CN102032793A - Spray gun positioning control method - Google Patents
Spray gun positioning control method Download PDFInfo
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- CN102032793A CN102032793A CN 201010607100 CN201010607100A CN102032793A CN 102032793 A CN102032793 A CN 102032793A CN 201010607100 CN201010607100 CN 201010607100 CN 201010607100 A CN201010607100 A CN 201010607100A CN 102032793 A CN102032793 A CN 102032793A
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Abstract
The invention provides a spray gun positioning control method, which comprises the following steps of: automatically setting a target position of a spray gun according to a process control mode and detecting the current position of the spray gun in real time; calculating the height difference between the current position and the target position of the spray gun and the change rate of the height difference according to the target position and the current position; determining the given speed of the spray gun according to the height difference and the change rate of the height difference; and controlling the given speed and the practically detected speed of the spray gun by using a proportion integration differentiation (PID) closed loop. In the embodiment of the invention, the given speed of the spray gun is adjusted continuously according to the height difference between the current position and the target position of the spray gun and the change rate of the height difference through the thought of a fuzzy control algorithm, and variable-frequency speed closed loop adjustment is adopted, so that speed output of a variable-frequency executer is controlled automatically. Therefore, speed adjustment smoothness of the spray gun can be ensured, the positioning accuracy of the spray gun is enhanced and the service life of the spray gun is prolonged.
Description
Technical field
The present invention relates to metallurgical technology field, particularly a kind of spray gun position control method.
Background technology
The oxygen top blown smelting process is modernized non-ferrous metal bath smelting technology, can be used for copper and lead etc. once and secondary smelting, and melting of copper nickel and copper converting.Because therefore advantages such as it has capital construction and operating cost is low, energy-conserving and environment-protective, raw material and fuel-flexible, dust are few have obtained to use widely at present.And the oxygen top blown spray gun is the nucleus equipment of oxygen top blown stove, mainly is mixed oxygen and astatki are blasted the molten bath at a high speed, makes the molten bath be in the vigorous agitation state, for material reaction is created good condition.It is development platform that traditional spray gun control system adopts with DCS, and the DCS system compares the PLC system, and response speed is slow, real-time is poor.
Summary of the invention
Purpose of the present invention is intended to solve at least one of above-mentioned technological deficiency, has particularly proposed a kind of spray gun position control method.
For achieving the above object, one aspect of the present invention proposes a kind of spray gun position control method, may further comprise the steps: the target location of spray gun is set, and detects the current location of described spray gun; Calculate the difference in height and the discrepancy in elevation rate of change of described spray gun current location and target location according to described target location and current location; Determine the given speed of described spray gun according to described difference in height and discrepancy in elevation rate of change; With the present speed that detects described spray gun, described spray gun is adjusted according to the present speed and the described given speed of described spray gun.
In one embodiment of the invention, the current location of described spray gun detects by encoder and obtains, and obtains the current location of described spray gun again through signal conversion module conversion back.
In one embodiment of the invention, the speed of described spray gun is adjusted by the frequency conversion actuator.
In one embodiment of the invention, described spray gun is adjusted according to the present speed and the given speed of described spray gun by following formula: Δ v (t)=v (t)-v (t) ';
Wherein, v (t) is a given speed, and v (t) ' is a present speed, K
pBe proportionality coefficient, T
iBe integral coefficient, T
dBe differential coefficient.Wherein, K
p, T
iAnd T
dNeed set according to concrete system.
In one embodiment of the invention, detect the present speed of described spray gun by encoder.
The thought of the embodiment of the invention by FUZZY ALGORITHMS FOR CONTROL is constantly adjusted the given speed of spray gun according to the current location of spray gun and the difference in height between the target location and discrepancy in elevation rate of change, adopt the frequency conversion speed closed loop to regulate simultaneously, thereby control the actual speed output of frequency conversion actuator automatically.Therefore the present invention not only can guarantee the flatness that spray gun speed is regulated, but also has improved the accuracy of spray gun location, helps prolonging the service life of spray gun.
