CN110328357B - Molten steel pouring control method and pouring truck - Google Patents
Molten steel pouring control method and pouring truck Download PDFInfo
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- CN110328357B CN110328357B CN201910773606.1A CN201910773606A CN110328357B CN 110328357 B CN110328357 B CN 110328357B CN 201910773606 A CN201910773606 A CN 201910773606A CN 110328357 B CN110328357 B CN 110328357B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 101
- 239000010959 steel Substances 0.000 title claims abstract description 101
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000005266 casting Methods 0.000 claims description 60
- 230000001276 controlling effect Effects 0.000 claims description 22
- 230000008569 process Effects 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 18
- 238000005303 weighing Methods 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000004044 response Effects 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 2
- 208000006011 Stroke Diseases 0.000 claims 4
- 239000003921 oil Substances 0.000 claims 3
- 239000010720 hydraulic oil Substances 0.000 claims 2
- 230000001351 cycling effect Effects 0.000 claims 1
- 235000003642 hunger Nutrition 0.000 claims 1
- 230000037351 starvation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
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- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- 238000010079 rubber tapping Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D37/00—Controlling or regulating the pouring of molten metal from a casting melt-holding vessel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
- B22D41/12—Travelling ladles or similar containers; Cars for ladles
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- Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
Abstract
The embodiment of the invention discloses a molten steel pouring control method and a pouring vehicle, wherein the average pouring speed in an actual timing period is compared with an ideal average pouring speed to obtain positive and negative speed deviation; comparing the actual speed absolute deviation with the ideal speed absolute deviation to obtain positive and negative speed deviation; acquiring a quality value at the end of the actual timing period as a quality end value, and acquiring a quality value at the beginning of the actual timing period as a quality initial value; the opening and closing of the ladle opening are adjusted in real time according to the speed deviation, and the actual flow rate of molten steel is controlled; according to the deviation of the speed deviation, the opening and closing of the ladle opening are adjusted, and the real-time molten steel pouring speed is controlled; and controlling the total pouring weight of the molten steel according to the difference value between the quality end value and the quality initial value.
Description
Technical Field
The invention relates to the field of metallurgy, in particular to a molten steel pouring control method and a pouring truck.
Background
In the traditional molten steel pouring process, after the molten steel operation is finished at a tapping station, a ladle and the molten steel are lifted to a proper position through a travelling crane, then the ladle is transported to a pouring station through a low-rail transfer ladle car, and then the pouring station is lifted and poured through a metallurgical crane, so that the process is complex and complicated, more manpower and material resources are occupied, and the production is not convenient and safe. In the new steel casting process, in order to ensure good quality of casting products, more and more strict requirements are imposed on casting weight, time and safety, based on the process requirements, a molten steel casting vehicle is developed, and the molten steel casting is controlled intelligently, so that the whole process of casting is realized fully automatically, and remote detection, control and operation can be realized.
Disclosure of Invention
The embodiment of the invention provides a molten steel pouring control method and a pouring truck, which can realize intelligent control and accurate pouring.
The embodiment of the invention adopts the following technical scheme:
A molten steel pouring control method comprising:
comparing the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviation;
Comparing the actual speed absolute deviation with the ideal speed absolute deviation to obtain positive and negative speed deviation;
Acquiring a quality value at the end of the actual timing period as a quality end value, and acquiring a quality value at the beginning of the actual timing period as a quality initial value;
The opening and closing of the ladle opening are adjusted in real time according to the speed deviation, and the actual flow rate of molten steel is controlled; the opening and closing of a ladle opening are adjusted according to the positive and negative deviation of the speed deviation, and the real-time molten steel pouring speed is controlled; and controlling the total pouring weight of the molten steel according to the difference value between the quality end value and the quality initial value.
A casting vehicle comprising:
the first module is used for comparing the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviation;
the second module is used for comparing the actual speed absolute deviation with the ideal speed absolute deviation to obtain positive and negative speed deviation;
The third module is used for obtaining the quality value at the end of the actual timing period as a quality end value and obtaining the quality value at the beginning of the actual timing period as a quality initial value;
A fourth module for adjusting the opening and closing of the ladle opening in real time according to the speed deviation and controlling the actual flow rate of the molten steel; according to the deviation of the speed deviation, the opening and closing of the ladle opening are adjusted, and the real-time molten steel pouring speed is controlled; and controlling the total pouring weight of the molten steel according to the difference value between the quality end value and the quality initial value.
