it is existing based on the centralized control system of high performance programmable controller compared with, due to
Former high performance programmable controller and multiple servo controllers, each motion controller list are substituted using multiple motion controllers
Solely control is per first-class continuous cast mold non-sinusoidal oscillation, between each stream independently of each other, do not interfere with each other, therefore, can effectively avoid
High performance programmable controller influences the situation of all strand productions due to wherein a certain module breaks down, and improves system
Safety and reliability, and have the advantages that at low cost, structure is simplified, debugging is convenient；The motion controller of each strand
By the actual casting speed of collection site, when casting speed changes, by changing servomotor given rotating speed, crystallization is realized
The frequency and waveform deviation proportion of device non-sinusoidal oscillation waveform change and adjust automatically with casting speed, it is ensured that strand high speed, height
Quality produces；Host computer monitoring system can monitor all stream caster non-sinusoidal oscillation of mould situations in real time, when wherein
When first-class control system breaks down, monitoring system can send alarm, and not interfere with the normal work of other strands.
The continuous cast mold non-sinusoidal oscillation Distributed Control System of this servomotor driving is beneficial to promote and apply on a large scale.
Description of the drawings
Fig. 1 is the continuous cast mold non-sinusoidal oscillation Distributed Control System overall construction drawing of servomotor driving,
Fig. 2 is that the connection of the casting speed of each strand in the utility model, extension input system, motion controller is closed
System's figure,
Fig. 3 is that the connection of the servomotor of each strand in the utility model, retarder, eccentric shaft, linkage is closed
System's figure,
Fig. 4 is eccentric shaft, linkage, shaker arm, continuous casting crystallizer vibration platform in the utility model indirect drive mechanism
And the annexation figure of continuous cast mold thereon,
Fig. 5 is in the utility model direct drive mechanism, eccentric shaft, linkage, continuous casting crystallizer vibration platform and thereon
Continuous cast mold annexation figure,
Fig. 6 is within one vibration period of crystallizer, desired moral mark non-sinusoidal oscillation displacement S1Curve,
Fig. 7 is within one vibration period of crystallizer, desired Li Xian Kuis non-sinusoidal oscillation displacement S2Curve,
Fig. 8 is within one vibration period of crystallizer, corresponding moral mark's non-sinusoidal oscillation displacement S1When desired crystallizer shake
Dynamic speed V1Curve,
Fig. 9 is within one vibration period of crystallizer, corresponding Li Xian Kui non-sinusoidal oscillation displacements S1When desired crystallizer shake
Dynamic speed V2Curve,
Figure 10 is within one vibration period of crystallizer, corresponding moral mark's non-sinusoidal oscillation displacement S1When desired servomotor
Rotating speed n1Curve,
Figure 11 is within one vibration period of crystallizer, corresponding Li Xian Kui non-sinusoidal oscillation displacements S1When desired servomotor
Rotating speed n2Curve,
Figure 12 corresponds to moral mark's non-sinusoidal oscillation displacement S during driving indirectly within one vibration period of crystallizer1When it is expected
Servomotor rotating speed n3Curve,
Figure 13 corresponds to Li Xian Kui non-sinusoidal oscillation displacements S during driving indirectly within one vibration period of crystallizer1When it is expected
Servomotor rotating speed n4Curve,
Wherein in Fig. 3, Fig. 4, Fig. 5,1. servomotors, 2. shaft couplings, 3. retarders, 4. shaft couplings, 5. eccentric shafts, 6.
Linkage, 7. continuous casting crystallizer vibration platforms, 8. continuous cast molds, 9. buffer springs, 10. shaker arms, 11 guiding mechanisms.
Specific embodiment
Embodiment：
Certain steel mill's full arc shape small square billet continuous caster mould, 150*150 strands of casting, passes through host computer monitoring system
The type of continuous cast mold non-sinusoidal oscillation waveform can be selected, it is expected that displacement waveform can used by non-sinusoidal oscillation of mould
Select one kind in moral mark's non-sinusoidal oscillation waveform or Li Xian Kui non-sinusoidal oscillation waveforms.In this embodiment, continuous casting crystallining
Device Non-Sinusoidal Oscillation Amplitude h=4mm, waveform deviation proportion α=0.2, reduction ratio i=5, technological parameter a=43.67, b=36.33,
Casting speed VL=2.4m/min, by can be calculated vibration frequency f=141.14, parameter A=0.33, E=0.158.
