CN108637230A - A kind of copper disc casting control method and device - Google Patents
A kind of copper disc casting control method and device Download PDFInfo
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- CN108637230A CN108637230A CN201810365578.5A CN201810365578A CN108637230A CN 108637230 A CN108637230 A CN 108637230A CN 201810365578 A CN201810365578 A CN 201810365578A CN 108637230 A CN108637230 A CN 108637230A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D39/00—Equipment for supplying molten metal in rations
- B22D39/04—Equipment for supplying molten metal in rations having means for controlling the amount of molten metal by weight
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The embodiment of the present invention provides a kind of copper disc casting control method, including going out flow model according to default copper liquid flow, with intelligent algorithm, optimize the positive casting curve movement of casting package, and controls the positive casting movement of casting package according to the positive casting curve movement after optimization；With MFA control method and iterative learning control principle, controls the reversed of casting package and return packet movement.Casting subprocess is integrated into two stages of " forward direction is cast " and " reversed time packet " by the present invention, in the positive curve movement of casting of positive casting perfecting by stage casting package.Shorten casting time, improves the efficiency of casting production.When casting package reversely returns packet, pass through closed loop PD type iterative learning controllers, it controls the reversed of casting package and returns packet movement, casting package is set constantly to repeat to adjust along iteration axis, reach casting terminal weight indicator, the disturbance rejection for improving casting process improves the dynamic property and steady-state behaviour of casting system.
Description
Technical field
The present invention relates to quantitative casting technology fields, more particularly to a kind of copper disc casting control method and device.
Background technology
Casting package is the key equipment that Rotating caster realizes quantitative casting high temperature copper water, the copper anode plate quality of casting
The production copper efficiency for directly affecting follow-up cupric electrolysis link, is directly related to the consumption of electric energy.Packet system of casting is by servo motor, biography
Three parts of dynamic equipment and backpack body form, and casting package backpack body can be made bent according to casting movement by the way that servo motor curve movement is arranged
Line carries out copper liquid casting to master mold, achievees the purpose that quantitative casting high-temperature copper liquid and no copper liquid are splashed etc. and casts safely, therefore pours
Cast packet casting curve directly determines the quality of quantitative casting copper anode plate.Mainly pass through field experience, Numerical-Mode both at home and abroad now
The methods of quasi- and casting package model solution obtains best casting curve.Due to scene exist casting latter portions copper liquid condensation and
The influence of the interference such as copper liquid value of feedback fluctuation so that there are one by the way that the open loop setting method of casting package curve movement is directly arranged
The deviation of fixed terminal weight, therefore need to provide a kind of closed loop control method, improve the quality of single casting and meet industrial life
The safety requirements of production, and there is certain robustness.Existing casting package control technology is mainly classical PID control method and people
Work intelligent control method.
For Rotating caster casting package during realizing quantitative casting, quantitative casting curve can reflect casting package dynamic
Operation conditions, suitable casting curve can meet the technological requirements such as copper anode plate constant casting and non-trimming, splashing.But live ring
Border is severe, and disturbed in casting process it is larger, and only by set curve driving pouring package realize cast this process belong to out
Ring controls, and performance of noiseproof is poor, or even will produce the case where casting final mass is unsatisfactory for requiring.
CN105945270A discloses a kind of acquisition methods and device of quantitative casting curve.The patent proposes one kind most
The preparation method of excellent quantitative casting curve.By the finite element for combining the physical arrangement and the flowing of casting process copper water of casting tool
Model carries out it numerical simulation calculation using Fluent softwares, and iteration adjustment casting curve is wanted with meeting casting final mass
It asks and technological requirement.The patent simulates casting package motion process from the angle of emulation, and by casting, effect corrects casting curve, gram
It has taken that the labour of Field adjustment casting curve is big, influences of bad environments, there is certain referential.But the patent uses limited
The casting curve that meta software calculating cost is big, input is fixed, and obtained is still inherently experience curve, performance of noiseproof
Difference, and can not in real time be adjusted in industry spot.
CN106180667A discloses a kind of method of anode plate quantitative casting, and the patent proposes one kind by non-contact
The method that formula range unit monitors anode plate thickness to control casting.Contactless survey is installed in the area just above of casting position
Away from device, to monitor in real time, copper water liquid level is recycled when copper water liquid level reaches preset value in mold in casting process
Casting package stops casting.The patent has used high-precision non-contact distance measurement device, overcomes weighing sensor large error
It influences, measurement error is reduced by way of changing hardware.Although the patent reduces measurement mistake by changing measuring device
Difference so that casting package is more stable according to the copper water quality that optimal casting curve moves, but scene still has parameter not
The influence of the factors such as certainty and random perturbation, performance of noiseproof be not still strong.