The molten steel pouring control method and the pouring truck provided by the embodiment of the invention are used for comparing the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviations, comparing the absolute actual speed deviation with the absolute ideal speed deviation to obtain positive and negative speed deviations, obtaining the quality value at the end of the actual timing period as a quality end value, obtaining the quality value at the beginning of the actual timing period as a quality initial value, adjusting the opening and closing of a ladle opening in real time according to the speed deviation, controlling the actual flow rate of molten steel, adjusting the opening and closing of the ladle opening according to the deviation of the speed deviation, controlling the real-time molten steel pouring speed, and controlling the total pouring weight of molten steel according to the difference between the quality end value and the quality initial value. Thereby realizing intelligent control and accurate pouring.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of a molten steel pouring control method according to an embodiment of the present invention;
FIG. 2 is a control flow diagram illustrating an embodiment of the present invention;
FIG. 3 is a qualitative plot of the variation of the casting quality shown in an embodiment of the present invention;
FIG. 4 is a qualitative plot of casting speed variation shown in an embodiment of the present invention;
fig. 5 is a schematic diagram of a ladle opening and closing control principle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
The embodiment of the invention provides a molten steel pouring control method, which comprises the following steps:
11. Comparing the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviation;
12. Comparing the actual speed absolute deviation with the ideal speed absolute deviation to obtain positive and negative speed deviation;
13. Acquiring a quality value at the end of the actual timing period as a quality end value, and acquiring a quality value at the beginning of the actual timing period as a quality initial value;
in one embodiment, starting timing from the time t1, wherein the mass obtained by the weighing system is m1 and is taken as an initial value; when the mass obtained by the weighing system at the time T2 is m2, the mass end value is taken as a timing period T=t2-T1, and the description in the formula (12) is specifically given.
14. The opening and closing of the ladle opening are adjusted in real time according to the speed deviation, and the actual flow rate of molten steel is controlled; the opening and closing of a ladle opening are adjusted according to the positive and negative deviation of the speed deviation, and the real-time molten steel pouring speed is controlled; and controlling the total pouring weight of the molten steel according to the difference value between the quality end value and the quality initial value.
In one embodiment, the end-of-mass value refers to the mass mi obtained by the weighing scale at any one time, and the initial value refers to the mass m0 obtained by the weighing scale at the time of the initial casting, i.e., at t=0. Specific calculation formulas of the mass required for pouring (i.e., the total pouring weight of molten steel) are shown in the description of (2), and formulas (15), (16).
Optionally, according to the pouring speed when the net molten steel weight is poured and set in the actual timing period, determining the average pouring speed required by pouring the net molten steel weight in the actual timing period as the ideal average pouring speed, and determining the absolute deviation of the ideal speed required by pouring the net molten steel weight in the actual timing period.
Optionally, determining the average pouring speed in the actual timing period according to the quality end value and the quality initial value, and obtaining the absolute deviation of the actual speed.
Optionally, the positive and negative speed deviation is an absolute difference between the average casting speed and the ideal average casting speed.
Optionally, the positive and negative deviations of the speed deviation are absolute differences between the actual speed absolute deviation and the ideal speed absolute deviation.
Specifically, how to obtain the absolute deviation of the actual speed can be seen in formula (13).
Optionally, controlling the total pouring weight of the molten steel according to the difference between the end value of the mass and the initial value of the mass comprises:
Judging whether the molten steel quality variation in the actual timing period is zero or not, namely judging whether the actual average flow velocity of molten steel in the actual timing period is zero or not;
If zero, then consider that there is some kind of fault; and if the speed deviation is not zero, determining the opening and closing of the ladle opening by taking the positive and negative deviation of the speed deviation as a reference.
Optionally, pouring through the opening when the deviation of the speed deviation is negative or zero; if the deviation of the speed deviation is positive, returning to determine the opening and closing of the ladle opening through the positive and negative deviation of the speed; when the speed deviation is positive, the ladle opening is reduced; when the speed deviation is negative, determining the opening and closing of the ladle opening according to the comparison between the actual average flow speed and the ideal speed lower limit value; when the difference value between the actual average flow rate and the ideal speed lower limit value is positive, the opening is used for normal casting; when the difference between the actual average flow rate and the ideal speed lower limit is negative, a fault exists.
Optionally, an open-loop control hydraulic system is arranged, and the opening and the closing of the ladle opening are controlled by stepless speed regulation of the open-loop control hydraulic system.
