WO2007042170A1 - Procede pour realiser la coulee continue d'une masse de metal en fusion - Google Patents

Procede pour realiser la coulee continue d'une masse de metal en fusion Download PDF

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Publication number
WO2007042170A1
WO2007042170A1 PCT/EP2006/009543 EP2006009543W WO2007042170A1 WO 2007042170 A1 WO2007042170 A1 WO 2007042170A1 EP 2006009543 W EP2006009543 W EP 2006009543W WO 2007042170 A1 WO2007042170 A1 WO 2007042170A1
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WO
WIPO (PCT)
Prior art keywords
strand
continuous casting
extrusion
correlating
pumping
Prior art date
Application number
PCT/EP2006/009543
Other languages
German (de)
English (en)
Inventor
Heinz Bramerdorfer
Luigi Del Re
Christian Froehlich
Christian FURTMÜLLER
Engelbert Grünbacher
Martine Hirschmanner
Karl Mörwald
Original Assignee
Siemens Vai Metals Technologies Gnbh & Co.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Vai Metals Technologies Gnbh & Co. filed Critical Siemens Vai Metals Technologies Gnbh & Co.
Publication of WO2007042170A1 publication Critical patent/WO2007042170A1/fr

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Classifications

    • 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
    • B22D11/18—Controlling or regulating processes or operations for pouring
    • B22D11/181—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level

