轧机辊系非线性垂直振动特性研究
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摘要
随着轧制速度和强度的不断提高,轧制过程中轧机辊系系统时常出现垂直颤振失稳现象。垂直颤振对产品质量影响较为严重,有的颤振在几秒内就能达到最大值,从而造成厚度差,影响着产品的轧制精度,严重时会引起断带;有的颤振发生时虽然不会引起轧件明显的厚度差,但是会在轧件上产生明暗相间的条纹,影响产品质量。因此对轧机垂直振动的研究已成为提高轧制产量以及轧制质量的重要课题。
本论文首先在考虑轧制界面间的非线性阻尼以及辊系间的非线性刚度的基础上,建立两自由度参激振动模型,对轧机工作辊的振动情况进行分析。采用多尺度法求解了系统在不同频率激励下的主共振、超谐波共振以及亚谐波共振的解析近似解,得到了系统的幅频特性方程。分析了该系统的稳定性,得到了阻尼与刚度对系统稳定性的影响关系。分析了非线性刚度、非线性阻尼等参数对系统振动的影响,得到非线性刚度的变化会引起激励幅值的跳跃,导致幅值的振荡。
其次考虑上、下工作辊之间以及上、下支撑辊与机架之间的非线性刚度和非线性阻尼,建立了四辊轧机辊系四自由度参激垂直耦合振动模型。运用多尺度法求解了该系统在主共振和1:1内共振情形下的解析近似解,得到了幅频特性曲线方程。分析了轧机主要参数对主共振的影响,通过分析1:1内共振幅频特性曲线发现内共振和主共振一样存在幅值跳跃现象。通过数值仿真验证了模型及分析结果的有效性,并分析了参激耦合振动系统随参数变化时的局部分岔现象。
再次分析轧机三倍频颤振和五倍频颤振的起因,根据理论分析分别建立轧机三倍频颤振模型和五倍频颤振模型,通过数值仿真分析三倍频颤振和五倍频颤振,并在最后验证所建模型的正确性。
最后通过对某钢厂1780热连轧机的测试项目,建立轧机振动测试系统,采用YD振动传感器采集振动信号,并使用NI公司的labview对振动信息进行显示和存储。然后采用较先进的非线性信号处理方法―EMD,对振动信息进行EMD分解和Hilbert变换,得到IMF分量和Hilbert边际谱和时频谱,从而达到对振动信息的内部特征提取和处理,进而分析轧机振动形态。
With the development of the speed and the intensity, it has become common that the phenomenon of vertical chatter of roller system in rolling mill. The vertical chatter is the more affection on the quality of products, some chatter can get heave amplitude in seconds, some chatter may bring in stripes of light and dark, though they did not make visible thickness difference, what affected the quality of products. So the study of vertical vibration of rolling mill has become an important object on improve the yield and quality of rolling mill.
Firstly vibration analysis of nonlinear parametrically exited and 4-h rolling system of two degrees of freedom model is carried out. This model considers the nonlinear damping and nonlinear stiffness between working rolls. The parse approximation close to the main frequency, ultra harmonics and inferior harmonics parametric resonance are worked out using multiple-scales method. At last, the curve equation of amplitude-frequency characteristic. The stability characteristic is analyzed. The affection of each parameter on the vibration is solved by simulation analysis. With the change of nonlinear stiffness, the amplitude appears the jumping phenomenon. It leads instability of the vibration. The validity of the method is validated using numerical simulation.
Secondly a vertical nonlinear parametrically exited coupling vibration model of 4-h rolling system is established, which considered the nonlinear damping and nonlinear stiffness between working rolls and supporting rolls to rolling mill’s frame, The parse approximation solution under main frequency, 1:1 inner resonance are carried out by using multiple-scales method, and the curve equations of amplitude-frequency are obtained. The vibrational characteristic of system under nonlinear stiffness and nonlinear damping are analyzed. With the change of nonlinear stiffness, the amplitude appears the jumping phenomenon. It leads instability of the system. The numerical simulation indicated that the solution is validated. Local bifurcation is studied with parameters transform.
