1420轧机仿真平台厚度控制系统的研究
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摘要
板带的厚度精度是其一个重要的质量指标。轧机的仿真技术研究对优化过程控制模型,改善生产工艺特性具有重要的意义。为了提高带钢的厚度精度,对轧机厚度自动控制系统进行了仿真。本文结合1420冷轧机组设备,对液压AGC系统进行仿真,建立机电液一体化模型,并与其它子系统的仿真模型联合而构成了完整的轧机设备仿真平台。
本项研究在国家科技支撑计划项目“大型轧机共性技术的研究”的资助下完成的。本文针对仿真平台下的轧机机电液一体化模型进行了深入的研究,从液压系统,机械系统,轧制工艺和控制策略等方面进行了全面而系统地分析,进一步完善了现有的液压AGC系统数学模型。
文中综合考虑了轧机辊系变形,压下缸初始行程,管道,轧辊磨损,轧件的塑性变形以及来料变化对板厚精度的影响,并考虑了液压控制系统的动态特性,建立了冷连轧机组的机、电、液一体化模型。在轧机辊系的建模时,将上、下辊系简化为一个两自由度弹簧质量系统,与以往的单自由度体系模型相比,更符合轧机的实际工况。基于位置闭环模型和轧制力闭环模型,分析了伺服阀、液压缸、管道等液压关键元件及性能参数对液压AGC系统的动态响应和稳态精度的影响。最后,利用燕山大学300四辊实验轧机进行对比性实验,验证理论模型,为优化控制策略以提高系统性能奠定基础。
The thickness accuracy of strip is one of the most important quality indexes. The cold continuous rolling mill’s simulation research has important significance for both optimizing process control model and improving processing characteristics. In order to improve strip’s accuracy, it’s important to simulate the automatic gauge control system of the strip rolling mill. Based on 1420mm cold continuous rolling mill, this dissertation presents simulation model of its hydraulic AGC system, and establishes mechanical- electrical-hydraulic model. The simulation model, cooperated with other subsystems, constructs the complete simulation platform for rolling mill.
This research is completed, under the financial aid of the National Science-technology Support Plan Projects“The common technology of large- scale mill”. The dissertation researches in-depth on the mechatronic model of simulation platform, to analyze and simulate the system from the aspects of rolling mill practice and control strategy, to improve the hydraulic AGC systemic mathematical model.
Considering such factors as deformation and eccentricity of roller, the initial position of hydraulic cylinder, the plastic deformation of the strip and input gauge, as well as their effects on the thickness accuracy, and considering dynamic performances of hydraulic control systems, and establishes the mechanical- electrical-hydraulic model of rolling mill. In the course of building model, roll system is simplified as a two-DOF string mass system, which is more accord with practical conditions than the one-DOF system. Base on the position closed-loop model and rolling force closed-loop model, the dissertation separately analyzes the performance parameters of fluid power key elements such as servo valve, cylinder, pipe and its influence on hydraulic AGC systemic dynamic response and steady state accuracy. At last, to improve control strategy by verifying the theoretical model based on the Yanshan University 300 four-high mill experiment.
本项研究在国家科技支撑计划项目“大型轧机共性技术的研究”的资助下完成的。本文针对仿真平台下的轧机机电液一体化模型进行了深入的研究,从液压系统,机械系统,轧制工艺和控制策略等方面进行了全面而系统地分析,进一步完善了现有的液压AGC系统数学模型。
文中综合考虑了轧机辊系变形,压下缸初始行程,管道,轧辊磨损,轧件的塑性变形以及来料变化对板厚精度的影响,并考虑了液压控制系统的动态特性,建立了冷连轧机组的机、电、液一体化模型。在轧机辊系的建模时,将上、下辊系简化为一个两自由度弹簧质量系统,与以往的单自由度体系模型相比,更符合轧机的实际工况。基于位置闭环模型和轧制力闭环模型,分析了伺服阀、液压缸、管道等液压关键元件及性能参数对液压AGC系统的动态响应和稳态精度的影响。最后,利用燕山大学300四辊实验轧机进行对比性实验,验证理论模型,为优化控制策略以提高系统性能奠定基础。
The thickness accuracy of strip is one of the most important quality indexes. The cold continuous rolling mill’s simulation research has important significance for both optimizing process control model and improving processing characteristics. In order to improve strip’s accuracy, it’s important to simulate the automatic gauge control system of the strip rolling mill. Based on 1420mm cold continuous rolling mill, this dissertation presents simulation model of its hydraulic AGC system, and establishes mechanical- electrical-hydraulic model. The simulation model, cooperated with other subsystems, constructs the complete simulation platform for rolling mill.