Definitions

  • the invention relates to a method for continuous casting of a molten metal, wherein the molten metal from an intermediate vessel volume controlled to form a metal strand with a liquid core and a surrounding strand shell is poured into a continuous casting mold and the metal strand with liquid core from the continuous casting by means of driven rollers, preferably electrically driven rollers, pulled out and is guided over a strand guide with rollers arranged at intervals and wherein a correlated with the extrusion meter is measured on at least one driven roller and this is correlated with the strand pumps measured variable for the control of the level in the continuous casting mold.
  • driven rollers preferably electrically driven rollers
  • JP 9-29408 A2 a control method for suppressing irregular extrusion pumping and resulting quality reductions in the cast product is known.
  • the bulge of the strand between adjacent strand guide rollers is detected by measurement.
  • the measurement signal generated here is used to estimate the extruder pumping and used for compensation.
  • the use of a suitable measuring device at this exposed point between the strand guide rollers on which it permanently exposed to heat, dirt and coolant, indicates high susceptibility to interference and at least only very inaccurate measurement results.
  • JP 10-146658 A2 discloses a control method for reducing G manLiteschwankungen in the continuous casting mold and deals in a sub-area with the reduction of bulging, for which purpose the time course of G manLiteschwankungen based on a reference level is used.
  • the G manLitesignal is subjected to a frequency analysis. Long-wave disturbances are assigned to the Bulging and compensated by a regulation of the withdrawal speed. Short-wave and irregular disturbances are compensated by regulating the inflow rate in the mold.
  • a major disadvantage of this method is that the pouring mirror is subjected to a variety of disturbances, such as gravity waves on the bath surface, recirculation effects from the melt flow in the mold, deposits on the dip tube or plug and thus unpredictable flow changes, but also rapid flow changes through the sudden detachment of deposits.
  • the track properties change over time. Since the actual G recognizeaptariledge Little (pumps) from the G manLitesignal is very difficult to determine. A separation of these influences would only be possible by an exact process model of the route, but this is not realistic because of the time-varying route properties.
  • a control technology for damping the Badadorschwankept is already known from the generic DE 102 14 497 A1.
  • the power consumption is measured on one or more drive rollers and the current consumption measurements taken into account as a correction value for the flow control in the supply of molten metal from the tundish into the continuous casting mold by the Stromfact- measured value is switched as a disturbance in a control loop.
  • Changes in the current consumption which are caused for example by a change in the casting speed, or periodically recurring disturbances of the current consumption values, for example, caused by rolling impacts of out-of-round driver roles are filtered in advance from the measured power consumption signal.
  • control method described is not suitable, for example, to compensate for input dead times, so that only a portion of the attributable to the extrusion pumping mirror movements can always be eliminated.
  • the object of the invention is to avoid the difficulties and disadvantages described above and to provide a method in which the control behavior of a regulator to avoid G manadorschwankungen due to extrusion pumps is substantially improved.
  • This object is achieved according to the invention in that at least one measured variable correlating with the extrusion pumping process is processed in an arithmetic unit by incorporating at least one calculation rule and the determined value for regulating the fill level height in the continuous casting mold is used.
  • the value determined hereby can be, on the one hand, an information value that improves the control, such as, for example, an approximation of the period of the fundamental frequency of the extruder pumping.
  • the value can be used directly as an instantaneous correction value for the control of the level height.
  • the calculation rule may also include a mathematical model.
  • a calculation rule or a mathematical model for processing at least one measured variable correlating with the extrusion pumping future behavior is predicted by using known system knowledge based on the mathematical model and / or generating system knowledge derivable from the measured variable using the calculation rule or the mathematical model becomes.
  • a further and fundamental improvement of the control behavior is achieved by the fact that in addition to the correlating with the extrusion pumping process, the time course of the correlating with the extrusion pumping process is processed by including at least one calculation rule in a computing unit and thus determined value for the control of the level in the continuous casting mold is used.
  • the continuous, time-discrete or occasional recording of the measured variable correlating with the extrusion pumping and the analysis of the time course of this measured variable from a directly past time interval using predetermined analysis methods provides information on the system and disturbance characteristics, which in turn can be used for the calculation of the instantaneous correction values ,
  • the time profile of the correlated with the strand pumping measurements allows the determination of one or possibly more frequency information, in particular the calculation of the current Strangpumpfrequenz with approximately high accuracy to generate a value or correction value, which largely stabilizes the bath level in the continuous casting mold. Further frequency information can result from the harmonics over the course of the measured value.
