| 摘要 |
PROBLEM TO BE SOLVED: To provide a liquid surface wave motion control method which can move and stop a ladle in accordance with an established ladle transferring speed pattern, and controls the liquid surface wave motion to realize rapid pouring. SOLUTION: In the liquid surface wave motion control method, controlling the liquid surface wave motion when a liquid storage tilt-able ladle is transferred to the predetermined position, an accelerating and decelerating patterns of the ladle while transferring is predetermined, thereby seeking an oscillating model of the liquid in the ladle, and utilizing the feed-forward term which is calculated by the model not to arise the liquid surface wave motion, the tilting angular velocity control of the ladle starts before the ladle moves for transferring.
|
