热轧轧机机电共振及其电气解决方案的研究
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摘要
近年来,由于我国国民经济的迅猛发展,钢铁产量急剧上升。数据显示,从2002年到2008年,我国钢产量从1.82亿吨发展5.4亿吨,增长了近3倍。作为钢铁工艺的关键一环,热轧产线数及规模在近年成几何级数增加。
为了追求生产能力,新上热轧机组轧机传动电机功率和轧制力矩不断增大;另外,由于电力电子技术、计算机技术、控制理论、通信技术的发展,轧机自动化程度越来越高,提高了系统控制精度和响应速度。
电气专业新技术的应用对轧机机械设计提出了新要求,特别体现在加强轧机动态强度上。遗憾的是,轧机机械生产厂商尚未找到应对此类问题的一套完整计算方法,轧机设计对动态强度计算缺少完整的计算依据和方案。为此,在一些新上轧机项目上出现了不少棘手问题,机电扭振问题就是其中之一。
本论文以宝钢1880mm热轧机R1跳电的工程实际问题为研究课题,通过分析测试得出机电扭振是跳电问题的根源。并以轧机机电扭振为研究对象,对机组进行了动力学分析,对扭振问题解决进行了多层次、多方位的研究和实践,最终突破常规,创造性地利用控制系统速度调节环优化方式,成功解决了机电共振问题,为类似全数字、高性能交流调速装置驱动的轧机扭振问题提供了可借鉴的解决方案。
Due to the rapid development in China in the past several years, the iron and steel production is rising quickly. From 2002 to 2008, the iron and steel production increased from 182 million tons per year to 540 million tons per year, almost 3 times. At the same time, the number of hot mill lines was going up dramatically.
Seeking for high rolling capability, the new hot mill lines always use big power motor and the mills’rolling torque are normally enormous. On the other hand, with the development of power electronics, computer technology, control theory and communication technology, the automatic level of the rolling mill is increasing. So, the control accuracy and the speed responsibility are increasing simultaneously.
Because of the application of some new electrical technologies, the mechanical design is required to improve, especially in the improvement of rolling mill’s dynamic strength. Unfortunately, up to today, machine suppliers cannot find out a whole calculation aimed to this question. And the calculation of the dynamic strength in the rolling mill’s design isn’t Considerate because of its weak foundation. So, in the new roll mills, some difficult problems are met, including the electromechanical coupling twist vibration (EMCTV).
This thesis is based on one typical electrical fault of R1 mill in Baosteel’s 1800mm hot mill. Firstly, the fault source is got by test and analysis. Secondly, kinetics model is found by researching on the EMCTV of the rolling mill R1. Thirdly, the twist vibration is analyzed completely. And finally, an optimization scheme in the speed control is used to solve the problem of EMCTV is resolved.
The solutions mentioned in the thesis is worth to learning for other rolling mill, especially in the cases of using digital & high-performance AC-Drive system.
为了追求生产能力,新上热轧机组轧机传动电机功率和轧制力矩不断增大;另外,由于电力电子技术、计算机技术、控制理论、通信技术的发展,轧机自动化程度越来越高,提高了系统控制精度和响应速度。
电气专业新技术的应用对轧机机械设计提出了新要求,特别体现在加强轧机动态强度上。遗憾的是,轧机机械生产厂商尚未找到应对此类问题的一套完整计算方法,轧机设计对动态强度计算缺少完整的计算依据和方案。为此,在一些新上轧机项目上出现了不少棘手问题,机电扭振问题就是其中之一。
本论文以宝钢1880mm热轧机R1跳电的工程实际问题为研究课题,通过分析测试得出机电扭振是跳电问题的根源。并以轧机机电扭振为研究对象,对机组进行了动力学分析,对扭振问题解决进行了多层次、多方位的研究和实践,最终突破常规,创造性地利用控制系统速度调节环优化方式,成功解决了机电共振问题,为类似全数字、高性能交流调速装置驱动的轧机扭振问题提供了可借鉴的解决方案。
Due to the rapid development in China in the past several years, the iron and steel production is rising quickly. From 2002 to 2008, the iron and steel production increased from 182 million tons per year to 540 million tons per year, almost 3 times. At the same time, the number of hot mill lines was going up dramatically.
Seeking for high rolling capability, the new hot mill lines always use big power motor and the mills’rolling torque are normally enormous. On the other hand, with the development of power electronics, computer technology, control theory and communication technology, the automatic level of the rolling mill is increasing. So, the control accuracy and the speed responsibility are increasing simultaneously.
Because of the application of some new electrical technologies, the mechanical design is required to improve, especially in the improvement of rolling mill’s dynamic strength. Unfortunately, up to today, machine suppliers cannot find out a whole calculation aimed to this question. And the calculation of the dynamic strength in the rolling mill’s design isn’t Considerate because of its weak foundation. So, in the new roll mills, some difficult problems are met, including the electromechanical coupling twist vibration (EMCTV).
