| 摘要 |
The present invention provides a method for controlling a process for automatically pouring molten metal by a tilted ladle, wherein the pouring can be performed in a manner that is as close as possible to that of an experienced operator by using a computer that has programs installed for such purpose.
The method to control the automatic pouring of molten metal by a ladle comprises controlling a servomotor, corresponding to the desired flow pattern of the molten metal, so that the molten metal can be poured into a mold, wherein the servomotor, which tilts the ladle to pour the molten metal in a mold, is controlled by a computer that has programs installed that control the process of pouring, the method comprising:
producing a mathematical model covering the electrical voltage that is supplied to the servomotor for tilting the ladle to a rate of the flow of the molten metal poured by the tilted ladle,
solving the inverse problem of the mathematical model thus produced,
estimating the rate of the flow of the molten metal by an observer having an exponential damping that uses an extended Kalman filter, based on an electrical voltage being supplied to the servomotor and the weight of the molten metal poured into the mold that is measured by weighing equipment, wherein the measurement is calibrated by eliminating errors caused by the movement of the center of gravity of the object to be measured,
treating the rate of the flow of the molten metal and the targeted rate of the flow of the molten metal with a gain-scheduled PI controller,
obtaining data on the electrical voltage to be supplied to the servomotor thereby, and
controlling the servomotor based on the data on the electrical voltage thus obtained and to be supplied to the servomotor. |