This research is completed, under the financial aid of the National Science-technology Support Plan Projects“The common technology of large- scale mill”. The dissertation researches in-depth on the mechatronic model of simulation platform, to analyze and simulate the system from the aspects of rolling mill practice and control strategy, to improve the hydraulic AGC systemic mathematical model.
Considering such factors as deformation and eccentricity of roller, the initial position of hydraulic cylinder, the plastic deformation of the strip and input gauge, as well as their effects on the thickness accuracy, and considering dynamic performances of hydraulic control systems, and establishes the mechanical- electrical-hydraulic model of rolling mill. In the course of building model, roll system is simplified as a two-DOF string mass system, which is more accord with practical conditions than the one-DOF system. Base on the position closed-loop model and rolling force closed-loop model, the dissertation separately analyzes the performance parameters of fluid power key elements such as servo valve, cylinder, pipe and its influence on hydraulic AGC systemic dynamic response and steady state accuracy. At last, to improve control strategy by verifying the theoretical model based on the Yanshan University 300 four-high mill experiment.
引文
1熊光愣.先进仿真技术与仿真环境.北京:国防工业出版社, 1997:4~8
2肖田元,张燕云,陈加栋.系统仿真导论,北京:清华大学出版社, 2000:3~12
3连家创,刘宏民.板厚板形控制,北京:兵器工业出版社, 1996:150~184
4黄庆学,梁爱生.高精度轧制技术,北京:冶金工业出版社, 2002:1~15
5宋加.纵谈我国冷轧板生产.轧钢, 2001,18(4):36~40
6彭天乾.微米级冷轧带钢厚度控制系统.冶金自动化, 1996,(6):1~5
7 Yoshiro WASHIKITA, Masaaki OKAMOTO. Renewal of Automatic Gage Control System for a Cold Mill with Electric Screwdowns. ISIJ international, 1998,38 (9):977~984
8宋文宇.鞍钢厚板厂液压AGC系统分析.鞍钢技术, 1995,(10):35~40
9 G. Hearns, P. Reeve. Hot Strip Mill Multivariable Mass Flow Control. IEE Proc. Control Theory, 2004,151(4):386~394
10凤翔.冷轧薄板技术新发展.鞍钢技术, 1985,(12):1~8
11 V.Salganik. Mathematical Modeling of Roll Load and Deformation in a Four-high Strip Mill. Materials Processing Technology, 2002,(125):695~699
12张进之,吴增强.板带轧制技术创新工程概论.钢铁研究学报, 1999,5(6):10~14
13郝付国,白埃民.动态设定型AGC在中厚板轧机上的应用.钢铁, 1995,30(7):32~36
14徐建国.板带轧机厚控模型基点预控-监控AGC.冶金自动化, 1995,3(1):26~28
15 Paul Huzyak, L.Terry, Gerber. Design and Application of Hydraulic Gap Control System. Iron and Steel Engineer, 1984,2(8):13~20
16孙复森,刘先礼,耿庆波,等.绝对AGC技术在中厚板生产中的应用.轧钢, 2001,18 (5):9~11
17 J.Schuurmans, T.Jones. Control of Mass Flow in a Hot Strip Mill using Model Predictive Control. Proceedings of the 2002 IEEE International Conference on Control Applications, 2002,34(18):379~384
