中厚板冷却过程温度场模型及其最优跟踪控制的研究
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摘要
中厚板轧后控制冷却是提高产品质量和开发高附加值产品的重要技术措施。控制冷却数学模型是实现控制冷却的核心部分,而控制冷却温度场模型又是控制冷却数学模型的核心。虽然近年来国内外的研究人员已开发了各种不同的控制冷却数学模型,但是其模型的核心内容均未公开发表,并且很少有人单独对控制冷却过程中的温度场变化路径进行深入分析和研究。为此,本文的主要研究工作如下：
(1)结合国内某中厚板厂控制冷却系统改造工程,对中厚板控冷系统的控制模块功能及相应的冷却控制策略、层流冷却模式和集管的排布组合方式对冷却速率大小控制策略进行分析。
(2)根据中厚板控制冷却的特点,在分析中厚板冷却过程中传热过程的基础上,对中厚板层流冷却过程温度场模型进行深入研究,建立差分格式的模型,并采用交替方向法使其更具简洁性和实用性。
(3)引入最优控制理论知识,以温度场空间模型为状态方程,建立中厚板控制冷却时温度跟踪的线性二次型性能指标,然后运用庞特里亚金最小值原理进行推导分析,求出最优控制参数的必要条件。
(4)首先选取模拟钢板合适的物性参数,结合现场生产试验数据,采用共轭梯度优化算法,求解集管最优水流密度；然后模拟控制冷却过程的温度场,并加以分析。模拟路径图表明,采用线性二次型性能指标与温度场的状态空间模型相结合的最优跟踪控制方法,能够进一步提高中厚板终冷温度的控制精度。
Controlled-cooling is an important technology measure to improve the performance and quality of the product and develop the high additionally worthy product.The mathematical model of controlled-cooling technology is a key part, and the temperature field model is the most important part.Though the researching workers have opened out the mathematical model in nearly years at home and abroad, the key part of the mathematical model is not vended and few people researched deeply the temperature field mathematical model. So the concrete contents are as follows:
(1) Combined one engineering item on controlled-cooling system in some medium and heavy plate plant, the cooling mathematical model and controll strategy of controlled-cooling system,especially of jet sort order effectting the cooling rate are studied.
(2) Based on studying and summarizing the correlative theories of laminar cooling, basic heat-transfer process of plate is analyzed, and the controlled-cooling temperature field model based on Crank-Nicolson finite difference format is founded and further researched.It is more simple and practical by alternating direction method.
(3) Added the correlative knowledge of optimal control theories, the temperature field model as a equation of state and linar quadratic cost functions are created for plate in controlled-Cooling Process and analyzed by using the Gamkrelidze minimum principle.Then we obtain five necessary conditions which are applied to getting the optimal controlled variable.
(4) Combined the test datum in some medium and heavy plate plant with a procrdure of the conjugate gradient method, the optimal jet water density is achieved given thermal phs--ical properties,initial temperature and desired exit temperature of plates.Then with the help of Matlab 7.0, optimal tracking graphs of temperature field are simulated and analyzed.The sim--ulated figures show that connceting state-space medol of the temperature field with theopti--mal tracking control model is an effective way to improve the control precision of final cooling tempertaure.
(1)结合国内某中厚板厂控制冷却系统改造工程,对中厚板控冷系统的控制模块功能及相应的冷却控制策略、层流冷却模式和集管的排布组合方式对冷却速率大小控制策略进行分析。
(2)根据中厚板控制冷却的特点,在分析中厚板冷却过程中传热过程的基础上,对中厚板层流冷却过程温度场模型进行深入研究,建立差分格式的模型,并采用交替方向法使其更具简洁性和实用性。
(3)引入最优控制理论知识,以温度场空间模型为状态方程,建立中厚板控制冷却时温度跟踪的线性二次型性能指标,然后运用庞特里亚金最小值原理进行推导分析,求出最优控制参数的必要条件。
(4)首先选取模拟钢板合适的物性参数,结合现场生产试验数据,采用共轭梯度优化算法,求解集管最优水流密度；然后模拟控制冷却过程的温度场,并加以分析。模拟路径图表明,采用线性二次型性能指标与温度场的状态空间模型相结合的最优跟踪控制方法,能够进一步提高中厚板终冷温度的控制精度。
Controlled-cooling is an important technology measure to improve the performance and quality of the product and develop the high additionally worthy product.The mathematical model of controlled-cooling technology is a key part, and the temperature field model is the most important part.Though the researching workers have opened out the mathematical model in nearly years at home and abroad, the key part of the mathematical model is not vended and few people researched deeply the temperature field mathematical model. So the concrete contents are as follows:
(1) Combined one engineering item on controlled-cooling system in some medium and heavy plate plant, the cooling mathematical model and controll strategy of controlled-cooling system,especially of jet sort order effectting the cooling rate are studied.