The molten steel pouring control method provided by the embodiment of the invention compares the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviations, compares the actual speed absolute deviation with the ideal speed absolute deviation to obtain positive and negative speed deviations, obtains the quality value at the end of the actual timing period as a quality end value, obtains the quality value at the beginning of the actual timing period as a quality initial value, adjusts the opening and closing of a ladle opening in real time according to the speed deviation, controls the actual flow rate of molten steel, adjusts the opening and closing of the ladle opening according to the positive and negative speed deviations, controls the real-time molten steel pouring speed, and controls the total pouring weight of molten steel according to the difference between the quality end value and the quality initial value. Thereby realizing intelligent control and accurate pouring.
The following describes in detail the molten steel pouring control method according to the embodiment of the present invention with reference to examples.
The ladle steel gate of a certain steel plant controls the hydraulic cylinder through an open-loop electric proportional control system, so as to control the opening of the ladle steel gate to adjust the pouring speed. The casting objects are divided into ingot body casting and cap opening casting, the ingot body and the cap opening are continuously carried out, and the casting quantity is distributed in proportion to the casting height. The total weight of the ladle and the molten steel is recorded in real time by adopting a high-precision weighing system, and the weight is 0.000kg.
The ladle opening control flow is shown in fig. 2, wherein: k is the idle run and the other symbol definitions are shown in table 1. When the oil cylinder runs from I to II, namely the effective stroke is Li, the ingot body is poured by Li openings. Li was adjusted to the appropriate value when the cap was poured.
Assume that the casting quantity of the casting object is DeltaM (kg) and the casting time is Deltat(s). The physical quantity determined by the method needs to be controlled, namely the ideal average pouring speed:
the casting object and control related basic parameters are shown in table 1.
TABLE 1
According to the pouring control flow, theoretical pouring curves can be drawn as shown in fig. 3 and 4. In fig. 3: the curve a is the change rule of molten steel mass in the ladle, the curve b is the change rule of the mass of the poured object, and the mass change amounts of the curve a and the curve b in any time period are equal according to the mass conservation. M0 is the initial weight, namely the total weight of the ladle and the molten steel, M1 is the total weight of the ladle and the molten steel when the casting of the ingot body is completed, and M2 is the total weight of the ladle and the molten steel when the casting of the cap opening is completed. In fig. 3 and 4, the time period description is shown in table 2.
TABLE 2
From fig. 3 and 4, it can be seen that, according to the law of mass and time continuity:
ΔM＝ΔM1+ΔM2＝(M0-M1)+(M1-M2)＝M0-M2 (2)
Δt1＝t2-t1 (3)
Δt2＝t3-t2 (4)
Wherein:
M0＝M+Mi (5)
According to the analysis formula, the physical quantity in the whole pouring process is a function of time, so that ideal average pouring time can be defined as a reference value, further a speed reference value required by pouring can be obtained, and then the speed is compensated by ladle opening compensation. The control equation is derived from the ingot casting, the cap speed is the same as that of the ingot, and the initial stage, the transition stage and the ending stage are described.
And (3) casting the ingot body for ideal time:
and (3) casting an ideal mass of the ingot body:
the ideal speed of ingot body casting can be obtained by the steps (6) and (7):
Ideal speed of ingot body when pouring in shortest time T 1min:
Ideal speed of ingot body casting at maximum time T 1max:
the ideal speed deviation of ingot body casting can be obtained by the steps (9) and (10):
The actual weight is based on the electronic weighing system read weight, the time is started with t0=0, and the time period T is set, assuming that the electronic weighing read weight is m i (i=0, 1,2 … …) at any time. The actual average flow rate in any timing period T is:
the absolute deviation of the speeds obtained from (8), (12) is:
(1) If it is And when the ladle opening is not opened, or no molten steel exists in the ladle, or the ladle opening is blocked.
(2) If it isAnd judging in two cases.
(A) If delta Ti≤δv1 is adopted, the ladle opening is used for pouring through the opening.
(B) If delta Ti＞δv1, two other conditions are determined.
(B1) If it isWhen the speed is too high, the ladle mouth needs to be regulated down.
B2 If any)When the speed is too slow, the ladle opening needs to be enlarged.
For the (b 2) operating mode, the situation is more complicated. On the one hand, since delta Ti is an absolute deviation, the actual speed cannot be reflected; on the other hand, whether the ladle mouth has an adjustable large space, whether the ladle is sufficient in molten steel allowance or not, and the like, and the two working conditions are analyzed after judging.
(I)And when the method is used, no treatment is performed. At this time, whether the molten steel is insufficient or not, the ladle opening is completely opened or not, and the casting requirement is met.