Above-mentioned full curved billet is shaken using the continuous cast mold non-sine of the utility model servomotor driving
Dynamic Distributed Control System, as shown in Figure 1, it includes host computer monitoring system, the control of n stream casters non-sinusoidal oscillation of mould
System；Each stream caster mold oscillation control system includes motion controller, servo-driver, servomotor, retarder, drive
Motivation structure and continuous casting crystallizer vibration platform, continuous cast mold, displacement sensor, the sensor for detecting continuous cast mold vibration displacement
Interface module, casting speed extension input system；In this embodiment, using indirect drive mechanism (as shown in Figure 3, Figure 4), when
So, direct drive mechanism (as shown in Figure 5) can also be used, and n is 8, i.e. 8 stream casters.Motion controller uses Siemens
Simotion D425 motion controllers, host computer monitoring system use Wincc monitoring systems；Servomotor uses west gate
Sub- 1FT7108-5SC71 high-performance permanent magnets synchronous servo motor, rated speed nN=2000r/min, rated power P=
15.3KW；Displacement sensor uses MTS companies of U.S. digital displacement transducer, resolution ratio 0.001mm.Sensor interface mould
Block uses Siemens's external encoder interface module；It extends input system and uses Siemens ET200 distribution input systems.
The casting speed of each strand, casting speed extension input system, the company of motion controller in the utility model
Relational graph is connect as shown in Fig. 2, Siemens ET200 distributions input system includes power module, communication module, analog input mould
Block is communicated by core bus between each module.Casting speed and the Analog input mModule of ET200 distribution input systems are defeated
Enter end to be connected, communication module and the Simotion D425 motion controllers of ET200 distribution input systems pass through Profibus
DP fieldbus is connected.The Analog input mModule that Simotion D425 motion controllers pass through ET200 distribution input systems
Collection site casting speed VL, as casting speed VLWhen changing, by calculating mold oscillation frequency f (calculation formula：F=
aVL+ b), switch servomotor given rotating speed, realize mold oscillation f with casting speed VLChange and adjust automatically.
In each strand of the utility model, servomotor 1, retarder 3, eccentric shaft 5, linkage 6, shaker arm 10 and
Continuous casting crystallizer vibration platform 7, continuous cast mold 8 annexation figure as shown in Figure 3, Figure 4, using indirect actuation structure.Servo
Motor desirably run by speed waveform rule, by the way that retarder 3 is driven to drive eccentric shaft 5, linkage 6 that shaker arm 10 is made to shake
It is dynamic, and then continuous casting crystallizer vibration platform 7 is driven to realize 8 non-sinusoidal oscillation of continuous cast mold.It is no shaker arm 10 shown in Fig. 5
Direct drive mechanism, driving principle is similar to indirect drive mechanism, and simply servomotor turns to opposite.Certainly, if servo is electric
When machine 1 is using running torque load moment motor, retarder 3 can be removed at this time.
Servomotor driving continuous cast mold non-sinusoidal oscillation Distributed Control System overall construction drawing as shown in Figure 1, on
Bit machine monitoring system (Wincc monitoring systems) is transported by the Simotion D425 in Industrial Ethernet and 8 flow control systems
Movement controller is connected, and is communicated using OPC and carries out data communication；The Simotion D425 motion controllers of each strand it is defeated
Go out control terminal with the input control end of Siemens Servo driver to be connected, the output of Siemens Servo driver terminates to servo electricity
The power input of machine, servomotor internal encoder are connected with the input terminal of Simotion D425 motion controllers, MTS
Displacement sensor by sensor interface module by mold oscillation Displacement Feedback to Simotion D425 motion controllers, pass through
The Analog input mModule of ET200 distribution input systems gathers actual casting speed VL, and calculate different casting speed VLIt is corresponding
Mold oscillation frequency f, obtain the corresponding servomotor of continuous cast mold non-sinusoidal oscillation curve and it is expected tachometer value such as formula (7)Or formula (8)(in one vibration of crystallizer
In cycle, corresponding servomotor speed curves are as shown in Figure 12 and Figure 13), realize the non-sinusoidal oscillation of continuous cast mold, continuous casting
The desired non-sinusoidal oscillation displacement of crystallizer such as formula (1) S1(t)=hsin (ω t-Asin (ω t)) or formula (2)(within one vibration period of crystallizer, corresponding mold oscillation displacement curve
Respectively as shown in Figure 6, Figure 7), corresponding continuous cast mold non-sinusoidal oscillation speed such as formula (3) V (t)=h ω (1-Acos (ω
T)) cos (ω t-Asin (ω t)) or formula (4)
(within one vibration period of crystallizer, corresponding mold oscillation rate curve difference is as shown in Figure 8, Figure 9).Host computer
Monitoring system (Wincc monitoring systems) monitors all stream caster non-sinusoidal oscillation of mould in real time.Simotion D425
Motion controller can individually control the corresponding continuous cast mold flowed to realize non-sinusoidal oscillation, when the fortune for detecting a wherein strand
When movement controller breaks down, Wincc monitoring systems can send alarm, and staff is prompted to be overhauled, and is not interfered with
The normal work of other strands.