Aspect that the present invention adds and advantage part in the following description provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment below in conjunction with accompanying drawing, wherein:
Fig. 1 is the flow chart of the spray gun position control method of the embodiment of the invention;
Fig. 2 is the spray gun positioning control block diagram of the embodiment of the invention.
The specific embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein identical from start to finish or similar label is represented identical or similar elements or the element with identical or similar functions.Below by the embodiment that is described with reference to the drawings is exemplary, only is used to explain the present invention, and can not be interpreted as limitation of the present invention.
As shown in Figure 1, the flow chart for the spray gun position control method of the embodiment of the invention may further comprise the steps:
Step S101 is provided with the target location of spray gun, and detects the current location of spray gun.In an embodiment of the present invention, the target location of spray gun need be set according to the concrete situation and the control model of body of heater.In one embodiment of the invention, the current location of spray gun detects by encoder and obtains, and obtains the current location of described spray gun again through signal conversion module conversion back.
Step S102 calculates the difference in height and the discrepancy in elevation rate of change of spray gun current location and target location according to target location and current location.Wherein, the height that the height of target location is deducted current location can obtain difference in height, and the variation of the height of simultaneously spray gun in the sampling period being advanced is as discrepancy in elevation rate of change.
Step S103 determines the given speed of spray gun according to difference in height and discrepancy in elevation rate of change.The accurate positioning control algorithm of spray gun of the present invention has adopted the thought of fuzzy control, by the continuous difference in height of current location distance objective position and the given speed that discrepancy in elevation rate of change is regulated spray gun automatically of comparing.Particularly, in one embodiment of the invention, can adopt the mode of tabling look-up, formulate the speed option table of the corresponding different discrepancy in elevation and discrepancy in elevation rate of change by the gun controls experience, control system can obtain the given speed of different spray guns by inquiry mode according to the current discrepancy in elevation and preceding cycle discrepancy in elevation rate of change.
Step S104, the present speed of detection spray gun is adjusted spray gun according to the present speed and the given speed of spray gun.As shown in Figure 2, be the spray gun positioning control block diagram of the embodiment of the invention.In this embodiment, the speed of described spray gun is adjusted by the frequency conversion actuator, and those skilled in the art also can select other actuators that spray gun speed is adjusted certainly.In one embodiment of the invention, described spray gun is adjusted according to the present speed and the given speed of described spray gun by following formula:
Wherein, v (t) is a given speed, and v (t) ' is a present speed, K
pBe proportionality coefficient, T
iBe integral coefficient, T
dBe differential coefficient.Wherein, K
p, T
iAnd T
dNeed set according to concrete system.Be specially, according to the speed difference Δ v (t) after spray gun speed setting value v (t) and values for actual speed v (the t) ' comparison, automatically the output of control frequency conversion actuator actual speed makes the actual output speed of frequency conversion actuator immediately following setting speed, thereby realizes the stable control of spray gun speed.In one embodiment of the invention, can detect the present speed of spray gun, thereby improve the precision that detects by encoder.
The thought of the embodiment of the invention by FUZZY ALGORITHMS FOR CONTROL is constantly adjusted the given speed of spray gun according to the current location of spray gun and the difference in height between the target location and discrepancy in elevation rate of change, adopt the frequency conversion speed closed loop to regulate simultaneously, thereby control the actual speed output of frequency conversion actuator automatically.Therefore the present invention not only can guarantee the flatness that spray gun speed is regulated, but also has improved the accuracy of spray gun location, helps prolonging the service life of spray gun.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, modification, replacement and modification that scope of the present invention is by claims and be equal to and limit to these embodiment.
Claims (5)
1. a spray gun position control method is characterized in that, may further comprise the steps:
The target location of spray gun is set, and detects the current location of described spray gun;
Calculate the difference in height and the discrepancy in elevation rate of change of described spray gun current location and target location according to described target location and current location;
Determine the given speed of described spray gun according to described difference in height and discrepancy in elevation rate of change; With
Detect the present speed of described spray gun, described spray gun is adjusted according to the present speed and the described given speed of described spray gun.
