加渣机器人渣厚模糊控制系统设计
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摘要
针对连铸结晶器人工加渣和开环机器加渣的不足,开发了一种集实时渣厚检测与反馈控制于一体的加渣机器人。在开环加渣机的基础上增加激光测距传感器,可实时获取结晶器内渣厚信息,综合考虑结晶器内实时渣厚、工作时的耗渣速度和机器人的投渣速度3个因素的耦合关系。构建模糊推理机,对加渣机器人的送料机电系统实现模糊PID控制,从而实现结晶器内渣厚的智能控制。仿真和应用结果表明基于模糊PID控制的加渣机器人效果好,响应快,能实现保护渣按需投放,有利于节能降耗,提高钢坯品质。
According to the defect of artificial slag adding and slagging in the machine,a slag adding robot with real-time slag thickness detection and feedback control is developed. That is,on the basis of the open-loop slag adding robot,the laser ranging sensor is applied. Then the real-time information of in-mold slag thickness can be obtained. And the coupling relation of three factors: real-time slag thickness,mold work slagging speed and robot slagging rate is taken into comprehensive consideration. Therefore fuzzy controller is built to realize the fuzzy PID control of the slagging robot feeding electro-mechanical system and achieve the intelligent control of slag thickness in the mold. The simulation and application results show that the slag adding robot based on fuzzy PID control has good effect and quick response. It can realize the protection of slag on demand.
According to the defect of artificial slag adding and slagging in the machine,a slag adding robot with real-time slag thickness detection and feedback control is developed. That is,on the basis of the open-loop slag adding robot,the laser ranging sensor is applied. Then the real-time information of in-mold slag thickness can be obtained. And the coupling relation of three factors: real-time slag thickness,mold work slagging speed and robot slagging rate is taken into comprehensive consideration. Therefore fuzzy controller is built to realize the fuzzy PID control of the slagging robot feeding electro-mechanical system and achieve the intelligent control of slag thickness in the mold. The simulation and application results show that the slag adding robot based on fuzzy PID control has good effect and quick response. It can realize the protection of slag on demand.
引文
[1]钟云涛,李强.保护渣在连铸机中的应用[J].连铸,2013(4):9-13.
[2] DING Man-tang. Research of Fluoride-free Protective Slag Used in low C Steel[J]. Advanced Materials Research,2013(803):312-316.
[3]王维.连续铸钢技术问答[M].北京:化学工业出版社,2013:273-300.
[4]束智伟,陈新元,邓江洪,等.连铸结晶器加渣机布料区域矩形化补偿机构设计[J].工业设计学报,2015(5):420-424.
[5]陈新元,束智伟,詹小辉,等.一种宽板坯结晶器用双管自动加渣机:CN201510174589. 1[P]. 2015-05-15.
[6]彭鞍虹.通用变频器异步电机的传递函数[J].鞍山钢铁学院学报,2000(6):447-449.
[7] AL-GHAMDI A S. Performance Analysis of Automated Control System for Condenser Water Treatment Unit[J]. Engineering,2012,4(1):35-39.
[8]陈立付,潘公宇,张庆庆.空气主动悬架自适应Fuzzy-PID控制研究[J].机械设计与制造,2010(8):94-96.
[9]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2010:77-87.
[2] DING Man-tang. Research of Fluoride-free Protective Slag Used in low C Steel[J]. Advanced Materials Research,2013(803):312-316.
[3]王维.连续铸钢技术问答[M].北京:化学工业出版社,2013:273-300.
[4]束智伟,陈新元,邓江洪,等.连铸结晶器加渣机布料区域矩形化补偿机构设计[J].工业设计学报,2015(5):420-424.
[5]陈新元,束智伟,詹小辉,等.一种宽板坯结晶器用双管自动加渣机:CN201510174589. 1[P]. 2015-05-15.
[6]彭鞍虹.通用变频器异步电机的传递函数[J].鞍山钢铁学院学报,2000(6):447-449.
[7] AL-GHAMDI A S. Performance Analysis of Automated Control System for Condenser Water Treatment Unit[J]. Engineering,2012,4(1):35-39.
[8]陈立付,潘公宇,张庆庆.空气主动悬架自适应Fuzzy-PID控制研究[J].机械设计与制造,2010(8):94-96.
[9]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2010:77-87.