(II)When in use, the early warning prompt is as follows: insufficient ladle steel or other factors influence the flow rate (such as blockage of a ladle opening, whether a cylinder ladle control oil cylinder does not act, and the like).
The above judgment and analysis process is shown in fig. 2.
Cap pouring initiation point t3 is calculated as follows, when: m i＝M1, namely:
At this time, the ingot body casting is completed, and the cap casting is started. The ladle opening is quickly closed, the opening degree of the ladle opening is regulated, and the regulating and judging process is the same with the spindle flow speed control principle. When: m i＝M2, namely:
ΔM＝M0-mi (15)
At this time, pouring is completed completely, and the ladle opening is closed rapidly.
In practice, due to the time delay and the closing response process, a part of the mass flows into the body to be poured during the closing. Assuming that this partial mass is M k, the mass compensation is operable as follows. When the delta M meets the following formula, the ladle opening can be started to be closed.
ΔM＝M0-mi-Mk (16)
From the flow equation and the mass equation, it can be seen that: m k is related to the opening degree and closing response time of the ladle opening. In practice, the value of M k can be given according to theoretical calculation, and then corrected by the actual casting test.
The patent emphasis is to control the pouring speed and the speed deviation compensation, and the determination of the change rule of proportional valve voltage, the specific power-on time and the M k value is calculated according to the fluid mechanics and the related modeling analysis, and is not in the scope of the patent.
The reference value is first determined. From table 1, it can be obtained from formulas (6) to (11):
next, a timing point is determined. And controlling the power-on starting time of the proportional valve of the ladle port oil cylinder to be t0=0 point, and timing period T=0.5 s. The value of m i in the time from n=0 to n=11 is shown in lines 3 and 10 of Table 3, and can be obtained from (12) and (13) And delta Ti, see second, third row of table 3.
TABLE 3 Table 3
When n=4, for the first timeFrom this, it was determined that the molten steel began to flow out. When n=10, namely, when T 2 =10t=5s, ladle opening correction is completed, and the molten steel is stably poured. The open-close control schematic diagram of the ladle opening is shown in fig. 5.
The judgment flow in the calculation process is shown in fig. 2, and specifically is as follows: (1) When (when)And when the ladle opening is continuously opened, and the conditions of n=1 to 3 in the table are as above. (2) When/>And δ Ti≤δv1, casting is stabilized, the conditions of n=9 or 10 in the above table. (3) When/>And delta Ti＞δv1,/>When the ladle opening is enlarged, the conditions of n=4 to 8 in the table are as above. (4) When (when)And delta Ti＞δv1,/>At this time, the ladle opening was narrowed down, and the condition of n=11 in the above table was satisfied.
In (3), the speed is determinedVariation of/>Whether or not it is 0. If/>The cycle continues until the casting conditions are met. If/>Then the two cases are handled. (a) /(I)And when the method is used, no treatment is performed. (b) /(I)And (5) early warning prompt.
According to formulas (14) and (15), when the ingot body is poured into the ingot according to the process m i = 45471.428, the ingot body is poured, the cap opening starts to be poured, the ladle opening is reduced, and the ingot body is judged to be the same in process and method. If M k =6, when M i =41994, the ladle opening starts to be closed according to the formula (16), and the pouring process is completed.
The molten steel pouring control method provided by the embodiment of the invention compares the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviations, compares the actual speed absolute deviation with the ideal speed absolute deviation to obtain positive and negative speed deviation, obtains the quality value at the end of the actual timing period as a quality end value, obtains the quality value at the beginning of the actual timing period as a quality initial value, adjusts the opening and closing of a ladle opening in real time according to the speed deviation, controls the actual flow rate of molten steel, adjusts the opening and closing of the ladle opening according to the deviation of the speed deviation, controls the real-time molten steel pouring speed, and controls the total pouring weight of molten steel according to the difference between the quality end value and the quality initial value. Thereby realizing intelligent control and accurate pouring.
The embodiment of the invention provides a pouring truck, which comprises:
the first module is used for comparing the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviation;
the second module is used for comparing the actual speed absolute deviation with the ideal speed absolute deviation to obtain positive and negative speed deviation;
The third module is used for obtaining the quality value at the end of the actual timing period as a quality end value and obtaining the quality value at the beginning of the actual timing period as a quality initial value;
A fourth module for adjusting the opening and closing of the ladle opening in real time according to the speed deviation and controlling the actual flow rate of the molten steel; according to the deviation of the speed deviation, the opening and closing of the ladle opening are adjusted, and the real-time molten steel pouring speed is controlled; and controlling the total pouring weight of the molten steel according to the difference value between the quality end value and the quality initial value.