18 S.Wright. Applying New Optimization Algorithms to Model Predictive Control. Porceedings of Chemical Process Control, 1997,93(316):147~155
19 G.Hearns. Hot Strip Mill Mass Flow Control. Steel Industry, 2002,44(43): 223~227
20 Shigeru Hishikawa, Hideki Maeda, Hiroshi Nagakura, et. New Control Techniques for Cold Rolling Mills–Applications to Aluminum Rolling. Hitachi Review, 1990,39(4): 221~230
21钱振伦.我国宽带钢热连轧机的最新发展及其评析.轧钢, 2007,24(4):32~34
22刘涛,王益群.冷轧AGC静-动压轴承油膜厚度的分析与补偿.机床与液压, 2005, 5(8):62~65
23刘安平.热带轧机精轧压下液压缸位置控制.武钢技术, 2005,43(5):38~42
24孙时建,田敬刚,石明.液压缸结构设计探讨.山东冶金, 2001,23(3):15~17
25彭熙伟,赵洪刚,耿庆波.轧机液压压下动力执行装置的设计.液压与气动, 2004, (7):3~5
26 H.Johanter. The Success of Renovations in Cold Rolling Mills. Iron and Steel Engineer, 1990,(11):35~38
27刘建彬,王学志,张庆.中厚板轧机刚度模型的工程应用.钢铁, 2002,37(11):35~37
28韩立强,李志宏.一种改进结构的Smith预估器及在轧机AGC中的应用,河北大学学报, 2004,24(2):130~133
29冉亚斌,陈福亮.光测厚仪在轧制过程中的应用.云南冶金, 2004,33(5):59~60
30徐申.中厚板轧制过程中的轧制力和轧制力矩数学模型.宽厚板, 2005,11(5):7~11
31王君,李建平,王国栋.压力闭环下的轧机变刚度控制.控制与决策, 2002,17(1):126~128
32 V.B.Ginzbrung. High-Quality Steel Rolling. Theory and Practice, 1993:57~62
33张进之.动态设定型变刚度厚控方法的效果分析.重型机械, 1998,1:30~34
34 C.James Parks. Automatic Gauge Control-A Primer. AISE Steel Technology, 2000, (7):60~62
35杨卫东.基于弹跳方程的GM-AGC的局限性.冶金自动化, 2005,29(4):59~61
36王君.厚度计型和动态设定型AGC的统一性证明.控制与决策, 2000,15(3)333~335
37陈东宁,姜万录,王益群,等.冷连轧机相对油膜厚度的测试与建模.润滑与密封, 2007,32(9):77~80
38杜晓钟.油膜轴承的油膜厚度计算及其对板带材轧制精度的影响.太原重型机械学院学报, 2004,25(1):47~49
39郑岗.一种新型液压轧机厚度计算机控制系统.重型机械, 2001,4(6):11~15
40唐谋凤.现代带钢冷连轧机的自动控制.北京:冶金工业出版社, 1995:211~213
41 Chen Jian-hua, Zhang Qi-sheng, Li Bing. Research on mathematical model of oil film gage on plate rolling mill. Iron and Steel, 2001,36(11):42~45
42陈建华.厚板轧机AGC系统的研究.沈阳:东北大学,2003:57~76
43姜明东,王国栋.高精度板带材轧制理论与实践.北京:冶金工业出版社, 1998:163 ~178
44朱义国,毛志忠,刘赤兵.带钢轧制中轧辊偏心控制问题的综述.基础自动化, 1998,(3):1~4
45 Carlos Canudas de, Laurent Praly. Adaptive Eccentricity Compensation. IEEE Transactionon Control System Technology, 2000,8(5):757~756
46 Daniel F.García, JoséM.López, Francisco J.Suárez. A Novel Real-time Fuzzy-Based Diagnostic System of Roll Eccentricity Influence in Finishing Hot Strip Mills. IEEEIndustry Application Society Annual Meeting New Meeting, 1997:2117~2124
47何安瑞,张清东,徐金梧.热轧工作辊磨损模型的遗传算法.钢铁, 2000,35(2):56~ 59
48朱红涛,王哲,刘相华.轧辊磨损模型研究.钢铁研究, 1999,108(5):38~41
49李长生.热轧轧机轧辊表面使用特性研究.沈阳:东北大学, 2001:70~86
50李志,曲敬信,周平安. 3Cr2W8V钢高温高载荷下的干摩擦滑动磨损特性,钢铁研究学报. 2000,12(4):36~42
51郭新成,曾庆梅,束德林.几种轧辊材料的热磨损和热疲劳性能.钢铁, 1992,27 (11):37~40
52李长生,张晓明,刘相华,等.轧制过程轧辊磨损数学模型试验研究.机械工程学报, 2002,38(7):28~30
53刘劲军.管道动态分析及其在液压伺服控制系统中的应用研究. [燕山大学工学博士学位论文]. 2002:36~59