(2) Based on studying and summarizing the correlative theories of laminar cooling, basic heat-transfer process of plate is analyzed, and the controlled-cooling temperature field model based on Crank-Nicolson finite difference format is founded and further researched.It is more simple and practical by alternating direction method.
(3) Added the correlative knowledge of optimal control theories, the temperature field model as a equation of state and linar quadratic cost functions are created for plate in controlled-Cooling Process and analyzed by using the Gamkrelidze minimum principle.Then we obtain five necessary conditions which are applied to getting the optimal controlled variable.
(4) Combined the test datum in some medium and heavy plate plant with a procrdure of the conjugate gradient method, the optimal jet water density is achieved given thermal phs--ical properties,initial temperature and desired exit temperature of plates.Then with the help of Matlab 7.0, optimal tracking graphs of temperature field are simulated and analyzed.The sim--ulated figures show that connceting state-space medol of the temperature field with theopti--mal tracking control model is an effective way to improve the control precision of final cooling tempertaure.
引文
[1]刘晶志.我国中厚板生产技术现状及发展趋势[J],轧钢,2006,5(3)：59-65
[2]李宏图.中厚板控制冷却技术[J],宽厚板,2002,8(6)：30-32
[3]王笑波,王仲初,柴天佑.中厚板轧后控制冷却技术的发展和现状[J],轧钢,2000,17(3)：44-47
[4]刘峰.钢材的冷却技术(一)[J],轧钢,1995,12(6)：49-53
[5]刘峰.钢材的冷却技术(二)[J],轧钢,1996,13(1)：39-41
[6]陈健就,贺达伦.现代宽厚板厂控制轧制和控制冷却技术[J],宝钢技术,1999,7(2)：10-16
[7]商存亮.安钢中板发展TMCP的探讨[J],宽厚板,2002,8(1)：29-31
[8]王占学.控制轧制与控制冷却[M],北京：冶金工业出版社,1988,156-159
[9]高亮,乔馨,丛津功.轧后控制冷却工艺研究[J],宽厚板2003,9(5)：19-21
[10]蔡晓辉等.控制冷却方式和设备的发展[J],钢铁研究学报,2001,13(6)：56-60
[11]王有铭,韦光.宽厚板的控制冷却,宝钢技术[J],1999,21(6)：18-21
[12]M. Saito,et al. New temperature control system of hot strip mill run-out table[J], NKK Technology Press(Japan),1989,29 (5):9-14
[13]Youichi Haraguchi, et al. Observation of non-uniformity occurred by laminar water flow Cooling [C], CAMPISIJ,1994,14(8):510-516
[14]Youichi Haraguchi, et al. Outline of improvement on water cooling equipment in Mizushima plate mill[C],CAMPISIJ,1996,24(10):923-926
[15]王国栋,刘相华.日本中厚板生产技术的发展和现状[J],轧钢,2007,24(2)：1-5
[16]陈松年.快速冷却和直接淬火技术[J],宽厚板,1996,2(5)：1-8
[17]Ohtomo,Takatuka, Akiyama. Development of direct quenching method for steel plates[J],1988,74(1):69-76
[18]钱振声,高波.控制冷却用的几种喷流方式及使用效果[J],宽厚板,2001,7(5)：1-5
[19]张辉,吕鹤年.热轧带钢层流冷却装置的设计与研究[J],一重技术,1996,67(1)：27-29
[20]P.J. Lee,et al. Development of new strip cooling device in POSCO pohang #1 HSM[J], CAMPISIJ,1998,4(11):357-360
[21]Fred C. Kohring, Wean United. Waterwall Water-cooling Systems [J], Iron and Steel Engineer,1985,15(7):30-36
[22]秦国庆,熊晓明.钢板水幕冷却的分析[J],钢铁研究学报,2000,12(1)：63-64
[23]常崇民,陈继虞等.气雾式在线冷却装置在厚板轧机上的应用[J],轧钢,1997,15(6)：45-47
[24]G.V.Ditzhuijzen,et al.The controlled cooling of hot rolling strip:A combination of physical modeling control problems and practical adaptation[J],IEEE Trans on Automatic Control,1993,28(7):1060-1065
[25]吴毅平.宝钢热轧层流冷却卷取温度控制的改进[J],冶金自动化,1997,6(1)：15-17
[26]赵其德.带钢层流冷却装置[A],一重技术(宝钢热连轧机专辑Ⅱ1)[C],1995,(3)：95-100
[27]中国金属学会热轧板带学术委员会中国热轧宽带钢轧机及生产技术[M],北京：冶金工业出版社,2002,263-268
[28]刘相华,佘广夫,焦景民等.超快冷却装置及其在新品种开发中的应用[J],钢铁,2004,39(8)：71-74
[29]高桂革.最优控制理论的发展与展望[J],上海电机学院学报,2005,S1：17-20
[30]唐功友,赵艳东,胡乃平.采用观测器的双线性系统最优跟踪控制器设计[J],控制理论与应用,2007,24(3)：503-50,4
[31]刘文超,李桂丽等.一类双线性系统的最优跟踪控制问题[J],控制工程,2006,13(7)：155-156
[32]蔡晓辉.中厚板控制冷却数学模型的研究及应用[D],沈阳:东北大学,2004
[33]T.O.Masahisa,et al.The computer control of hot strip cooling temperature[C],Paper for the world congress of IFAC,1978,159-166
[34]W.J.Lawrence,et al.Online modeling and control of strip cooling[J],Iron.Making and Stell Making,1996,23(1):74-78
[35]杨世铭,陶文铨.传热学[M],北京：高等教育出版社,1998,71-82,101-103.