CN105499549A discloses a kind of copper anode plate automatic ration casting control system and control method, the patent carry
A kind of copper anode plate automatic ration casting control system and control method are gone out.Believed using PLC controller acquisition casting package weight
Control signal is ceased and generated, casting rate is made to follow the track of setting.The each motion stage of casting curve is determined in the invention
Property analysis, and the control process of Rotating caster control system is analyzed from hardware development angle, the control system of design
Internal structure of uniting is simple, and repair is easy, and greatly improves the using effect of system and the casting quality of product.The invention not from
The angle of internal mechanism dissects the process that casting curve is formed, and it is substantially also the setting problem of quantitative casting curve, is not had
Closed loop is formed, performance of noiseproof is not strong.
Existing casting package control technology is mainly classical PID control method and Artificial Intelligence Control.But it is existing
Casting package control technology does not account for the influence of the factors such as parameter uncertainty and random perturbation existing for casting scene, disturbance rejection
Poor performance.
Invention content
The present invention is to solve the drawbacks described above of tradition casting control method, provides a kind of copper disc casting control method and is
System.
On the one hand, the present invention provides a kind of copper disc casting control method, including:
Go out flow model according to default copper liquid flow, with intelligent algorithm, optimizes the positive casting curve movement of casting package, and
The positive casting movement of casting package is controlled according to the positive casting curve movement after optimization；
With MFA control method, the reversed weight for returning the casting of packet motion stage copper liquid of casting package is controlled.
Wherein, described by intelligent algorithm, the positive casting curve movement for optimizing casting package specifically includes：
Go out flow model based on the copper liquid flow, using casting time as optimization aim, cannot be rushed with copper liquid in casting process
It is constraints to go out master mold, establishes single object optimization model, carries out parameter optimization；Obtain the positive casting curve movement of optimization.
Wherein, described by closed loop PD type iterative learning controllers, reversed time packet movement for controlling casting package specifically includes：
Establish closed loop PD type iterative learning control law models：
In formula, uk(t) it measures in order to control, i.e. casting package motor rotation speed specified rate, subscript k indicates that iterations, t are this
At the time of secondary iteration, ek(t) it is the tracking error of system：
Wherein, ek(t) expression formula is：
ek(t)=yk(t)-yd(t)
yk(t) it is the output gravimetric value at current iteration current time, yd(t) it is the casting at desired casting curve current time
Weight.
Wherein, the controlled quentity controlled variable at current iteration current time corresponds to the controlled quentity controlled variable at moment by last iteration and current iteration acquires
Error signal determine that the controlled quentity controlled variable is input to servo-drive system, and control casting package carries out corresponding time package operation.
Wherein, the method further includes, with fuzzy control principle to the parameter of the PD types iterative learning controller into
Row on-line amending, closed loop PD types iterative learning controller return packet movement according to the reversed of revised state modulator casting package.
On the other hand, the present invention provides a kind of copper disc casting control device, including：
Forward direction pours die piece, for going out flow model according to default copper liquid flow, with intelligent algorithm, is optimizing casting package just
To casting curve movement, and according to the positive casting movement of the positive casting curve movement control casting package after optimization.
Packet module is reversely returned, for being controlled with iterative learning control principle by closed loop PD type iterative learning controllers
The reversed of casting package returns packet movement.
Wherein, the forward direction is poured die piece and is specifically used for：
Go out flow model based on the copper liquid flow, using casting time as optimization aim, cannot be rushed with copper liquid in casting process
It is constraints to go out master mold, establishes single object optimization model, carries out parameter optimization；Obtain the positive casting curve movement of optimization.
Wherein, described device further includes parameters revision module, for using fuzzy control principle to the PD types iteration
The parameter for practising controller carries out on-line amending, and closed loop PD types iterative learning controller is according to revised state modulator casting package
It is reversed to return packet movement.
The third aspect, the present invention provide a kind of computer program product, which is characterized in that the computer program product packet
The computer program being stored in non-transient computer readable storage medium is included, the computer program includes program instruction, when
When described program instruction is computer-executed, the computer is made to execute the above method.
Fourth aspect, the present invention provide a kind of non-transient computer readable storage medium, which is characterized in that described non-transient
Computer-readable recording medium storage computer instruction, the computer instruction make the computer execute the above method.