  • a further improvement of the control behavior can be achieved if the time characteristic of the flow-rate-correlated measurement variable is used to obtain correction quantities that represent and quantify system and disturbance characteristics and which allow continuous improvement of the control parameters and a predictive or adaptive control.
  • a frequency of the extrusion pumping calculated from the time profile of the measured variable correlating with the extrusion pumping can be processed via an internal model to form a control signal, with which a known feedback control with entrance pouring level and exit plug or slide position is substantially improved.
  • the measured variable correlating with the extrusion pumping and the time course of the measured variable correlating with the extrusion pumping are processed in a mathematical model using an algorithm or a self-learning system or by using given system properties and the instantaneous correction value thus determined for the Regulation of the level used in the continuous casting mold.
  • the measured variable correlating with the extrusion pumping is preferably measured on a roller or a roller drive of at least one of the driven strand guide rollers.
  • the current consumption measured value of a strand guide roller is used as a measured variable correlating with the extrusion pumping, the course of the current consumption measurement value corresponding to the power fluctuations at the strand guide rollers.
  • This measuring signal provides a signal which is easy to measure and particularly characteristic for the extrusion pumping. If necessary, the signal of the mold level measurement or the signal of the take-off speed measurement in the control can be additionally processed as the measured variable.
  • this can be used both as a control variable for the inflow control of molten metal from the tundish into the continuous casting mold and as a control variable for the deduction control of the cast metal strand.
  • FIG. 3 shows a block diagram of a continuous casting plant with a bath level control according to the invention from a control engineering point of view
  • 4 shows a block diagram of a control according to the invention with a computing unit for realizing a predictive control
  • FIG. 7 shows the course of the casting mirror fluctuation without prediction and with a prediction according to FIG. 6, FIG.
  • FIG. 8 shows the course of the casting mirror fluctuation taking into account an adaptive setting of the dead time and the amplification factor
  • FIG. 9 is a block diagram of a control according to the invention with the inclusion of an additional computer program for determining disturbance variable properties.
  • FIG. 1 shows a steel continuous casting plant with its essential components, without taking account of particular strand formats, cooling conditions or other structural features.
  • Molten steel 1 is filled from a ladle 2 through a bottom outlet 3 into an intermediate vessel 5 arranged above a continuous casting mold 4.
  • the molten steel 1 flows from the tundish 5 via a bottom opening 6 into a continuous casting mold 4, wherein the free cross section of the bottom opening 6 can be closed by means of a plug 7.
  • a plug 7 is height adjustable with a controller 8 according to the desired steel passage rate.
  • a slide valve not shown here, can also be provided on the intermediate vessel.
  • a strand 9 forms with a liquid core 10 and a strand shell 11 surrounding this core 10, the local thickness of which substantially depends on the intensity of the primary cooling within the continuous casting mold and subsequently on the secondary cooling in a region of the strand guide 12 following the continuous casting mold 4 depends.
  • a casting mirror 13 is formed in the continuous casting mold 4, which is covered by a casting powder layer 14.
  • the casting powder forms between the mold side walls 15 and the strand shell 1 1 from a sliding layer, which acts friction-reducing, but also affects the heat transfer from the strand 9 to the continuous casting mold 4.
  • the strand 9 formed in the continuous casting mold is guided over an arc-shaped strand guide 12 at least until its solidification. It has below the continuous casting mold castors 16 with a very small diameter and thus less roll separation, which support the strand well with the still very thin strand shell. Of these casters, however, only one is shown.
  • the castors 16 are below each other on both sides of the strand in the equidistant distance 17 (roll division) strand guide rollers 18, 19 are arranged to largely prevent bulging of the strand shell due to the ferrostatic pressure. Some of these rollers are driven strand guide rollers 19.
  • the position of the plug 7 and thus the molten steel flow rate are regulated in the following manner according to the exemplary embodiment shown in FIG. 1.
  • a bath level measuring device 20 the actual value of the level of molten metal in the continuous casting mold 4 is determined continuously measured and this G recognizeaptal fed as a controlled variable h the controller 8.
  • at least one measuring signal Y correlated with the disturbance signal z in the present case a measured variable correlating with the extrusion pumping, in particular a current consumption measured value I n , is supplied to a controlled strand guiding roller, which is continuously detected by a current measuring instrument 21.
  • the current consumption is measured at several strand guide rollers, since for many reasons that have nothing to do with the extrusion pumps, the frictional contact and thus the torque transmission between the strand guide roller and the strand can vary. But also casting process-related casting speed changes, which also cause a change in power consumption, should be recorded and taken into account. Such periodically recurring or singular occurring disturbances in the individual current consumption signals are to be filtered in advance in the controller from the disturbance variable signal.