2. spray gun position control method as claimed in claim 1 is characterized in that, the current location of described spray gun detects by encoder by the spray gun height and obtains, and obtains the current location of described spray gun again through signal conversion module conversion back.
3. spray gun position control method as claimed in claim 1 is characterized in that the speed of described spray gun is adjusted by the frequency conversion actuator.
4. spray gun position control method as claimed in claim 1 is characterized in that, described spray gun is adjusted according to the present speed and the given speed of described spray gun by following formula:
Δv(t)＝v(t)-v(t)′；
5. spray gun position control method as claimed in claim 1 is characterized in that, detects the present speed of described spray gun by encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010607100 CN102032793A (en) | 2010-12-27 | 2010-12-27 | Spray gun positioning control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010607100 CN102032793A (en) | 2010-12-27 | 2010-12-27 | Spray gun positioning control method |
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| CN102032793A true CN102032793A (en) | 2011-04-27 |
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| CN 201010607100 Pending CN102032793A (en) | 2010-12-27 | 2010-12-27 | Spray gun positioning control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102220450A (en) * | 2011-07-22 | 2011-10-19 | 武汉钢铁(集团)公司 | Automatic positioning and controlling method for oxygen lance of converter |
| CN104729304A (en) * | 2015-03-23 | 2015-06-24 | 凉山矿业股份有限公司 | Real-time calibration method for top-blowing smelting furnace spray gun position |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07113112A (en) * | 1993-10-15 | 1995-05-02 | Nippon Steel Corp | Method for suppressing occurrence of spitting in converter |
| JPH07291446A (en) * | 1994-04-26 | 1995-11-07 | Nippon Steel Corp | Nozzle clog eliminating/controlling method for pulverized substance blowing-in device |
| CN201440039U (en) * | 2009-07-10 | 2010-04-21 | 武汉钢铁(集团)公司 | Novel oxygen lance for secondary refining |
| CN101845538A (en) * | 2009-03-26 | 2010-09-29 | 宝山钢铁股份有限公司 | Method for controlling vigorous splash during smelting stainless steel in vacuum oxygen decarburization refining furnace |
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2010
- 2010-12-27 CN CN 201010607100 patent/CN102032793A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07113112A (en) * | 1993-10-15 | 1995-05-02 | Nippon Steel Corp | Method for suppressing occurrence of spitting in converter |
| JPH07291446A (en) * | 1994-04-26 | 1995-11-07 | Nippon Steel Corp | Nozzle clog eliminating/controlling method for pulverized substance blowing-in device |
| CN101845538A (en) * | 2009-03-26 | 2010-09-29 | 宝山钢铁股份有限公司 | Method for controlling vigorous splash during smelting stainless steel in vacuum oxygen decarburization refining furnace |
| CN201440039U (en) * | 2009-07-10 | 2010-04-21 | 武汉钢铁(集团)公司 | Novel oxygen lance for secondary refining |
Non-Patent Citations (2)
| Title |
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| 《冶金自动化》 20091230 董丽荣等 基于DSP的电机调速系统 第778页右栏第5段、第779页左栏第2段 1-5 , 第2009年S1期 * |
| 《炼钢》 20090630 姜鹏等 模糊自适应控制在转炉氧枪定位中的应用 第32页左栏第1-2段、右栏第2、3段， 1-5 第25卷, 第3期 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102220450A (en) * | 2011-07-22 | 2011-10-19 | 武汉钢铁(集团)公司 | Automatic positioning and controlling method for oxygen lance of converter |
| CN104729304A (en) * | 2015-03-23 | 2015-06-24 | 凉山矿业股份有限公司 | Real-time calibration method for top-blowing smelting furnace spray gun position |
| CN104729304B (en) * | 2015-03-23 | 2016-08-24 | 凉山矿业股份有限公司 | The real-time calibration method of top blow smelting stove Burners Positions |
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Application publication date: 20110427 |