AUTOMATIC POURING CONTROL METHOD, CONTROL SYSTEM OF SERVO MOTOR OF AUTOMATIC POURING DEVICE AND MEDIUM STORED WITH TILTING CONTROL PROGRAM FOR LADLE

摘要

PROBLEM TO BE SOLVED: To provide an automatic pouring control method by tilting a ladle in which the pouring work by an expert worker can be approached as much as possible by a computer.

SOLUTION: In a method for controlling a servo motor to pour molten into a mold according to a desired pouring flow rate pattern by a ladle when molten is poured into a mold by tilting the ladle through the servo motor controlled by a computer preset with a program for accomplishing the pouring process, a mathematical model from an input voltage applied to the servo motor to the pouring flow rate by the ladle is made; the converse problem of that mathematical model is solved; the pouring flow rate is estimated using an exponential damping observer based on an extension Kalman filter from the pouring weight of molten metal measured by a weight measure from which the influence of variation in gravity is eliminated and the input voltage applied to the servo motor, and then the pouring flow rate and a target pouring flow rate are processed by a gain scheduled PI controller. An input voltage applied to the servo motor is thereby obtained and the servo motor is controlled based on that input voltage.

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