54王春行.液压控制系统.北京:机械工业出版社, 2000:112~118
55 Remn-Min Guo. Evaluation of Dynamic Characteristics of HAGC System. Iron and Steel Engineer, 1991,7:52~63
56 Anonym. Intelligent answer to HSM control problems. Steel Times, 1996,1:16~17
57厉超,周奎.阀控液压缸伺服系统动态特性仿真.机电设备, 2005,24(3):46~48
58孙一康.带钢冷连轧计算机控制.北京:冶金工业出版社, 2002:43~54
59赵嘉蓉,胡衍生,余驰斌,等.冷轧机辊缝预设定计算机操作指导控制系统.武汉科技大学学报(自然科学版), 2001,24(3):225~228
60 Gao Hui-ming, Zeng Jian-chao. Modeling and simulation of finishing mill group of hot strip mill[J]. Journal of System Simulation, 2000,12(1):51~53
61 Chen Dong-ning, Jiang Wan-lu, Wang Yi-qun. Load Distribution Optimization of Tandem Cold Mill Based on PSO Algorithm. China Mechanical Engineering, 2007,18(11):1303~1306
62 Wang Yi-qun, Zhang Wei, Gao Ying-jie, Fang Yi-ming. Digital Stmulation Study of Virtual Cold Continuous Rolling Mills. China Mechanical Engineering, 2003,20 (10):1770~1772
63 Gao Ying-jie, Zhao Jing-yi, Kong Xiang-dong, Wang Yi-qun. Dynamic Simulation of Hydraulic AGC System in a Strip Mill. China Mechanical Engineering, 1998,9 (7):23~26
64刘建彬,张庆,王学志.中厚板轧机刚度模型的工程应用.钢铁, 2002,37(11):35 ~37
65 Yang Jing-ming, Chen Zhi-wang, Piao Chun-jun, Wu Xiao-hu. The Regression and Parameter Evaluation of 1270 Rolling Mill Stretch Curve. Metallurgical Equipment, 2003,5(10):4~6
66 Wang Yi-qun, Liu Tao, Jiang Wan-lu, Zhang Wei. Data Mining and Error Tracing in the AGC System of Cold Rolling Mill. China Mechanical Engineering, 2007,18 (2):175~177
2肖田元,张燕云,陈加栋.系统仿真导论,北京:清华大学出版社, 2000:3~12
3连家创,刘宏民.板厚板形控制,北京:兵器工业出版社, 1996:150~184
4黄庆学,梁爱生.高精度轧制技术,北京:冶金工业出版社, 2002:1~15
5宋加.纵谈我国冷轧板生产.轧钢, 2001,18(4):36~40
6彭天乾.微米级冷轧带钢厚度控制系统.冶金自动化, 1996,(6):1~5
7 Yoshiro WASHIKITA, Masaaki OKAMOTO. Renewal of Automatic Gage Control System for a Cold Mill with Electric Screwdowns. ISIJ international, 1998,38 (9):977~984
8宋文宇.鞍钢厚板厂液压AGC系统分析.鞍钢技术, 1995,(10):35~40
9 G. Hearns, P. Reeve. Hot Strip Mill Multivariable Mass Flow Control. IEE Proc. Control Theory, 2004,151(4):386~394
10凤翔.冷轧薄板技术新发展.鞍钢技术, 1985,(12):1~8
11 V.Salganik. Mathematical Modeling of Roll Load and Deformation in a Four-high Strip Mill. Materials Processing Technology, 2002,(125):695~699
12张进之,吴增强.板带轧制技术创新工程概论.钢铁研究学报, 1999,5(6):10~14
13郝付国,白埃民.动态设定型AGC在中厚板轧机上的应用.钢铁, 1995,30(7):32~36
14徐建国.板带轧机厚控模型基点预控-监控AGC.冶金自动化, 1995,3(1):26~28
15 Paul Huzyak, L.Terry, Gerber. Design and Application of Hydraulic Gap Control System. Iron and Steel Engineer, 1984,2(8):13~20
16孙复森,刘先礼,耿庆波,等.绝对AGC技术在中厚板生产中的应用.轧钢, 2001,18 (5):9~11