According to the pouring speed when the net molten steel weight is poured and set in the actual timing period, determining the average pouring speed required by the net molten steel weight to be poured and set in the actual timing period as the ideal average pouring speed, and determining the ideal absolute deviation of the speed required by the net molten steel weight to be poured and set in the actual timing period;
According to the quality end value and the quality initial value, determining the average pouring speed in an actual timing period, and obtaining the absolute deviation of the actual speed;
the positive and negative speed deviation is the absolute difference value between the average pouring speed and the ideal average pouring speed;
the positive and negative deviations of the speed deviation are absolute differences between the actual speed absolute deviation and the ideal speed absolute deviation;
And controlling the total pouring weight of the molten steel according to the difference value between the quality end value and the quality initial value, wherein the controlling comprises the following steps: judging whether the molten steel quality variation in the actual timing period is zero or not, namely judging whether the actual average flow velocity of molten steel in the actual timing period is zero or not; if zero, then consider that there is some kind of fault; if the speed deviation is not zero, determining the opening and closing of the ladle opening by taking the positive and negative deviation of the speed deviation as a reference;
Pouring through the opening when the deviation of the speed deviation is negative or zero; if the deviation of the speed deviation is positive, returning to determine the opening and closing of the ladle opening through the positive and negative deviation of the speed; when the speed deviation is positive, the ladle opening is reduced; when the speed deviation is negative, determining the opening and closing of the ladle opening according to the comparison between the actual average flow speed and the ideal speed lower limit value; when the difference value between the actual average flow rate and the ideal speed lower limit value is positive, the opening is used for normal casting; when the difference value between the actual average flow rate and the ideal speed lower limit value is negative, a fault exists;
an open-loop control hydraulic system is arranged, and the opening and the closing of the ladle opening are controlled through stepless speed regulation of the open-loop control hydraulic system.
The pouring truck provided by the embodiment of the invention is used for comparing the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviations, comparing the absolute actual speed deviation with the absolute ideal speed deviation to obtain positive and negative speed deviations, obtaining the quality value at the end of the actual timing period as a quality end value, obtaining the quality value at the beginning of the actual timing period as a quality initial value, regulating the opening and closing of a ladle opening in real time according to the speed deviation, controlling the actual flow rate of molten steel, regulating the opening and closing of the ladle opening according to the deviation of the speed deviation, controlling the real-time molten steel pouring speed, and controlling the total pouring weight of molten steel according to the difference between the quality end value and the quality initial value. Thereby realizing intelligent control and accurate pouring.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains.
Claims (3)
1. The molten steel pouring control method is characterized in that an open-loop electric proportional control system is used for controlling a hydraulic oil cylinder to further control the opening of a molten steel outlet of a steel ladle to adjust the pouring speed, and the method is characterized in that: the casting objects are divided into ingot body casting and cap opening casting, the ingot body and the cap opening are continuously carried out, and casting quantity is distributed in proportion to casting height; a high-precision weighing system is adopted, the total weight of the ladle and the molten steel is recorded in real time, and the weight is displayed as 0.000kg;
Pouring parameters of ladle opening control flow: casting quantity delta M, the parameter is 18t; the maximum allowable time T 1max for ingot casting is 505s; the minimum allowable time T 1min for ingot casting is 355s; the maximum allowable time T 2max for pouring the cap opening is 355s; the pouring of the cap opening is allowed to be carried out for a shortest time T 2min, and the parameter is 235s; the spindle body height H 1 is 1130mm, and the cap opening height H 2 is 270mm; ladle parameters: the B parameter of the ladle opening is phi 50mm; the idle stroke k parameter is 30; the weight M parameter of the empty ladle is 10000kg; parameters of the oil cylinder: the cylinder diameter D parameter is 40mm; the diameter d parameter of the rod is 25mm; the stroke L parameter is 110mm; in the hydraulic system: the Q parameter of the rated flow is 30L/min; rated pressure P is 2MPa; proportional valve parameters: the parameters of the control voltage U i are DC 0-10V; molten steel parameters: the flow characteristic Q i parameter is 0-20L/min; the weight M i units of molten steel is kg;