Third third-harmonic chatter and five harmonic chatter models are established according the theory analyze, through analyzing the origin of the third harmonic chatter and fifth harmonic chatter. It analyzes the third harmonic chatter and fifth harmonic chatter through numerical simulation. The validity is validated though simulation at last.
Last the testing system has been established through the testing project of 1780 hot rolling mill of one steel company. The vibration dates were taken by Y-D vibration sensor. It uses the LabVIEW of NI company to show and memory the vibration information. It took the new signal transacting method EMD to analyze dates and make Hilbert transformation. It achieved the aim of taking internal information and decomposition.
本论文首先在考虑轧制界面间的非线性阻尼以及辊系间的非线性刚度的基础上,建立两自由度参激振动模型,对轧机工作辊的振动情况进行分析。采用多尺度法求解了系统在不同频率激励下的主共振、超谐波共振以及亚谐波共振的解析近似解,得到了系统的幅频特性方程。分析了该系统的稳定性,得到了阻尼与刚度对系统稳定性的影响关系。分析了非线性刚度、非线性阻尼等参数对系统振动的影响,得到非线性刚度的变化会引起激励幅值的跳跃,导致幅值的振荡。
其次考虑上、下工作辊之间以及上、下支撑辊与机架之间的非线性刚度和非线性阻尼,建立了四辊轧机辊系四自由度参激垂直耦合振动模型。运用多尺度法求解了该系统在主共振和1:1内共振情形下的解析近似解,得到了幅频特性曲线方程。分析了轧机主要参数对主共振的影响,通过分析1:1内共振幅频特性曲线发现内共振和主共振一样存在幅值跳跃现象。通过数值仿真验证了模型及分析结果的有效性,并分析了参激耦合振动系统随参数变化时的局部分岔现象。
再次分析轧机三倍频颤振和五倍频颤振的起因,根据理论分析分别建立轧机三倍频颤振模型和五倍频颤振模型,通过数值仿真分析三倍频颤振和五倍频颤振,并在最后验证所建模型的正确性。
最后通过对某钢厂1780热连轧机的测试项目,建立轧机振动测试系统,采用YD振动传感器采集振动信号,并使用NI公司的labview对振动信息进行显示和存储。然后采用较先进的非线性信号处理方法―EMD,对振动信息进行EMD分解和Hilbert变换,得到IMF分量和Hilbert边际谱和时频谱,从而达到对振动信息的内部特征提取和处理,进而分析轧机振动形态。
With the development of the speed and the intensity, it has become common that the phenomenon of vertical chatter of roller system in rolling mill. The vertical chatter is the more affection on the quality of products, some chatter can get heave amplitude in seconds, some chatter may bring in stripes of light and dark, though they did not make visible thickness difference, what affected the quality of products. So the study of vertical vibration of rolling mill has become an important object on improve the yield and quality of rolling mill.
Firstly vibration analysis of nonlinear parametrically exited and 4-h rolling system of two degrees of freedom model is carried out. This model considers the nonlinear damping and nonlinear stiffness between working rolls. The parse approximation close to the main frequency, ultra harmonics and inferior harmonics parametric resonance are worked out using multiple-scales method. At last, the curve equation of amplitude-frequency characteristic. The stability characteristic is analyzed. The affection of each parameter on the vibration is solved by simulation analysis. With the change of nonlinear stiffness, the amplitude appears the jumping phenomenon. It leads instability of the vibration. The validity of the method is validated using numerical simulation.
Secondly a vertical nonlinear parametrically exited coupling vibration model of 4-h rolling system is established, which considered the nonlinear damping and nonlinear stiffness between working rolls and supporting rolls to rolling mill’s frame, The parse approximation solution under main frequency, 1:1 inner resonance are carried out by using multiple-scales method, and the curve equations of amplitude-frequency are obtained. The vibrational characteristic of system under nonlinear stiffness and nonlinear damping are analyzed. With the change of nonlinear stiffness, the amplitude appears the jumping phenomenon. It leads instability of the system. The numerical simulation indicated that the solution is validated. Local bifurcation is studied with parameters transform.
Third third-harmonic chatter and five harmonic chatter models are established according the theory analyze, through analyzing the origin of the third harmonic chatter and fifth harmonic chatter. It analyzes the third harmonic chatter and fifth harmonic chatter through numerical simulation. The validity is validated though simulation at last.