  • the optionally filtered current consumption measured value is processed in a computing unit 22 with a calculation rule or a predetermined mathematical model according to a specific objective, which will be explained in detail below, and the thus determined instantaneous correction value u is supplied to an actuator 25, in the present case a pressure medium cylinder , with the application of which the position of the plug 7 and thus the steel flow rate supplied to the continuous casting mold is changed.
  • an actuator 25 in the present case a pressure medium cylinder
  • FIG. 2 shows a schematic block diagram of a continuous casting and a controller associated with it.
  • the regulation is given a reference bath level h ref .
  • At the instant casting machine at least instantaneous values of the bath level height h and the current consumption y at the strand guide rollers are measured, the instantaneous value of the bath level height h being fed directly to the controller and the current value of the current consumption y being fed to a computation unit for computational processing.
  • an instantaneous correction value is determined and applied to the control as a disturbance variable. With the correction value u influencing the amount of inflow into the mold on the position of the plug and optionally with the correction value u is an adjustment of the strand take-off speed.
  • the future value of a disturbance variable can be approximated from an almost periodic disturbance and that the injection of this value as a setpoint correction or as a correction value of the stop signal can suppress the disturbance, whereby here the most unavoidable , although often only small dead times, is pointed out as the starting point for a prediction.
  • FIG. 3 shows in a block diagram the components of a continuous casting plant which are relevant in terms of control technology.
  • the take-off speed is assumed to be constant here, but could also be regulated.
  • the actuating signal u should be specified so that the level of the casting mirror h corresponds to a desired reference height h re ⁇ and should usually be as constant as possible in continuous system operation.
  • the control signal u is moved over the plug servo system of the plug and thus allows a change of the inflow to the mold.
  • dead time Td dead time
  • the drain corresponds to the amount of molten metal melt which is drawn off by the moving strand and is proportional to the withdrawal speed or the casting speed.
  • the pump Z coming from the line and unknown is drawn.
  • This pump is coupled by a coupling with the measurable on the drive motors correlating measurement signal (power consumption signal), which is available as a measurement signal.
  • the dynamics of the plug servo system and that of the sensor are considered fast and therefore ignored.
  • the coupling is simply seen as a constant factor.
  • the energy intake signal Y can be regarded as an estimated value for the disturbance Z. If one then uses the energy intake signal Y at the current time (Y (t)) and this then by the dead time of the system (Td) in the future as Y (t + Td) available, one can compensate for the disturbance by the pump by simply subtracting Y (t + Td) at the input of the system.
  • a conventional regulator e.g., a PI regulator
  • This controller is now supplemented by the prediction block by the compensation signal (instantaneous correction value) K is determined.
  • the signal Y (t) which corresponds to the energy absorption measured value, is shown in FIG. 5 shown. It has certain periodic properties that are given due to the plant. Assuming now that one knows the period T of the fundamental, one can causally shift this signal by just this time T and one obtains the signal Y (tT), shown in FIG. 5 as a dotted line. It can be clearly seen that the two signals (as expected) are similar, almost congruent. One can now use this property to make an estimate of the signal Y (t) in the future by the time Td by using the past of the signal Y (t-T + Td). The value Y (t-T + Td) can now serve as an estimate for the value Y (t + Td) (FIG. 6).
  • FIG. 7 the result in FIG. 7 can be achieved.
  • FIG. 8 shows the result of such an adaptive adjustment (by a mathematical calculation).
  • the compensation is switched on with the adaptive gain factor and the adaptive dead time determination.
  • the G learntikschwankepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptepteptept
  • the calculation of a correction value requires information about the system (gains, dead times) as well as about the characteristics of the fault (which are also characteristics of the system). These properties may be known a priori, or may come from different sources, for example from the measurement the G fauxadormai Little or the strand take-off speed. According to the invention, however, the measurement of the currents can also be used to supplement or to obtain this information. For example, as shown in Figure 9, the current signal may be used to estimate the current period (or frequency) of pumping. This is done with the additional block for the determination of disturbance characteristics. With this period then, for example, a prediction, as described above, take place.
  • the period can be e.g. estimated by an auto-correlation from the signal Y or e.g. the period T determined by means of an optimization routine in which the error of the signal Y with itself by the period T shifted over a certain period of time is minimized determined.
  • the inventive method can be realized in strand guide rollers with different drive systems.
  • the strand guide rollers can be both electrically driven, as well as have a hydraulic or combined hydraulic-electric drive, with hydraulically driven rollers taking into account the changing hydraulic pressures should occur.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Non-Electrical Variables (AREA)
  • Continuous Casting (AREA)