when the hydraulic oil cylinder runs from I to II, namely the effective stroke is Li, the ingot body is poured by an Li opening; when the cap opening is poured, li is adjusted to a proper value;
let the pouring quantity of the poured object be deltaM, the unit is kg, and the pouring time be deltat, the unit is s, the physical quantity is determined by the pouring time to be controlled, namely the ideal average pouring speed:
The molten steel mass and the poured object mass have the same mass change amount in any time period, namely conservation of mass; setting: m0 is the initial weight, namely the total weight of the ladle and the molten steel, M1 is the total weight of the ladle and the molten steel when the casting of the ingot body is completed, and M2 is the total weight of the ladle and the molten steel when the casting of the cap opening is completed; the time period of 0-t 1 is an idle stroke stage, and the device is quickly opened; the time period from t1 to t2 is the initial stage, the molten steel starts to flow out to the ladle opening degree to be adjusted to the proper Li for ingot body pouring, the ingot body starts to be poured at the moment of t1, and the calculation and compensation processes are carried out; the time period from t2 to t3 is the stable casting stage of the ingot body; the time period from t3 to t4 is a transition stage, the opening of the ladle opening is regulated to be suitable for pouring Li at the cap opening, and the cap opening is started to be poured at the moment of t3, so that calculation and compensation processes are carried out; the time period from t4 to t5 is a cap opening stable pouring stage, and the time period from t5 to t6 is a closing stage, so that the cap opening stable pouring stage is quickly closed;
According to the law of mass and time continuity:
ΔM＝ΔM1+ΔM2＝(M0-M1)+(M1-M2)＝M0-M2 (2)
Δt1＝t3-t1 (3)
Δt2＝t3-t3 (4)
Wherein:
Mo＝M+Mi (5)
according to an analysis formula, the physical quantity in the whole pouring process is a function of time, so that ideal average pouring time can be defined as a reference value, further a speed reference value required by pouring can be obtained, and then the speed is compensated by ladle opening compensation; the control equation is derived in the ingot body pouring process, the cap opening speed control is the same as that of the ingot body, and the initial stage, the transition stage and the ending stage are described in addition;
And (3) casting the ingot body for ideal time:
and (3) casting an ideal mass of the ingot body:
the ideal speed of ingot body casting can be obtained by the formulas (6) and (7):
Ideal speed of ingot body when pouring in shortest time T 1min:
Ideal speed of ingot body casting at maximum time T 1max:
the ideal speed deviation of ingot body casting can be obtained by the formulas (9) and (10):
The actual weight is based on the weight read by the electronic weighing system, the time is started by t0=0, the time period T is set, the electronic weighing weight read at any time is m i, i=0, 1 and 2 … …, and the actual average flow rate in any time period T is as follows:
the absolute deviation of the speeds obtainable from equations (8), (12) is:
<1> if When the ladle is opened, the ladle opening is not opened, or no molten steel exists in the ladle, or the ladle opening is blocked;
<2> if At this time, two cases are judged:
<2-a > if delta Ti≤δv1, pouring the ladle opening through the opening;
<2-b > if δ Ti＞δv1, two other conditions are determined:
<2-b-1> if When the speed is too high, the ladle opening needs to be regulated down;
<2-b-2> if When the speed is too slow, the ladle opening needs to be enlarged;
For the <2-b-2> working condition, on the one hand, the actual speed cannot be reflected because delta Ti is an absolute deviation; on the other hand, whether the ladle opening has an adjustable large space, whether the molten steel allowance is sufficient in the ladle, and the like, and the ladle opening needs to be judged, and two working condition analysis are performed:
<2-b-2-I> when the ladle is not treated, no matter the molten steel is insufficient, whether the ladle opening is completely opened or not can meet the casting requirement;
<2-b-2-II> when in use, the early warning prompt is as follows: ladle starvation or other factors affecting flow rate include: the ladle opening is blocked, and the ladle controls whether the oil cylinder does not act;
the initial point t3 of pouring the cap opening is calculated as follows:
When: m i＝M1, namely:
At this time, the ingot body is poured, and the cap opening pouring is started; the ladle opening is quickly closed, the opening of the ladle opening is regulated, and the flow speed of the ingot body is controlled in the regulating and judging process;
when: m i＝M2, namely:
ΔM＝M0-mi (15)
at this time, pouring is completed completely, and the ladle opening is closed rapidly;
In practice, due to the time delay and the closing response process, a part of the mass flows into the body to be poured during the closing, this part of mass being set to M k, the mass compensation is performed as follows:
When the delta M meets the following formula, the ladle opening can be closed:
ΔM＝M0-mi-Mk (16)
From the flow equation and the mass equation, it can be seen that: m k is related to the opening degree and closing response time of the ladle opening;
first, a reference value is determined, and the reference value is obtained by the formulas (6) to (11):
ΔM1＝14528.5714，/>δv1＝6.0718
Secondly, determining a timing point: the proportional valve power-on starting time of the ladle port oil cylinder is controlled to be t0=0 point, the timing period T=0.5 s is controlled, and the value of m i is obtained by the following formulas (12) and (13) from n=0 to n=11 And delta Ti:
When the counting point n=0, the period T has no value, the time Ti has no value, the mass mi has a value 60000.000, the mass change amount |mi+1-mi| has no value, the actual flow rate is 0, the reference speed is 33.7874, and the speed deviation delta_Ti is-33.7874;
When the counting point n=1, the period T value is 0.5, the time Ti is 0.5, the mass mi value is 60000.000, the mass change amount |mi+1-mi| is 0.000, the actual flow rate is 0, the reference speed is 33.7874, and the speed deviation delta_ti is-33.7874;
When the counting point n=2, the period T value is 0.5, the time Ti is 1, the mass mi value is 60000.000, the mass change amount |mi+1-mi| is 0.000, the actual flow rate is 0, the reference speed is 33.7874, and the speed deviation delta_ti is-33.7874;
When the counting point n=3, the period T value is 0.5, the time Ti is 1.5, the mass mi value is 60000.000, the mass change amount |mi+1-mi| is 0.000, the actual flow rate is 0, the reference speed is 33.7874, and the speed deviation delta_ti is-33.7874;
when the counting point n=4, the period T value is 0.5, the time Ti is 2, the mass mi value is 59998.160, the mass change amount |mi+1-mi| is 1.8397, the actual flow rate is 3.6794, the reference speed is 33.7874, and the speed deviation delta_ti is-30.108;
when the counting point n=5, the period T value is 0.5, the time Ti is 2.5, the mass mi value is 59993.812, the mass change amount |mi+1-mi| is 4.3487, the actual flow rate is 8.6974, the reference speed is 33.7874, and the speed deviation delta_ti is-25.09;
when the counting point n=6, the period T value is 0.5, the time Ti is 3, the mass mi value is 59986.954, the mass change amount |mi+1-mi| is 6.8577, the actual flow rate is 13.7154, the reference speed is 33.7874, and the speed deviation delta_ti is-20.072;
When the counting point n=7, the period T value is 0.5, the time Ti is 3.5, the mass mi value is 59977.587, the mass change amount |mi+1-mi| is 9.3667, the actual flow rate is 18.7334, the reference speed is 33.7874, and the speed deviation delta_ti is-15.054;
When the counting point n=8, the period T value is 0.5, the time Ti is 4, the mass mi value is 59965.712, the mass change amount |mi+1-mi| is 11.8757, the actual flow rate is 23.7514, the reference speed is 33.7874, and the speed deviation delta_ti is-10.036;
When the counting point n=9, the period T value is 0.5, the time Ti is 4.5, the mass mi value is 59951.327, the mass change amount |mi+1-mi| is 14.3847, the actual flow rate is 28.7694, the reference speed is 33.7874, and the speed deviation delta_ti is-5.018;
When the counting point n=10, the period T value is 0.5, the time Ti is 5, the mass mi value is 59934.433, the mass change amount |mi+1-mi| is 16.8937, the actual flow rate is 33.7874, the reference speed is 33.7874, and the speed deviation delta_ti is 0;
When the counting point n=11, the period T value is 0.5, the time Ti is 5.5, the mass mi value is 59913.970, the mass change amount |mi+1-mi| is 20.4628, the actual flow rate is 40.9256, the reference speed is 33.7874, and the speed deviation delta_ti is 6.1382;
when the counting point n=6, the period T value is 0.5, the time Ti is 3, the mass mi value is 59986.954, the mass change amount |mi+1-mi| is 6.8577, the actual flow rate is 13.7154, the reference speed is 33.7874, and the speed deviation delta_ti is-20.072;
When n=4, for the first time Determining that molten steel begins to flow out; when n=10, namely T 2 =10t=5s, ladle opening correction is completed, and the molten steel is stably poured;
the judgment flow in the calculation process is specifically as follows:
【1】 When (when) When the ladle opening is opened continuously, the conditions of n=1 to 3 are seen;
【2】 When (when) And δ Ti≤δv1, stable casting, see the above conditions n=9 or 10;
【3】 When (when) And delta Ti＞δv1/>When the ladle opening is enlarged, the conditions of n=4 to 8 are seen;
【4】 When (when) And delta Ti＞δv1/>When the ladle opening is small, the condition of n=11 is seen;
In the above case [ 3 ], the speed needs to be determined Variation of/>Whether or not it is: if/>Continuously cycling until the casting condition is met; if/>Then two cases are handled; [ 3-a ]/>When the method is used, no treatment is carried out; [ 3-b ]Early warning prompt;
According to formulas (14) and (15), when the ingot body is poured into m i = 45471.428 according to the process, the ingot body is poured, a cap opening starts to be poured, a ladle opening is reduced, and the ingot body is judged to be the same as the ingot body in the process and method; setting M k =6, and according to the formula (16), when M i =41994, closing the ladle opening, so that the pouring process is finished;