17 J.Schuurmans, T.Jones. Control of Mass Flow in a Hot Strip Mill using Model Predictive Control. Proceedings of the 2002 IEEE International Conference on Control Applications, 2002,34(18):379~384
18 S.Wright. Applying New Optimization Algorithms to Model Predictive Control. Porceedings of Chemical Process Control, 1997,93(316):147~155
19 G.Hearns. Hot Strip Mill Mass Flow Control. Steel Industry, 2002,44(43): 223~227
20 Shigeru Hishikawa, Hideki Maeda, Hiroshi Nagakura, et. New Control Techniques for Cold Rolling Mills–Applications to Aluminum Rolling. Hitachi Review, 1990,39(4): 221~230
21钱振伦.我国宽带钢热连轧机的最新发展及其评析.轧钢, 2007,24(4):32~34
22刘涛,王益群.冷轧AGC静-动压轴承油膜厚度的分析与补偿.机床与液压, 2005, 5(8):62~65
23刘安平.热带轧机精轧压下液压缸位置控制.武钢技术, 2005,43(5):38~42
24孙时建,田敬刚,石明.液压缸结构设计探讨.山东冶金, 2001,23(3):15~17
25彭熙伟,赵洪刚,耿庆波.轧机液压压下动力执行装置的设计.液压与气动, 2004, (7):3~5
26 H.Johanter. The Success of Renovations in Cold Rolling Mills. Iron and Steel Engineer, 1990,(11):35~38
27刘建彬,王学志,张庆.中厚板轧机刚度模型的工程应用.钢铁, 2002,37(11):35~37
28韩立强,李志宏.一种改进结构的Smith预估器及在轧机AGC中的应用,河北大学学报, 2004,24(2):130~133
29冉亚斌,陈福亮.光测厚仪在轧制过程中的应用.云南冶金, 2004,33(5):59~60
30徐申.中厚板轧制过程中的轧制力和轧制力矩数学模型.宽厚板, 2005,11(5):7~11
31王君,李建平,王国栋.压力闭环下的轧机变刚度控制.控制与决策, 2002,17(1):126~128
32 V.B.Ginzbrung. High-Quality Steel Rolling. Theory and Practice, 1993:57~62
33张进之.动态设定型变刚度厚控方法的效果分析.重型机械, 1998,1:30~34
34 C.James Parks. Automatic Gauge Control-A Primer. AISE Steel Technology, 2000, (7):60~62
35杨卫东.基于弹跳方程的GM-AGC的局限性.冶金自动化, 2005,29(4):59~61
36王君.厚度计型和动态设定型AGC的统一性证明.控制与决策, 2000,15(3)333~335
37陈东宁,姜万录,王益群,等.冷连轧机相对油膜厚度的测试与建模.润滑与密封, 2007,32(9):77~80
38杜晓钟.油膜轴承的油膜厚度计算及其对板带材轧制精度的影响.太原重型机械学院学报, 2004,25(1):47~49
39郑岗.一种新型液压轧机厚度计算机控制系统.重型机械, 2001,4(6):11~15
40唐谋凤.现代带钢冷连轧机的自动控制.北京:冶金工业出版社, 1995:211~213
41 Chen Jian-hua, Zhang Qi-sheng, Li Bing. Research on mathematical model of oil film gage on plate rolling mill. Iron and Steel, 2001,36(11):42~45
42陈建华.厚板轧机AGC系统的研究.沈阳:东北大学,2003:57~76
43姜明东,王国栋.高精度板带材轧制理论与实践.北京:冶金工业出版社, 1998:163 ~178
44朱义国,毛志忠,刘赤兵.带钢轧制中轧辊偏心控制问题的综述.基础自动化, 1998,(3):1~4
45 Carlos Canudas de, Laurent Praly. Adaptive Eccentricity Compensation. IEEE Transactionon Control System Technology, 2000,8(5):757~756
46 Daniel F.García, JoséM.López, Francisco J.Suárez. A Novel Real-time Fuzzy-Based Diagnostic System of Roll Eccentricity Influence in Finishing Hot Strip Mills. IEEEIndustry Application Society Annual Meeting New Meeting, 1997:2117~2124
47何安瑞,张清东,徐金梧.热轧工作辊磨损模型的遗传算法.钢铁, 2000,35(2):56~ 59
48朱红涛,王哲,刘相华.轧辊磨损模型研究.钢铁研究, 1999,108(5):38~41
49李长生.热轧轧机轧辊表面使用特性研究.沈阳:东北大学, 2001:70~86
50李志,曲敬信,周平安. 3Cr2W8V钢高温高载荷下的干摩擦滑动磨损特性,钢铁研究学报. 2000,12(4):36~42
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