Abstract

Au cours de la coulée continue, la masse de métal en fusion dont la quantité est régulée par un récipient intermédiaire, est introduite par formation d'un boyau de métal comprenant un noyau liquide entouré par une coque de boyau, dans une coquille de coulée continue, le boyau de métal à noyau liquide est extrait de la coquille de coulée continue au moyen de cylindres entraînés, et guidé par un mécanisme de guidage de boyau comprenant des cylindres espacés entre eux, et une grandeur de mesure faisant la corrélation avec le pompage continu, est mesurée au niveau d'au moins un cylindre entraîné, et utilisée pour réguler le niveau de remplissage de la coquille de coulée continue, au moins une grandeur de mesure faisant la corrélation avec le pompage continu, est traitée par introduction d'au moins une règle de calcul dans une unité de calcul, et la valeur ainsi déterminée est utilisé pour réguler le niveau de remplissage de la coquille de coulée continue. Afin d'améliorer le comportement de régulation d'un dispositif de régulation lors de variations du niveau de coulée suite au pompage continu, au moins une grandeur de mesure faisant la corrélation avec le pompage continu, est traitée par introduction d'au moins une règle de calcul dans une unité de calcul, et la valeur ainsi déterminée est utilisée pour réguler le niveau de remplissage de la coquille de coulée continue.
PCT/EP2006/009543 2005-10-12 2006-10-02 Procede pour realiser la coulee continue d'une masse de metal en fusion WO2007042170A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA1664/2005 2005-10-12
AT16642005A AT502525B1 (de) 2005-10-12 2005-10-12 Verfahren zum stranggiessen einer metallschmelze

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104275448A (zh) * 2014-10-27 2015-01-14 大连理工大学 一种包晶钢连铸板坯鼓肚在线检测方法
US11110512B2 (en) * 2016-12-13 2021-09-07 Primetals Technologies Austria GmbH Method and device for regulating a continuous casting machine
CN113927008A (zh) * 2021-10-19 2022-01-14 攀钢集团西昌钢钒有限公司 一种抑制板坯生产双相钢结晶器液面周期性波动的生产方法
CN114589376A (zh) * 2022-03-15 2022-06-07 山东钢铁集团永锋临港有限公司 一种用于火焰切割机切割铸坯的未切断报警方法
EP4140616A1 (fr) * 2021-08-25 2023-03-01 Primetals Technologies Austria GmbH Procédé et dispositif de régulation d'une installation de coulée continue

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT514734A1 (de) * 2013-05-03 2015-03-15 Tbr Casting Technologies Gmbh Verfahren und Vorrichtung zur Regelung des Flüssigmetallspiegels in einer Stranggießkokille

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JP2005021898A (ja) * 2003-06-30 2005-01-27 Nippon Steel Corp 連続鋳造における湯面レベル制御方法
KR20050027733A (ko) * 2003-09-16 2005-03-21 주식회사 포스코 벌징에 의한 주기적인 탕면수위 제어방법

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104275448A (zh) * 2014-10-27 2015-01-14 大连理工大学 一种包晶钢连铸板坯鼓肚在线检测方法
US11110512B2 (en) * 2016-12-13 2021-09-07 Primetals Technologies Austria GmbH Method and device for regulating a continuous casting machine
EP4140616A1 (fr) * 2021-08-25 2023-03-01 Primetals Technologies Austria GmbH Procédé et dispositif de régulation d'une installation de coulée continue
WO2023025669A1 (fr) 2021-08-25 2023-03-02 Primetals Technologies Austria GmbH Procédé et dispositif de régulation d'une installation de coulée continue
CN113927008A (zh) * 2021-10-19 2022-01-14 攀钢集团西昌钢钒有限公司 一种抑制板坯生产双相钢结晶器液面周期性波动的生产方法
CN113927008B (zh) * 2021-10-19 2023-01-13 攀钢集团西昌钢钒有限公司 一种抑制板坯生产双相钢结晶器液面周期性波动的生产方法
CN114589376A (zh) * 2022-03-15 2022-06-07 山东钢铁集团永锋临港有限公司 一种用于火焰切割机切割铸坯的未切断报警方法
CN114589376B (zh) * 2022-03-15 2022-10-04 山东钢铁集团永锋临港有限公司 一种用于火焰切割机切割铸坯的未切断报警方法

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