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2008 International Conference on Intelligent Computation Technology and Automation

2008 International Conference on Intelligent Computation Technology and Automation

2008 International Conference on Intelligent Computation Technology and Automation

Study on Non-linear Twist Vibration of Main Transmission

System for Vertical Rolling Mill

Meng Lingqi Wang Jianxun (School of Mechanical Engineering, Zhengzhou University, Zhengzhou, 450001)

E-mail: mengqi6388@163.com

Abstract

Four degrees of freedom non-linear dynamical model on vertical vibration system of the 4200 vertical rolling mill had been established. Numerical results of vibration equations were figured out by Matlab software. Phenomenon of quasi-periodic and chaotic vibrations of the vibration system was discussed using the method of Phase graph and Poincare section.

1. Introduction

Recent years, both in home and abroad, study on the main transmission system of vertical rolling mill and its accessory have happened many serious wrecked accident, which can’t be explained by the static analysis tools. Along with the weight of roller pieces adding, the speed of rolling mill was accelerating, and the power of motor increasing, the problem become more and more obviously. One of the main reasons is that main transmission system appears twist vibration. The main transmission system is the primary path of power-transmission in rolling process; its dynamical behavior affects the unit’s dynamical attitudes directly. In forepart, when study on the twist vibration in rolling process, we adopt linear model as subject investigation more often, and there was a long distance between the conclusion and practical situation. Consequently, this thesis adopts non-linear method in the analyzing the main transmission system, establishes non-linear dynamical model, and applies Matlab software to dynamical analysis and numerical value emulator. The conclusions indicate that during different parameter range can obtain a series of non-linear oscillation phenomenon: periodic vibration, quasi-period vibration and chaotic vibration attitude.

2. The model of Non-linear twist vibration of main transmission system for vertical rolling mill

The main transmission system of vertical rolling mill is a many degrees of freedom system, which is a branched and closed system. The transmission is branch system when the roller pieces are before entering or after throwing out; when the steel is treated, adding a timing annulus of roller piece, it forms a

closed system. Its structure is as fig1 shows. Convenient for analyzing, according to the design feature, 4200 vertical rolling mill simplified into four degrees of freedom dynamical model. Because of the working condition is complicated, and there are many confined factors, so it is unpractical to describe them in detail, only can consider the influence under certain condition and some main factors in this condition. The main content of this thesis is system’s dynamical situation, when a motor is starting in a normal way and the rolled piece entering and throwing out, so establish model as fig.2 shows, which base on branch system in fig.1. M 1 and M 4 represent roll torque in equivalent mechanical model; M 2 and M 3 represent motor’s driving moment, it’s the moment of external disturbance; J 1 and J 4 represent processional moment

represent

of left and right rollers, J 2 and J 3

processional moment of left and right motors; 1 and 4 represent angular displacement of left and right rollers, 2 and 3 represent angular displacement of left and right motors; in this model, we only consider

synchronizing damp, viz. damp C which is between set of axes of two motors, set up main transmission system’s stiffness as non-linear item. Use Duffing oscillator to define non-linear stiffness.

978-0-7695-3357-5/08 $25.00 © 2008 IEEE

978-0-7695-3357-5/08 $25.00 © 2008 IEEE

978-0-7695-3357-5/08 $25.00 © 2008 IEEE

DOI 10.1109/ICICTA.2008.10

DOI 10.1109/ICICTA.2008.10

DOI 10.1109/ICICTA.2008.10

1153

1153

1153

© 2008 IEEE DOI 10.1109/ICICTA.2008.10 DOI 10.1109/ICICTA.2008.10 DOI 10.1109/ICICTA.2008.10 1153 1153 1153
© 2008 IEEE DOI 10.1109/ICICTA.2008.10 DOI 10.1109/ICICTA.2008.10 DOI 10.1109/ICICTA.2008.10 1153 1153 1153
© 2008 IEEE DOI 10.1109/ICICTA.2008.10 DOI 10.1109/ICICTA.2008.10 DOI 10.1109/ICICTA.2008.10 1153 1153 1153

KK [1

1

1

1

6

(

K

3

K [1

3

1

6

12

)

2

],

KK

2

2

[1

1

6

(

23

)

2

],

(

34

)

2 ]

, K 1 represents linear torsion

stiffness between left motor and set of axes of roller, K 2 represents linear torsion stiffness between set of axes of two motors, K 3 represents linear torsion stiffness between right motor and set of axes of rollers.

stiffness between right motor and set of axes of rollers. Fig. 1 The system of main

Fig. 1 The system of main transmission for vertical rolling mill.

The system of main transmission for vertical rolling mill. Fig. 2 The model of non-linear vibration

Fig. 2 The model of non-linear vibration of main transmission system of vertical rolling mill. According to mechanical oscillation theory, list the differential equation:

JK

11

1

(

JC

22

(

2

JC

33

(

3

1

4

2

)

M

1

3

)(

K

1

1

)(

K

2

2

2

)

3

(

)(

K

2

2

3

)

)

K

3

4

3

JK

44

3

(

3

4

)

M

4

M

M

2

3

(1)

In real production, we know that in the entering process, work piece can’t contact the two rollers at the same time. We suppose that work piece contacts the left roller at first, and then contacts the right one. This process is short-lived, so according to correlative knowledge of momentum moment in mechanics, invert work piece’s quality into main transmission system.