Copper disc casting control method and system provided by the invention, will casting subprocess be integrated into " forward direction casting " with
" reversed to return packet " two stages optimize the positive casting curve movement of casting package in the positive casting stage by intelligent algorithm.
Shorten casting time, improves the efficiency of casting production.
When casting package reversely returns packet, for external interference present in casting process, pass through closed loop PD type iterative learnings
Controller controls the reversed of casting package and returns packet movement, makes casting package constantly repeat to adjust along iteration axis, reach casting terminal weight
Index improves the disturbance rejection of casting process, improves the stability of casting system.
Description of the drawings
Fig. 1 is the flow diagram according to copper disc casting control method provided in an embodiment of the present invention；
Fig. 2 is the Optimizing Flow schematic diagram according to positive curve movement of casting provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram according to fuzzy closed loop PD type iterative learning control systems provided in an embodiment of the present invention；
Fig. 4 is the structure diagram according to copper disc casting control device provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
One module embodiments, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The raw material of electrolytical refined copper is copper anode plate, in order to reduce the energy consumption in electrorefining processes, it is desirable that copper sun
Pole plate has high-precision and good physical shape.Copper anode plate is usually cast by Rotating caster, the control to casting process
System determines the precision and shape of copper anode plate.
According to field experience, the motion process of casting package can specifically be divided into five subprocess in casting process：
A) casting package is in start-up course, and since original state is cast without copper liquid, casting package copper liquid quality does not occur at this time
Variation, in order to quickly reach critical pour point, needs that casting backpack body is made with larger startup speed to start rapidly, shortens whole pour
The time is cast, is " quickly opening packet " subprocess；
B) after reaching critical pour point, copper liquid is begun to flow out, since casting package movement velocity is larger at this time, the copper liquid of casting
Master mold is easily gone out, copper liquid waste and safety accident are easy tod produce, it is therefore desirable to when close to critical pour point, reduce casting package
Movement velocity makes the copper liquid just cast not go out master mold, and the casting rate of copper liquid is slower at this time, therefore is known as " casting at a slow speed " son
Process；
C) when the copper liquid in master mold reaches a certain amount of, certain teeming speed is poured due to there are the buffering effect of liquid, increasing
It there will not be copper liquid spillage when spending, therefore casting rate need to be improved, backpack body is made quickly to reach the limit of position, for " quickly casting " sub- mistake
Journey；
D) when backpack body reaches casting limit position, copper liquid pouring flow rate reaches maximum, and in backpack body copper liquid constantly subtract
Few, pouring flow rate also constantly reduces, and is " hovering " subprocess；
E) when quality of casting is close to final mass, control casting backpack body carries out back package operation, due to returning in packet procedures still
Old part copper liquid is cast out, therefore reserved part copper liquid need to be cast quality in design, so as to return the copper liquid quality cast after packet
Just meet casting quality requirement, for " quickly returning packet " subprocess.
The embodiment of the present invention by above-mentioned " quickly open packet-cast at a slow speed-quickly casting-hovering " and " quickly return to packet " stage into
The motion process of casting package in casting process is integrated into two stages of " forward direction is cast " and " reversed to return packet " by row separation.
Fig. 1 is the flow diagram according to copper disc casting control method provided in an embodiment of the present invention.As shown in Figure 1, this
Invention provides a kind of copper disc casting control method, including:
Step 101, flow model is gone out according to default copper liquid flow, with intelligent algorithm, optimizes the positive casting fortune of casting package
Moving curve, and according to the positive casting movement of the positive casting curve movement control casting package after optimization.
Specifically, casting package is the device in copper anode quantitative casting system, in the entire production process of electrolysis Copper making
In, the copper water of molten condition becomes after quantitative casting meets the copper coin that electrolysis requires, and satisfactory copper coin is in electrolysis
Under effect, it will generate the cathode copper of high-purity.Casting package accepts a certain amount of copper water for toppling over of tundish, stores and by copper water
In a mold by a certain amount of casting, it carries out pole plate and quantifies precision cast.Casting package Weight control is by the filled weighing and sensing in its underpart
Device is completed.Casting package is toppled over by driving device come driving pouring package when casting copper water.Casting package will be set by casting curve
Fixed topples over speed and angle, and at the appointed time, copper water in packet is smoothly cast in mold, realizes that copper polar plate accurately pours
Casting.