[36]俞昌铭.热传导及数值分析[M],北京：清华大学出版社,1981,53-58,339-401,453-454
[37]蔡晓辉,张殿华,谢丰广.中厚板控制冷却数学模型[J],东北大学学报(自然科学版),2003,24(10)：923-926
[38]李立康,於崇华,朱政华.微分方程数值解法[M],上海：复旦大学出版社,1999,231-240
[39]符曦.系统最优化及其控制[M],北京：机械工业出版社,2004,3-19
[40]张庆灵,张雪峰.控制理论基础[M],沈阳：东北大学出版社,2004,107-111
[41]周凤岐,强文鑫等.现代控制理论及其应用[M],成都：电子科技大学出版社,1994,219-237
[42]刘谦.传递过程原理[M],北京：高等教育出版社,1990,12-17,64-66
[43]Sarojk.Biswas,Shih-J Chen,A Satyanarayana. optimal Temperature Trackingfor Acceler-ated Cooling Processesin Hot Rolling of Steel J], Dynamics and Control,1997,12(7):327-340
[44]Chen, S.J., Biswas, S.K., Han, L.F., and Satyanarayana, A.,Modeling and Analysis of Controlled Cooling for Hot Moving Metal Plates[J], Monitoring and Control for Manufacturing Processes, AmericanSociety of Mechanical Engineers,1990,44(5):465-473
[45]日本钢铁协会编,王国栋、吴国良等译.板带轧制理论与实践[M],北京：中国铁道出版社,1990,131-137
[46]薛定宇,陈阳泉.高等应用数学问题的Matlab求解[M],北京：清华大学出版社,2004,29-44
[47]褚洪生,杜增吉,阎金华等.MATLAB7.0优化设计实例指导教程[M],北京：机械工业出版社,2008,126-131
[2]李宏图.中厚板控制冷却技术[J],宽厚板,2002,8(6)：30-32
[3]王笑波,王仲初,柴天佑.中厚板轧后控制冷却技术的发展和现状[J],轧钢,2000,17(3)：44-47
[4]刘峰.钢材的冷却技术(一)[J],轧钢,1995,12(6)：49-53
[5]刘峰.钢材的冷却技术(二)[J],轧钢,1996,13(1)：39-41
[6]陈健就,贺达伦.现代宽厚板厂控制轧制和控制冷却技术[J],宝钢技术,1999,7(2)：10-16
[7]商存亮.安钢中板发展TMCP的探讨[J],宽厚板,2002,8(1)：29-31
[8]王占学.控制轧制与控制冷却[M],北京：冶金工业出版社,1988,156-159
[9]高亮,乔馨,丛津功.轧后控制冷却工艺研究[J],宽厚板2003,9(5)：19-21
[10]蔡晓辉等.控制冷却方式和设备的发展[J],钢铁研究学报,2001,13(6)：56-60
[11]王有铭,韦光.宽厚板的控制冷却,宝钢技术[J],1999,21(6)：18-21
[12]M. Saito,et al. New temperature control system of hot strip mill run-out table[J], NKK Technology Press(Japan),1989,29 (5):9-14
[13]Youichi Haraguchi, et al. Observation of non-uniformity occurred by laminar water flow Cooling [C], CAMPISIJ,1994,14(8):510-516
[14]Youichi Haraguchi, et al. Outline of improvement on water cooling equipment in Mizushima plate mill[C],CAMPISIJ,1996,24(10):923-926
[15]王国栋,刘相华.日本中厚板生产技术的发展和现状[J],轧钢,2007,24(2)：1-5
[16]陈松年.快速冷却和直接淬火技术[J],宽厚板,1996,2(5)：1-8
[17]Ohtomo,Takatuka, Akiyama. Development of direct quenching method for steel plates[J],1988,74(1):69-76
[18]钱振声,高波.控制冷却用的几种喷流方式及使用效果[J],宽厚板,2001,7(5)：1-5
[19]张辉,吕鹤年.热轧带钢层流冷却装置的设计与研究[J],一重技术,1996,67(1)：27-29
[20]P.J. Lee,et al. Development of new strip cooling device in POSCO pohang #1 HSM[J], CAMPISIJ,1998,4(11):357-360