Last the testing system has been established through the testing project of 1780 hot rolling mill of one steel company. The vibration dates were taken by Y-D vibration sensor. It uses the LabVIEW of NI company to show and memory the vibration information. It took the new signal transacting method EMD to analyze dates and make Hilbert transformation. It achieved the aim of taking internal information and decomposition.
引文
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2邹家祥,徐乐江.冷连轧机系统振动控制.北京:冶金工业出版社, 1998:45-89.
3 P H Hu. Stability and chatter in rolling. Ph.D Thesis, Northwestern Unibersity, Evanston, IIIinois, 1987:78-90.
4张功焰.薄带材异步轧制振动的研究: [东北大学硕士学位论文].1988:2-15.
5刘守华.薄带异步冷轧时轧机颤振研究:[东北大学硕士学位论文].1989:3-20.
6岳海龙.带钢冷连轧机自激振动的生成和抑制: [北京科技大学博士学位论文]. 1994:1-15.
7徐强.板带轧机颤振与动态特性的研究: [东北大学硕士学位论文] 1995:1-9.
8钟掘,唐华平.高速轧机若干振动问题.振动、测试与诊断. 2002, 96(1):1-8.
9刘涛,曾祥利,曾军.实用小波分析入门.国防工业出版社,37-100.
10朱明武,李永新,卜雄洙.测试信号处理与分析.北京航空航天大学出版社,19-45.
11 Yarita I, Furukawa K, Seino Y. An Analysis of Chattering in cold rolling of Ultrathin Gauge Steel Strip[J]. Transctions ISIJ,1978,19(1):1-10
12 L. Chefneux, J.P. Fischbach, J. Gouzou. Study and control of chatter in cold rolling. Iron and Steel Engineer,1980,17-26.
13 Tamiya T, Furui K, Lida H, et al. Analysis of chattering Phenomenon in cold Rolling[J]. In: ISIJ ed. Proceedings of the International Conference on Steel Rolling, Tokyo, 1980,1191-1202.
14 J. Tlusty, G Chandra, S. Critchley, et al. Chatter in cold rolling[J]. CIRP Annals- Manufacturing Technology. 1982,31(1):195-199.
15 O. Pawelski, W. Rasp, K. Friedewald. Chattering in cold rolling—Theory of interaction of plastic and elastic deformation[J]. Proceeding of 4th International Steel Rolling Conference: The Science and Technology of Flat Rolling, Deauville, France, 1987, 2,E.11.1-E.11.5.
16 Yukio Kimura, Yasuhiro Sodani, Nobuo Nishiura,et al.Analysis of Chatter in TandemCold Rolling Mills [J].ISIJ International, 2003, 43 (1):77-84
17 I.S Yun, W.R.D. Wilson, K.F. Ehmann. Chatter in the strip rolling process, Part I: dynamic model of rolling[J]. Trans. ASME: J. Manufact. Sci. Eng. 1998,120(2):330-336.
18 Pei-Hua Hu, Kornel F. Ehmann. Stability analysis of chatter on a tandem rolling mill[J]. Journal of Manufacturing Processes,2000,2(4):217-224.
19 Pei-Hua Hu, Kornel F. Ehmann. A dynamic model of the rolling process. Part I: homogeneous model[J]. International Journal of Machine Tools & Manufacture. 2000,40(1):1-19.
20 Pei-Hua Hu, Kornel F. Ehmann. Fifth octave mode chatter in rolling[J]. Proc. Instn. Mech. Engrs. 2001(1):797-809.
21 Robert E. Jone, Quan Qi. Chatter Dynamics in Sheet Rolling[J]. International Journal of Mechanical Science,1994,36(7):617-630.
22 G.L. Nessler, J.F. Cory. Cause and solution of fifth-octave backup roll chatter on 4-h cold mills and temper-mills[J]. Iron and Steel Engineer,1989,482-486.
23 R E Johnson, Q Qi. Chatter dynamics in sheet rolling[J]. Int. J. Mech. Sci, 1994,36(7): 617-630.
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