| 摘要 |
PURPOSE: To restrain the oscillation of molten metal surface in a ladle and to prevent the deterioration of molten metal quality caused by the overflow of the molten metal from the ladle and the entrapment of the air and slag by executing a stepping automatic control of accelerating and decelerating curves, in the accelerating zone at the time of starting the carrying and in the decelerating zone at the time of stopping, at the time of carrying the molten metal receiving ladle to a pouring position. CONSTITUTION: A DC servo motor is used as a carrying means for the ladle 2, and the carrying control is executed with an 1 type optimum servo control system, in which the feedback us executed to a ladle carrying position (x), ladle carrying velocity dx/dt, oscillating angleθof molten metal surface and oscillating angle velocity dθ/dt of molten metal surface. The control of the servo motor is calculated in each sampling time based on the equation and executed by controlling an input voltage UK of the DC servo motor at the time K. Further a noise which lies at the ladle carrying position (x) and has the oscillating angleθof the molten metal surface, is filtered and the carrying velocity dx/dt and the oscillating angle velocity dθ/dt which can not be measured, are estimated by a Kalman filter.
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