Study on Non-linear Twist Vibration of Main Transmission

System for Vertical Rolling Mill

Meng LingqiWang 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 cant 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 units 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 systems 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 motors
driving moment, its the moment of external
disturbance; J
1
and J
4
represent processional moment
of left and right rollers, J
2
and J
3

represent
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
systems stiffness as non-linear item. Use Duffing
oscillator to define non-linear stiffness.
2008 International Conference on Intelligent Computation Technology and Automation
978-0-7695-3357-5/08 $25.00 2008 IEEE
DOI 10.1109/ICICTA.2008.10
1153
2008 International Conference on Intelligent Computation Technology and Automation
978-0-7695-3357-5/08 $25.00 2008 IEEE
DOI 10.1109/ICICTA.2008.10
1153
2008 International Conference on Intelligent Computation Technology and Automation
978-0-7695-3357-5/08 $25.00 2008 IEEE
DOI 10.1109/ICICTA.2008.10
1153
2
1 1 1 2 2 2 2 3
1 1
[1 ( ) ], [1 ( ) ],
6 6
K K K K u u u u
' '
= =
2
2
3 3 3 4
1
[1 ( ) ]
6
K K u u
'
=
, 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.

Fig. 1 The system of main transmission for vertical
rolling mill.
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:
1 1 1 1 2 1
2 2 2 3 1 1 2 2 2 3 2
3 3 3 4 2 2 3 3 3 4 3
4 4 3 3 4 4
( )
( ) ( ) ( )
( ) ( ) ( )
( )
(1)
J K M
J C K K M
J C K K M
J K M
u u u
u u u u u u u
u u u u u u u
u u u
'
+ =
' '
+ + =
' '
+ + =
'
+ =

In real production, we know that in the entering
process, work piece cant 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 pieces quality into main transmission system.
Obey
1
* J mvR u A =

, gained
1
J mvR u A =

, m
represents work pieces quality; v represents work
pieces feed rate, R represents rollers radius, so after
inversion, the processional moment is:
1 0
J J J = + A

(2)
In real production, there is a time difference
between two motors in starting. Suppose that left
motor drive in advance, and the right one doesnt work,
because of motors driving moment is external
disturbance. So
2
cos M M t e =
3
0 M =

(3)
And e 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:
1
1 1
2 2 2
3 3 3
4 4 4
1 1
1 1 2 2
2 2 3 3
-

-

-
- -

- -

J
J C C
J C C
J
u u
u u
u u
u u
k k
k k k k
k k k k
( ( ( (
( ( ( (
( ( ( (
+
( ( ( (
( ( ( (
( (
' '
' ' ' '
+
+
' ' ' '
+




1 1
2
3
4 4
3 3
cos
0
-
M
M t
M
e
u
u
u
u
k k

(
( (
(
( (
(
( (
( = (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
(kgm
2
) 708 K
1
(Nm/rad) 138.7310
5
J
2
(kgm
2
) 15509 K
2
(Nm/rad) 9.477210
5
J
3
(kgm
2
) 15503 K
3
(Nm/rad) 138.7310
5
J
4
(kgm
2
) 708 c(Nms/rad) 5.8910
5
m(kg) 50000 V(m/s) 0.5
R(m) 0.5
Ignore non-linear item, invert equation (4) to (5):
0
1 1
2 2 2
3 3 3
4 4 4
1 1
1 1 2 2
2 2 3 3
3 3
-
-

-
- -
- -
-
J
J c c
J c c
J
u
u u
u u
u u
k k
k k k k
k k k k
k k
u
( ( ( (
( ( ( (
( ( ( (
+ +
( ( ( (
( ( ( (
( (
+

+

1
4
1
2
3
4
cos
0
(5)
M
M t
M
e
u
u
u
u

( ( (
( ( (
( ( (
=
( ( (
( ( (



1154 1154 1154
Equation (5) is classical linear dynamic vibrating
equation. When frequency of exciting force approach
to systems natural frequency, rolling mills stability is
affected the most seriously, so systems natural
frequency should be calculated in advanced, for the
convenience of analyzing non-linear vibrating stability
of system, which under its natural frequency.
1
[ ] [ ] [ ] N J K

=
0
2
3
4
[ ]
J
J
J
J
J
(
(
(
=
(
(


1 1
1 1 2 2
2 2 3 3
3 3
-
- -
[ ]
- -
-
K
k k
k k k k
k k k k
k k
(
(
+
(
=
(
+
(

According to theory of mechanical vibration,
eigenvalue of matrix [N] equals to square of systems
natural frequency. Namely:
2
n
e = . Then obtain the
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
must meet , represents natural number.
Toward to unit sympathetic vibration, systems
freedom vibrating angular frequency must
meet
0
i ni
n e =
_
i
n
1 i ni
n n e e =
_
. Toward to four degrees of
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 its
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
systems phase graph and relevant Poincare section
view.
First of all, we discuss main transmission systems
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.
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.
1155 1155 1155
Fig. 4 (a)
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, systems 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 systems 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 systems stability further, we
access =75, =125, =165, and obtain the Phase
graph and Poincare section as fig.5, fig.6, fig.7 show:
Fig. 5 (a)
Fig. 5 (b)
Fig. 5 Phase graph and Poincare section ( = 75)
Fig. 6(a)
1156 1156 1156
Fig. 6 (b)
Fig. 6 Phase graph and Poincare section= 125
Fig. 7(a)
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, systems motion is
periodical; when Poincare section is a curve, systems
motion is quasi-period; when Poincare is flakey point
set, systems vibration is chaotic, as graph(b) show.
So the systems 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 systems 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 Mills 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):2224.
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