CN114367644B - Vibration track curve switching method of continuous casting crystallizer - Google Patents
Vibration track curve switching method of continuous casting crystallizer Download PDFInfo
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- CN114367644B CN114367644B CN202111533096.4A CN202111533096A CN114367644B CN 114367644 B CN114367644 B CN 114367644B CN 202111533096 A CN202111533096 A CN 202111533096A CN 114367644 B CN114367644 B CN 114367644B
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- 238000009749 continuous casting Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000005266 casting Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000004048 modification Effects 0.000 abstract description 4
- 238000012986 modification Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000009467 reduction Effects 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
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
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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
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/04—Continuous casting of metals, i.e. casting in indefinite lengths into open-ended moulds
- B22D11/053—Means for oscillating the moulds
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Continuous Casting (AREA)
Abstract
The invention discloses a method for switching vibration track curves of a continuous casting crystallizer, which comprises the following steps of calculating different pulling speeds through a synchronous control module according to vibration system parameters set by continuous casting operatorsLower vibration frequencyAmplitude valueDeflection rateThe method comprises the steps of carrying out a first treatment on the surface of the According to the vibration track speed curve formula and the vibration frequency calculated by the synchronous control moduleAmplitude valueDeflection rateCalculating vibration velocityPhase value at time. The invention can effectively realize the on-line modification of vibration parameters by smoothly switching the vibration track waveform at zero speed, avoid the shutdown of the machine to set the parameters,the usability of the vibration equipment is greatly improved, and the production efficiency is improved; by modifying an algorithm in the crystallizer vibration control technology, smooth and stable operation of various types of vibration control systems can be realized, the speed impact of vibration equipment is reduced, and the service life of the vibration equipment is effectively prolonged; according to the invention, the vibration system can effectively improve the surface quality of the casting blank and improve the demoulding efficiency of the casting blank.
Description
Technical Field
The invention relates to the technical field of metallurgical continuous casting, in particular to a method for switching vibration track curves of a continuous casting crystallizer.
Background
With the development and wide application of continuous casting crystallizer vibration control technology, the crystallizer vibration system greatly increases the lubrication of the crystallizer, improves the surface quality of casting blanks, improves the demoulding efficiency of the casting blanks, and becomes an indispensable part of continuous casting production.
In the vibration control technology of the continuous casting crystallizer, particularly, the vibration track curve control is the most critical. At present, the smooth switching problem between different vibration track curves is solved, and switching is often required at the starting position and the ending position of the track curve. However, the start and end positions of the track curve are positioned at the zero point of the crystallizer equipment, the crystallizer is exactly at the maximum value of the movement speed when the curve is switched, and the speed values of the curves of different tracks are different, so that the speed break points are caused when the curves are switched. The equipment will produce sharp fluctuation at the speed breakpoint, causes equipment operation impact, abnormal sound, life reduction. The problems are presented above in the control of various vibration devices such as servo motor drive, hydraulic drive, electro-hydraulic drive, etc. How to quickly, stably and smoothly switch the vibration track curve is an urgent problem to be solved.
Disclosure of Invention
The invention provides a method for switching vibration track curves of a continuous casting crystallizer, which aims at solving the problems in the related art.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows:
a method for switching vibration track curves of a continuous casting crystallizer comprises the following steps:
s100, creating a vibration track curve control model, wherein the model comprises a synchronous control module and a waveform generation module;
s200, calculating different pulling speeds through the synchronous control module according to vibration system parameters set by continuous casting operatorsLower vibration frequency->Amplitude->Deflection rate->Preparing for the next calculation;
s300, according to a vibration track speed curve formula and the vibration frequency calculated by the synchronous control moduleWeb of paperValue->Deflection rate->Calculate vibration speed +.>Phase value +.>；
S400, utilizing vibration frequency of vibration track curveAmplitude->Skew rate->Zero speed phase->Calculating a track curve position value S of corresponding vibration through the waveform generation module;
s500, the track curve position value S is utilized to carry out position closed-loop control of the motion controller or the servo driver, so that the curves can be continuously and stably switched, and no speed impact is generated when online parameter modification is carried out.
Further, the vibration frequencyAmplitude->Deflection rate->The calculation formulas of (a) are respectively
wherein ,zero pull-speed time-frequency, +.>Is the coefficient of the pulling speed of vibration frequency, < >>Amplitude at zero pull rate, ">Is the coefficient of amplitude pull rate->Is a skew factor.
Further, the vibration track speed curve formula is, wherein />For angular velocity, calculate +.>The values can be given different skew factors +.>Corresponding to different zero-speed phase values +.>。
Further, the track curve position value SThe calculation formula of (2) is。
The invention has the beneficial effects that:
(1) According to the invention, the vibration track waveform is smoothly switched at zero speed, so that the on-line modification of vibration parameters can be effectively realized, the shutdown setting parameters are avoided, the usability of the vibration equipment is greatly improved, and the production efficiency is improved.
(2) By modifying an algorithm in the crystallizer vibration control technology, smooth and stable operation of various vibration control systems can be realized, the speed impact of vibration equipment is reduced, and the service life of the vibration equipment is effectively prolonged.
(3) According to the invention, the vibration system can effectively improve the surface quality of the casting blank and improve the demoulding efficiency of the casting blank.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
The invention is described in further detail below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a prior art vibration trace curve switching at a zero point according to an embodiment of the present invention;
fig. 2 is a schematic diagram showing the switching of the vibration trace curve at the zero point when the method of the present invention is used according to the embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
According to the embodiment of the invention, the method for switching the vibration track curve of the continuous casting crystallizer comprises the following steps:
s100, creating a vibration track curve control model, wherein the model comprises a synchronous control module and a waveform generation module;
s200, calculating different pulling speeds through the synchronous control module according to vibration system parameters set by continuous casting operatorsLower vibration frequency->Amplitude->Deflection rate->；
S300, according to a vibration track speed curve formula and the vibration frequency calculated by the synchronous control moduleAmplitude->Deflection rate->Calculate vibration speed +.>Phase value +.>；
S400, utilizing vibration frequency of vibration track curveAmplitude->Skew rate->Zero speed phase->Calculating a track curve position value S of corresponding vibration through the waveform generation module;
s500, performing position closed-loop control of the motion controller or the servo driver by using the track curve position value S.