This thesis is based on one typical electrical fault of R1 mill in Baosteel’s 1800mm hot mill. Firstly, the fault source is got by test and analysis. Secondly, kinetics model is found by researching on the EMCTV of the rolling mill R1. Thirdly, the twist vibration is analyzed completely. And finally, an optimization scheme in the speed control is used to solve the problem of EMCTV is resolved.
The solutions mentioned in the thesis is worth to learning for other rolling mill, especially in the cases of using digital & high-performance AC-Drive system.
引文
[1].李崇坚.段巍.轧机传动交流调速机电振动控制,冶金工业出版社,2003
[2].李崇坚,李向欣,干永革,王征.大型热连轧机主传动交流调速系统,电气时代,2002,01
[3].王征,张卫,李崇坚.大型热连轧机主传动系统机电振荡的研究,冶金自动化,2001,01
[4].沈标正.轧机扭振控制策略与实施(上),冶金自动化,2002,03
[5].陈践.轧机扭振控制策略与实施(中),冶金自动化,2002,04
[6].段保国.轧机扭振控制策略与实施(下),冶金自动化,2002,05,
[7].张宇献轧机主传动系统的扭振抑制研究东北大学学硕士学位论文2006
[8].李崇坚轧机主传动交流调速技术的现状与发展
[9].李志明,张遇杰同步电动机调速系统机械工业出版社,1996.8
[10].马小亮大功率交交变频调速与矢量控制机械工业出版社,1996.6
[11].陈伯时,陈敏逊交流调速系统机械工业出版社,1998.5
[12].陈伯时电力拖动自动控制系统机械工业出版社,2003.8
[13].IEGT Inverter, IEGT Converter TMdrive-70, TMdrive-P70 Instruction Manual TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS CORPORATION
[14]. IEGT Inverter, IEGT Converter TMdrive-70, TMdrive-P70 Parameter Setting Manual TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS CORPORATION
[15].Ivan Godler,Kouhei Ohnishi,Tadashi Yamashita. Robustness of Vibration Suppression feedback loop for speed control system,IEEE,1993
[16].天津电气传动设计研究所编著电气传动自动化技术手册第2版机械工业出版社2006.1
[17].Simovert MasterDrives矢量控制使用大全西门子电气传动有限公司(SEDL) 2003.1
[18].韩安荣通用变频器及其应用第2版机械工业出版社2001.1
[19].陈伯时,李发海,王岩合编电机与拖动(上、下册).北京:中央广播电视大学出版社,1983
[20].吴麒自动控制原理(上册)清华大学出版社1990.3
[21].屈维德,唐恒龄机械振动手册机械工业出版社2000.7
[22].赵弘,李擎,李华德负荷观测器在轧机扭振抑制中的应用大电机技术2006.2
[23].李平,刘晓星HC轧机主传动扭振系统的建模及其动态性能的研究昆明理工大学学报(理工版) 2004.4
[24].赵弘,李华德,杜伟利用外扰模型前馈控制抑制轧机扭振的应用钢铁2006.8
[25].孟令启,黄其柏基于Matlab的中厚板轧机机电扭振系统模型仿真湖南大学学报(自然科学版)2007.8
[26].Yoshihiro Matsui. Et. Al. Design of speed controllers to suppress torsional vibrations based on frequency characteristics, International Conference on Control Applications.1999
[27].薛定宇.控制系统计算机辅助设计—matlab语言和应用,清华大学出版社,1998
[28].王兆安,黄俊电力电子技术(第4版)机械工业出版社2005.1
[29].李发海,王岩电机与拖动基础清华大学出版社1994.6
[30].Jin-soo Kim, Young-Seok Kim, Jae-Hwa shin, Hyun-Jung Kim, High Speed Control of an Induction Motor with the Two-mass Resonnant System by LMI, IEEE,1998
[31].高龙,熊光愣,梁德全状态观测器在调速系统中的应用,清华大学报,1980
[32].方一鸣,嵇胜龙,王益群,施汉杰冷带轧机控制系统负载扰动观测器的设计及应用冶金自动化2001.25
[33].宋司兵,于维民,王景波轧机主传动扭振计算研究及软件开发,一重技术2002
[34].F.Qiao,Q. M.Zhu, S.Y.Li, and A. Winfield. Torsional Vibration Suppression of a 2-Mass Main Drive System of Rolling Mill with KF enhanced Pole Placement, Proceedings of the 4th World Congress on Intelligent Control and Automation. 2002
[35].S.Yang, S.ke. Performance Evaluation of a Velocity Observer for Accurate Velocity Estimation of Servo Motor Drives, IEEE Transactions on Industry Applications.2000