comparing the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviation;
Comparing the actual speed absolute deviation with the ideal speed absolute deviation to obtain positive and negative speed deviation;
Acquiring a quality value at the end of the actual timing period as a quality end value, and acquiring a quality value at the beginning of the actual timing period as a quality initial value;
The opening and closing of the ladle opening are adjusted in real time according to the speed deviation, and the actual flow rate of molten steel is controlled; the opening and closing of a ladle opening are adjusted according to the positive and negative deviation of the speed deviation, and the real-time molten steel pouring speed is controlled; and controlling the total pouring weight of the molten steel according to the difference value between the quality end value and the quality initial value.
2. A casting vehicle based on the molten steel casting control method according to claim 1, characterized by comprising:
the first module is used for comparing the average pouring speed in the actual timing period with the ideal average pouring speed to obtain positive and negative speed deviation;
the second module is used for comparing the actual speed absolute deviation with the ideal speed absolute deviation to obtain positive and negative speed deviation;
The third module is used for obtaining the quality value at the end of the actual timing period as a quality end value and obtaining the quality value at the beginning of the actual timing period as a quality initial value;
A fourth module for adjusting the opening and closing of the ladle opening in real time according to the speed deviation and controlling the actual flow rate of the molten steel; according to the deviation of the speed deviation, the opening and closing of the ladle opening are adjusted, and the real-time molten steel pouring speed is controlled; and controlling the total pouring weight of the molten steel according to the difference value between the quality end value and the quality initial value.
3. The casting machine of claim 2, wherein:
according to the pouring speed when the net molten steel weight is poured and set in the actual timing period, determining the average pouring speed required by the net molten steel weight to be poured and set in the actual timing period as the ideal average pouring speed, and determining the ideal absolute deviation of the speed required by the net molten steel weight to be poured and set in the actual timing period;
According to the quality end value and the quality initial value, determining the average pouring speed in an actual timing period, and obtaining the absolute deviation of the actual speed;
the positive and negative speed deviation is the absolute difference value between the average pouring speed and the ideal average pouring speed;
the positive and negative deviations of the speed deviation are absolute differences between the actual speed absolute deviation and the ideal speed absolute deviation;
And controlling the total pouring weight of the molten steel according to the difference value between the quality end value and the quality initial value, wherein the controlling comprises the following steps: judging whether the molten steel quality variation in the actual timing period is zero or not, namely judging whether the actual average flow velocity of molten steel in the actual timing period is zero or not; if zero, then consider that there is some kind of fault; if the speed deviation is not zero, determining the opening and closing of the ladle opening by taking the positive and negative deviation of the speed deviation as a reference;
Pouring through the opening when the deviation of the speed deviation is negative or zero; if the deviation of the speed deviation is positive, returning to determine the opening and closing of the ladle opening through the positive and negative deviation of the speed; when the speed deviation is positive, the ladle opening is reduced; when the speed deviation is negative, determining the opening and closing of the ladle opening according to the comparison between the actual average flow speed and the ideal speed lower limit value; when the difference value between the actual average flow rate and the ideal speed lower limit value is positive, the opening is used for normal casting; when the difference value between the actual average flow rate and the ideal speed lower limit value is negative, a fault exists;
an open-loop control hydraulic system is arranged, and the opening and the closing of the ladle opening are controlled through stepless speed regulation of the open-loop control hydraulic system.
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| CN114101645B (en) * | 2020-08-27 | 2023-07-18 | 秦皇岛秦冶重工有限公司 | Molten steel flow speed adjusting method and device |
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| CN106270469A (en) * | 2015-06-12 | 2017-01-04 | 中国科学院金属研究所 | A kind of steel ingot intelligence running gate system |
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