, m

Obey

represents work piece’s quality; v represents work piece’s feed rate, R represents roller’s radius, so after inversion, the processional moment is:

J * mvR

1

,

gained

the processional moment is: J * mvR 1 , gained J mvR 1 J 1 In

J mvR

1

J

1

In

J

0

real

J (2)

production,

there

is

a

time

difference

between two motors in starting. Suppose that left motor drive in advance, and the right one doesn’t work,

because

disturbance. So

of

motor’s

M

2

M cos t

driving

M

3 0

moment

is

external

 

(3)

And represents the driving frequency.

Substitute formula (2), (3) in equation (1), equation (4) is a four-degree of freedom matrix equation of main transmission system:

J

1

1

J

2

J

3

J

4

1

2

3

4

-

1

-

11

2

-

22

C

-

C

-

CC

-

2

3

-

3

-

3

3

1

2

3

4

1

2

3

4

0

M

M

1

cos

t

M

4

3. Numerical simulation of non-linear twist vibration

In the non-linear dynamic system, parameter variation restrict vibration characteristic directly, we should adopt appropriate working parameter to describe twist vibration of system truly. In order to use numerical method to analyze non-linear vibrating system, parameter values of 4200 roller mill are obtained according to actual data, as Tab.1 shows. Tab. 1 vibrating parameter value of main transmission system

J

0 (kg·m 2 )

708

K 1 (N·m/rad)

138.73×10 5

J

2 (kg·m 2 )

15509

K 2 (N·m/rad)

9.4772×10 5

3 (kg·m )

(kg·m 2 ) m(kg) R(m)

J

J

2

4

15503

708

50000

K (N·m/rad)

c(N·m·s/rad) 5.89×10 5

V(m/s)

138.73×10 5

0.5

3

0.5

Ignore non-linear item, invert equation (4) to (5):

J

0

J

2

J

3

J

4

1

2

3

4

c

-

c

-

cc

1

2

3

4

1

-

1

-

11

2

-

2

-

22

-

3

-

33

3

1

2

3

4

M

1

M

cos

0

M

t

4

(5)

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Equation (5) is classical linear dynamic vibrating equation. When frequency of exciting force approach to system’s natural frequency, rolling mill’s stability is affected the most seriously, so system’s natural frequency should be calculated in advanced, for the convenience of analyzing non-linear vibrating stability of system, which under its natural frequency.

[N]

1

[][JK]

[

[

J

]

]

K

J

0

J

2

J

3

J

4

1

-

1

2

-

11

-

2

-

3

-

-

2233

3

According to theory of mechanical vibration, eigenvalue of matrix [N] equals to square of system’s

natural frequency. Namely:

natural angular frequency of this four-degrees of freedom system n1 =10.8167, n2 =143.1398, n3 =143.16. n4 equals to zero, and it has no value, so we ignore it. According to non-linear vibration theory, we can obtain such conclusions, four degrees of freedom non- linear vibrating system can result in many kinds of covibration, such as inner sympathetic vibration, unit sympathetic vibration, principle parameter sympathetic vibration. Toward to inner sympathetic vibration, freedom vibrating angular frequency of the system

2

n

. Then obtain the

must meet , represents natural number.

n

i

ni

0

n

i

Toward to unit sympathetic vibration, system’s

freedom vibrating

meet

freedom vibrating system, unit vibrating angular frequency always appears during natural frequency. The situation when angular frequency approaches to certain natural angular frequency of linear system is principal parameters covibration. Function ode23 and ode45 are used to solve non- linear differential equation in Matlab. Both of them adopt Runge-Kutta. But ode45 adopt combining biquadrate and quintic equation of Runge-Kutta, so it’s precision are higher than ode23. This thesis would adopts ode45 to solve questions, And discusses dynamics actions of roller vibrating system when angular frequency approach to natural frequency n and natural frequency are changing. Then it obtains

angular frequency must

of

n

1

n

i

ni

.

Toward

to

four

degrees

system’s phase graph and relevant Poincare section view. First of all, we discuss main transmission system’s dynamics action, when angular frequency =140, which approaches to natural angular frequency. The Phase graph, Poincare section and Time-displacement curve as fig3 and fig4 show.

section and Time-displacement curve as fig3 and fig4 show. Fig. 3 Phase graph and Poincare section

Fig. 3 Phase graph and Poincare section when closes to the inherent angular frequency. As fig3 shows, when =140, Phase graph is a bit disordered, but will be astringed to inherent limit loop in final, indicates that motion is not extremely stable, the character of non-linear motion is comparative obviously, after a longer periodicity we can judge that path is closed in final, and then tend to stability; there are limit stationary points in Poincare section, it indicates that it will be a periodic motion in final, but it has the tendency to quasi-periodic.