[36].S.N Vukosavic and M.R. Stojic. Suppression of Torsional Oscillations in a High-Performance Speed Drive. IEEE Trans. Ind. Electron. 1998
[37].李平攀钢冷轧厂HC轧机扭振研究冶金设备2002.01
[38]邹家祥,徐乐江冷连轧机系统震动控制,冶金工业出版社1998
[39]黄志刚,王雷,周灵强等一起热轧主传动机电系统振荡的故障处理变频器世界2008.12
[40].李崇坚大功率轧机交流调速技术的发展冶金自动化2004年增刊
[2].李崇坚,李向欣,干永革,王征.大型热连轧机主传动交流调速系统,电气时代,2002,01
[3].王征,张卫,李崇坚.大型热连轧机主传动系统机电振荡的研究,冶金自动化,2001,01
[4].沈标正.轧机扭振控制策略与实施(上),冶金自动化,2002,03
[5].陈践.轧机扭振控制策略与实施(中),冶金自动化,2002,04
[6].段保国.轧机扭振控制策略与实施(下),冶金自动化,2002,05,
[7].张宇献轧机主传动系统的扭振抑制研究东北大学学硕士学位论文2006
[8].李崇坚轧机主传动交流调速技术的现状与发展
[9].李志明,张遇杰同步电动机调速系统机械工业出版社,1996.8
[10].马小亮大功率交交变频调速与矢量控制机械工业出版社,1996.6
[11].陈伯时,陈敏逊交流调速系统机械工业出版社,1998.5
[12].陈伯时电力拖动自动控制系统机械工业出版社,2003.8
[13].IEGT Inverter, IEGT Converter TMdrive-70, TMdrive-P70 Instruction Manual TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS CORPORATION
[14]. IEGT Inverter, IEGT Converter TMdrive-70, TMdrive-P70 Parameter Setting Manual TOSHIBA MITSUBISHI-ELECTRIC INDUSTRIAL SYSTEMS CORPORATION
[15].Ivan Godler,Kouhei Ohnishi,Tadashi Yamashita. Robustness of Vibration Suppression feedback loop for speed control system,IEEE,1993
[16].天津电气传动设计研究所编著电气传动自动化技术手册第2版机械工业出版社2006.1
[17].Simovert MasterDrives矢量控制使用大全西门子电气传动有限公司(SEDL) 2003.1
[18].韩安荣通用变频器及其应用第2版机械工业出版社2001.1
[19].陈伯时,李发海,王岩合编电机与拖动(上、下册).北京:中央广播电视大学出版社,1983
[20].吴麒自动控制原理(上册)清华大学出版社1990.3
[21].屈维德,唐恒龄机械振动手册机械工业出版社2000.7
[22].赵弘,李擎,李华德负荷观测器在轧机扭振抑制中的应用大电机技术2006.2
[23].李平,刘晓星HC轧机主传动扭振系统的建模及其动态性能的研究昆明理工大学学报(理工版) 2004.4
[24].赵弘,李华德,杜伟利用外扰模型前馈控制抑制轧机扭振的应用钢铁2006.8
[25].孟令启,黄其柏基于Matlab的中厚板轧机机电扭振系统模型仿真湖南大学学报(自然科学版)2007.8
[26].Yoshihiro Matsui. Et. Al. Design of speed controllers to suppress torsional vibrations based on frequency characteristics, International Conference on Control Applications.1999
[27].薛定宇.控制系统计算机辅助设计—matlab语言和应用,清华大学出版社,1998
[28].王兆安,黄俊电力电子技术(第4版)机械工业出版社2005.1
[29].李发海,王岩电机与拖动基础清华大学出版社1994.6
[30].Jin-soo Kim, Young-Seok Kim, Jae-Hwa shin, Hyun-Jung Kim, High Speed Control of an Induction Motor with the Two-mass Resonnant System by LMI, IEEE,1998
[31].高龙,熊光愣,梁德全状态观测器在调速系统中的应用,清华大学报,1980
[32].方一鸣,嵇胜龙,王益群,施汉杰冷带轧机控制系统负载扰动观测器的设计及应用冶金自动化2001.25
[33].宋司兵,于维民,王景波轧机主传动扭振计算研究及软件开发,一重技术2002
[34].F.Qiao,Q. M.Zhu, S.Y.Li, and A. Winfield. Torsional Vibration Suppression of a 2-Mass Main Drive System of Rolling Mill with KF enhanced Pole Placement, Proceedings of the 4th World Congress on Intelligent Control and Automation. 2002
[35].S.Yang, S.ke. Performance Evaluation of a Velocity Observer for Accurate Velocity Estimation of Servo Motor Drives, IEEE Transactions on Industry Applications.2000
[36].S.N Vukosavic and M.R. Stojic. Suppression of Torsional Oscillations in a High-Performance Speed Drive. IEEE Trans. Ind. Electron. 1998
[37].李平攀钢冷轧厂HC轧机扭振研究冶金设备2002.01
[38]邹家祥,徐乐江冷连轧机系统震动控制,冶金工业出版社1998
[39]黄志刚,王雷,周灵强等一起热轧主传动机电系统振荡的故障处理变频器世界2008.12
[40].李崇坚大功率轧机交流调速技术的发展冶金自动化2004年增刊