Claims (8)
1. a kind of continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving, system is monitored including host computer
System, n stream caster non-sinusoidal oscillation of mould control systems, host computer monitoring system are shaken with n stream caster mould non-sinusoidals
Autocontrol system is connected by Industrial Ethernet, forms entire Distributed Control System, to the continuous cast mold non-sine of all streams
Vibration Condition is monitored in real time, it is characterised in that：Each stream caster non-sinusoidal oscillation of mould control system includes movement
Controller, servo-driver, servomotor, retarder, driving mechanism and continuous casting crystallizer vibration platform, continuous cast mold, detection
The displacement sensor of continuous cast mold vibration displacement, sensor interface module, casting speed extension input system；Wherein, it is upper
Computer supervisory control system is connected with the motion controller of n stream caster non-sinusoidal vibration systems by Industrial Ethernet, fortune
The output control terminal of movement controller is connected with the input control end of servo-driver, and the output of servo-driver terminates to servo electricity
The power input of machine, the internal encoder of servomotor are connected with the input terminal of motion controller, and displacement sensor passes through biography
Continuous cast mold vibration displacement is fed back to motion controller by sensor interface module, and the actual casting speed of each strand passes through
Casting speed extension input system is connected with motion controller；The non-sinusoidal oscillation of each stream caster crystallizer is controlled by respective movement
Device processed individually controls, between each strand independently of each other, do not interfere with each other；Per first-class motion controller according to the throwing speed of acquisition
Degree calculates the corresponding continuous cast mold vibration frequency of different casting speeds, waveform deviation proportion parameter, it is non-just to obtain continuous cast mold
The corresponding servomotor of Chord vibration curve it is expected tachometer value, and by servo-driver servomotor is controlled to be transported by expectation rotating speed
Row, and then continuous cast mold is driven to realize non-sinusoidal oscillation.
2. a kind of continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving according to claim 1,
It is characterized in that：The motion controller is Siemens's Simotion motion controllers, Germany's KEB motion controllers, ABB fortune
Movement controller, Mitsubishi's motion controller, Schneider motion controller, Rockwell motion controller, Bei Jialai motion controllers,
Any one in Delta motion controller, and it is servomotor motion controller.
3. a kind of continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving according to claim 1,
It is characterized in that：The casting speed extension input system includes power module, communication module, Analog input mModule, each mould
It is communicated between block by core bus, the actual casting speed signal of each strand is gathered by Analog input mModule, warp
Communication module and fieldbus send motion controller to.
4. a kind of continuous cast mold non-sinusoidal oscillation of servomotor driving according to any one of claim 1-3 is collecting and distributing
Control system, it is characterised in that：The n value ranges are integer for 1~8, n.
5. a kind of continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving according to claim 4,
It is characterized in that：The driving mechanism is direct drive mechanism or indirect drive mechanism.
6. a kind of continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving according to claim 5,
It is characterized in that：The indirect drive mechanism includes eccentric shaft (5), linkage (6), shaker arm (10), and servomotor (1) is logical
It crosses retarder (3), eccentric shaft (5), linkage (6), shaker arm (10) and drives continuous casting crystallizer vibration platform (7) and thereon indirectly
Continuous cast mold (8) realize non-sinusoidal oscillation.
7. a kind of continuous cast mold non-sinusoidal oscillation Distributed Control System of servomotor driving according to claim 5,
It is characterized in that：The direct drive mechanism is eccentric shaft (5), linkage (6), i.e. vibration described in claims 6
Arm, servomotor (1) directly drive continuous casting crystallizer vibration platform (7) by retarder (3), eccentric shaft (5), linkage (6)
And continuous cast mold (8) thereon；Or servomotor is directly driven by mechanisms such as ball-screw, worm and gear, rack-and-pinion
Dynamic continuous cast mold.
It is 8. collecting and distributing according to the continuous cast mold non-sinusoidal oscillation that claim 1, a kind of servomotor of 5-7 any one of them drive
Control system, it is characterised in that：When servomotor (1) is using torque motor driving continuous cast mold oscillating load, go at this time
Fall retarder (3).
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