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Fig. 4 (a) Fig. 4 (b) Fig. 4 Time-displacement curve when closes to the inherent

Fig. 4 (a)

Fig. 4 (a) Fig. 4 (b) Fig. 4 Time-displacement curve when closes to the inherent angular

Fig. 4 (b) Fig. 4 Time-displacement curve when closes to the inherent angular frequency. As fig.4 (a) shows, when =140, because of the existence of damp, system’s vibration is damped vibration in the beginning, as time going, amplitude of vibration almost hold on and tend to tranquilization, it is the effect of exciting force; as fig.4 (b) shows, after enlarging a stage of time domain graph (a), the steady component appear classical bating phenomena the amplitude of vibration have changed a lot, and find out many kinds of nestification. The analysis above indicates that: when force angular frequency approach to natural angular frequency, though the system’s vibration tends to periodical at last, the system appears Beating Phenomena, we know that Beating Phenomena does harm for equipments and productions, it affects the rolled piece, including the template and slab thickness, and it may cause accidents, such as roll breakage. In order to discuss the system’s stability further, we access =75, =125, =165, and obtain the Phase graph and Poincare section as fig.5, fig.6, fig.7 show:

graph and Poincare section as fig.5, fig.6, fig.7 show: Fig. 5 (a) Fig. 5 (b) Fig.

Fig. 5 (a)

Poincare section as fig.5, fig.6, fig.7 show: Fig. 5 (a) Fig. 5 (b) Fig. 5 Phase

Fig. 5 (b) Fig. 5 Phase graph and Poincare section ( = 75)

fig.6, fig.7 show: Fig. 5 (a) Fig. 5 (b) Fig. 5 Phase graph and Poincare section

Fig. 6(a)

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Fig. 6 (b) Fig. 6 Phase graph and Poincare section = 125 Fig. 7(a) Fig.

Fig. 6 (b) Fig. 6 Phase graph and Poincare section = 125

Fig. 6 (b) Fig. 6 Phase graph and Poincare section = 125 Fig. 7(a) Fig. 7(b)

Fig. 7(a)

Fig. 6 Phase graph and Poincare section = 125 Fig. 7(a) Fig. 7(b) Fig. 7 Phase

Fig. 7(b) Fig. 7 Phase graph and Poincare section = 165 Fig.5, fig.6 and fig.7 indicate that when angular frequency increases from 75 to 165 step by step, its Phase graph and Poincare section have coherent changes, and have a complete difference from the situation of natural frequency. The figures display the situation of 10000 to 30000 periodicity, the first 10000 periodicity are more random in phase graph, but as the

time going, the Phase graph tend to a stable limit loop; but Poincare section is still some flaky point set. According to non-linear vibration theory and chaotic motion of Poincare section method, when Poincare section is only a stationary point, system’s motion is periodical; when Poincare section is a curve, system’s motion is quasi-period; when Poincare is flakey point set, system’s vibration is chaotic, as graph(b) show. So the system’s vibration is astable in this angular frequency, and tends to chaotic.

4. Conclusions

Through analyzing main transmission system of vertical roll miller, under non-linear condition, we finish the number emulation of twist vibration of main transmission system of 4200 vertical roller mill, obtain four conclusions:

(1)The existence of pumping frequency out of motor can make vibration system result in chaotic; (2)In real production, avoid exciting frequency approach to system’s natural frequency, in order to avoid the appearance of Beating Phenomena (3)The thesis declares system is not stable. According to investigating working condition and subject, especially when motors start in the early stage, the system is chaotic, and the thesis explains the reason why the synchronizing shaft between two motors is easy to de destroyed in production; (4)Matlab software can be used to non-linear dynamics calculation, and has high efficiency.

5. References

[1] MENG Lingqi, “Vertical roller Mill’s twist vibration”, Journal of Zhengzhou University, Zhengzhou, 1998,

30(4):55~63.

[2]ZOU Jiaxiang, Vibration control of cold tandem mill, Metallurgical Industry Press, Beijing, 1998. [3]CHEN Yonghui, “Study on parametrically excited nonlinear vibrations on 4-H cold rolling mills”, Chinese Journal of Mechanical Engineering, 2003, 39(4):56~60. [4] MA Jinliang, MENG Lingqi, “Research on Vertical of Medium Plate Rolling Mill”, NEW TECHNOLOGY & NEW PROCESS, 2006, 4:35~39. [5]ZHAO Hong, BAI Jing, “Analysis of rolling mill vibration and nonlinear”, MACHINERY, 2003, 30(5):16~19. [6] WANG Bing, “A Torque Vibration Analysis of the Main Gearing System in the 1420mm Rolling Mill”, JOURNAL OF HUAIHAI INSTITUTE OF TECHNOLOGY (NATURAL SCIENCES EDITION) 2004,13(3):22 24.

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