In a specific embodiment of the invention, in order to meet the requirement of the continuous casting process on the vibration track curve, the vibration track curve control model is divided into two module parts, namely a synchronous control module and a waveform generation module. The synchronous control module is used for calculating the curve parameters of the vibration track of the crystallizer meeting the process requirements through the pulling speed of the casting machine, and comprises the following steps: the main functions of the waveform generation module are to generate track curve position values which are convenient for a controller or a driver to control by using the vibration track curve frequency, the amplitude and the deflection rate calculated by the synchronous control module.
In the vibration process of the continuous casting mold, the vibration equipment is required to act according to a set position curve, such as the vibration curve 1 in fig. 1, and the vibration curve 1 will not change if the external conditions are not changed, so that the continuous vibration state is always maintained. When external conditions change (e.g., pull rate change, vibration parameter change, waveform generator algorithm change, etc.), the generated curve changes, such as vibration curve 2 in fig. 1.
The existing curve switching technology mainly realizes the switching of the track curve at the position zero point, as shown in fig. 1. Although the method is continuous in position, the speed forms a breakpoint, so that speed impact is caused, and the stability of equipment operation and the service life of the equipment are influenced.
The method can realize the switching of the vibration curve of the continuous casting crystallizer at the speed zero point, as shown in fig. 2, can effectively avoid the speed fluctuation of the curve, and can not cause the fluctuation problem because the speed is at zero and the position difference between the two curves is compensated.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (4)
1. The method for switching the vibration track curve of the continuous casting crystallizer is characterized by comprising the following steps of:
s100, creating a vibration track curve control model, wherein the model comprises a synchronous control module and a waveform generation module;
s200, calculating different pulling speeds through the synchronous control module according to vibration system parameters set by continuous casting operatorsLower vibration frequency->Amplitude->Deflection rate->；
S300, according to a vibration track speed curve formula and the vibration frequency calculated by the synchronous control moduleAmplitude->Deflection rate->Calculate vibration speed +.>Phase value +.>；
S400, utilizing vibration frequency of vibration track curveAmplitude->Skew rate->Zero speed phase->Calculating a track curve position value S of corresponding vibration through the waveform generation module;
s500, performing position closed-loop control of the motion controller or the servo driver by using the track curve position value S.
2. The method for switching vibration trace curves of continuous casting mold according to claim 1, wherein the vibration frequency isAmplitude->Deflection rate->The calculation formulas of (2) are +.>
wherein ,zero pull-speed time-frequency, +.>Is the coefficient of the pulling speed of vibration frequency, < >>Amplitude at zero pull rate, ">Is the coefficient of amplitude pull rate->Is a skew factor.
3. The method for switching vibration trace curve of continuous casting crystallizer according to claim 1, wherein the vibration trace speed curve formula is as follows, wherein Is the angular velocity.
4. The method for switching vibration track curves of a continuous casting mold according to claim 1, wherein the track curve position value S is calculated by the formula of。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111533096.4A CN114367644B (en) | 2021-12-15 | 2021-12-15 | Vibration track curve switching method of continuous casting crystallizer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111533096.4A CN114367644B (en) | 2021-12-15 | 2021-12-15 | Vibration track curve switching method of continuous casting crystallizer |
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| CN114367644A CN114367644A (en) | 2022-04-19 |
| CN114367644B true CN114367644B (en) | 2023-09-01 |
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| CN114918392A (en) * | 2022-04-29 | 2022-08-19 | 重庆钢铁股份有限公司 | Vibration control method for square billet continuous casting crystallizer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0618023A1 (en) * | 1992-09-22 | 1994-10-05 | Kawasaki Steel Corporation | Method of casting continuous slab |
| CN101537477A (en) * | 2009-04-16 | 2009-09-23 | 中冶赛迪工程技术股份有限公司 | Non-sinusoidal waveform generator used for mold oscillation |
| CN105517729A (en) * | 2013-06-27 | 2016-04-20 | 首要金属科技奥地利有限责任公司 | Two-dimensional oscillation of a continuous casting mould |
| WO2016162141A1 (en) * | 2015-04-07 | 2016-10-13 | Primetals Technologies Austria GmbH | Strand casting having optimized oscillation of the strand casting mold |
-
2021
- 2021-12-15 CN CN202111533096.4A patent/CN114367644B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0618023A1 (en) * | 1992-09-22 | 1994-10-05 | Kawasaki Steel Corporation | Method of casting continuous slab |
| CN101537477A (en) * | 2009-04-16 | 2009-09-23 | 中冶赛迪工程技术股份有限公司 | Non-sinusoidal waveform generator used for mold oscillation |
| CN105517729A (en) * | 2013-06-27 | 2016-04-20 | 首要金属科技奥地利有限责任公司 | Two-dimensional oscillation of a continuous casting mould |
| WO2016162141A1 (en) * | 2015-04-07 | 2016-10-13 | Primetals Technologies Austria GmbH | Strand casting having optimized oscillation of the strand casting mold |
Non-Patent Citations (1)
| Title |
|---|
| 板坯结晶器液压振动同步控制模型的优化设计;冯科;韩志伟;;铸造技术(第10期);1326-1328 * |
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