[21]Fred C. Kohring, Wean United. Waterwall Water-cooling Systems [J], Iron and Steel Engineer,1985,15(7):30-36
[22]秦国庆,熊晓明.钢板水幕冷却的分析[J],钢铁研究学报,2000,12(1)：63-64
[23]常崇民,陈继虞等.气雾式在线冷却装置在厚板轧机上的应用[J],轧钢,1997,15(6)：45-47
[24]G.V.Ditzhuijzen,et al.The controlled cooling of hot rolling strip:A combination of physical modeling control problems and practical adaptation[J],IEEE Trans on Automatic Control,1993,28(7):1060-1065
[25]吴毅平.宝钢热轧层流冷却卷取温度控制的改进[J],冶金自动化,1997,6(1)：15-17
[26]赵其德.带钢层流冷却装置[A],一重技术(宝钢热连轧机专辑Ⅱ1)[C],1995,(3)：95-100
[27]中国金属学会热轧板带学术委员会中国热轧宽带钢轧机及生产技术[M],北京：冶金工业出版社,2002,263-268
[28]刘相华,佘广夫,焦景民等.超快冷却装置及其在新品种开发中的应用[J],钢铁,2004,39(8)：71-74
[29]高桂革.最优控制理论的发展与展望[J],上海电机学院学报,2005,S1：17-20
[30]唐功友,赵艳东,胡乃平.采用观测器的双线性系统最优跟踪控制器设计[J],控制理论与应用,2007,24(3)：503-50,4
[31]刘文超,李桂丽等.一类双线性系统的最优跟踪控制问题[J],控制工程,2006,13(7)：155-156
[32]蔡晓辉.中厚板控制冷却数学模型的研究及应用[D],沈阳:东北大学,2004
[33]T.O.Masahisa,et al.The computer control of hot strip cooling temperature[C],Paper for the world congress of IFAC,1978,159-166
[34]W.J.Lawrence,et al.Online modeling and control of strip cooling[J],Iron.Making and Stell Making,1996,23(1):74-78
[35]杨世铭,陶文铨.传热学[M],北京：高等教育出版社,1998,71-82,101-103.
[36]俞昌铭.热传导及数值分析[M],北京：清华大学出版社,1981,53-58,339-401,453-454
[37]蔡晓辉,张殿华,谢丰广.中厚板控制冷却数学模型[J],东北大学学报(自然科学版),2003,24(10)：923-926
[38]李立康,於崇华,朱政华.微分方程数值解法[M],上海：复旦大学出版社,1999,231-240
[39]符曦.系统最优化及其控制[M],北京：机械工业出版社,2004,3-19
[40]张庆灵,张雪峰.控制理论基础[M],沈阳：东北大学出版社,2004,107-111
[41]周凤岐,强文鑫等.现代控制理论及其应用[M],成都：电子科技大学出版社,1994,219-237
[42]刘谦.传递过程原理[M],北京：高等教育出版社,1990,12-17,64-66
[43]Sarojk.Biswas,Shih-J Chen,A Satyanarayana. optimal Temperature Trackingfor Acceler-ated Cooling Processesin Hot Rolling of Steel J], Dynamics and Control,1997,12(7):327-340
[44]Chen, S.J., Biswas, S.K., Han, L.F., and Satyanarayana, A.,Modeling and Analysis of Controlled Cooling for Hot Moving Metal Plates[J], Monitoring and Control for Manufacturing Processes, AmericanSociety of Mechanical Engineers,1990,44(5):465-473
[45]日本钢铁协会编,王国栋、吴国良等译.板带轧制理论与实践[M],北京：中国铁道出版社,1990,131-137
[46]薛定宇,陈阳泉.高等应用数学问题的Matlab求解[M],北京：清华大学出版社,2004,29-44
[47]褚洪生,杜增吉,阎金华等.MATLAB7.0优化设计实例指导教程[M],北京：机械工业出版社,2008,126-131
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