Fig. 2 is according to the Optimizing Flow schematic diagram of positive curve movement of casting provided in an embodiment of the present invention, first basis
Existing copper liquid flow goes out flow model, by analyzing casting package forward direction casting movement characteristic, is based on actual process index, ensures to pour
Without the anode plate qualities requirement such as copper liquid splashing during casting, casting package forward direction casting stage optimal casting curve model is established.So
Intelligent algorithm is used afterwards, and flow model is gone out based on copper liquid flow, it, cannot with copper liquid in casting process using casting time as optimization aim
It is constraints to go out master mold, establishes single object optimization model, carries out parameter optimization, and it is bent to obtain the positive casting movement after optimization
Line.Finally the positive casting curve movement after optimization is input in servo-drive system, controls the positive casting of casting package.Raising is poured
Cast the efficiency of production.Solve the problems, such as that production efficiency is relatively low in tradition casting production process.
Step 102, with MFA control method, control casting package reversely returns the casting of packet motion stage copper liquid
Weight.
After the completion of the casting of casting package forward direction, into reversely returning the packet stage, under nominal situation, the initial copper liquid weight of casting package is
650kg ± 20kg, initial copper liquid weight is relatively stable at this time, since to go out flow model complexity higher for the copper liquid of casting package, it is difficult to
Realize System design based on model strategy, it is difficult to meet the high-precision control of casting terminal weight.Therefore the embodiment of the present invention utilizes
MFA control method, the reversed weight for returning the casting of packet stage copper liquid of control, analysis casting package return the repeat property of packet
And closed loop PD type iterative learning controllers are designed, with iterative learning control principle, controls the reversed of casting package and return packet movement.Its
In, model-free adaption (MFA, Model-Free Adaptive) control is a kind of without establishing the self-adaptive controlled of process model
Method processed, MFA control system should have the property that or feature：Without accurate process Quantitative Knowledge；In system
Without process identification mechanism and identifier；A certain process need not be directed to and carry out controller design；Complicated artificial control is not needed
Device parameter tuning processed；With closed-loop system stability analysis and criterion, it is ensured that the stability of system.
Copper disc casting control method provided in an embodiment of the present invention, will casting subprocess be integrated into " forward direction casting " with
" reversed to return packet " two stages optimize the positive casting curve movement of casting package in the positive casting stage by intelligent algorithm,
Improve the efficiency of casting production.When casting package reversely returns packet, for external interference present in casting process, pass through closed loop
PD type iterative learning controllers control the reversed of casting package and return packet movement, make casting package constantly repeat to adjust along iteration axis, reach
Casting terminal weight indicator, improves the disturbance rejection of casting process, improves the stability of casting system.
Wherein, establishing the step of copper liquid flow goes out flow model includes：
According to fluid regional partition thought and draulic equation, copper liquid flow of the copper water liquid level higher than flow-stopping plate when is established respectively
Go out the copper liquid flow of flow model and copper water liquid level less than flow-stopping plate when and goes out flow model；Wherein, the flow-stopping plate is embedded in described
In casting package.
Due to being equipped with a flow-stopping plate in casting package, therefore casting package copper water goes out to flow discharge model is divided into copper liquid liquid level and does not drop to gear
Under flowing plate and two parts under flow-stopping plate are down to, can be established in the case of two kinds by fluid regional partition thought and draulic equation
Copper liquid flow goes out flow model：
Copper liquid liquid level does not drop under flow-stopping plate：
In formula, h (t) is copper liquid height on the right side of t moment flow-stopping plate, and q is copper liquid pouring flow rate, and A (t) is t moment flow-stopping plate
Right side copper liquid floor space, b are that bottom width, lb are copper under the cast packet outlet of flow-stopping plate right side under cast packet outlet on the right side of flow-stopping plate
Water-bed edge lengths are constant value, and v2 is the speed that copper liquid flows out under flow-stopping plate, and Hb (t) is copper liquid height under t moment flow-stopping plate, w
(t) it is casting package rotational angular velocity, θ is casting package rotation angle, and value is integrals of the w to the time.
Copper liquid liquid level is down under flow-stopping plate：
In formula, h (t) is copper liquid liquid level on the outlet of t moment casting package, and q is copper liquid pouring flow rate, when A (t) is t
Copper liquid floor space on the right side of flow-stopping plate is carved, w (t) is casting package rotational angular velocity, and θ is casting package rotation angle, and value is w to the time
Integral, α is the radius that copper liquid 1/2, r of the corresponding central angle of arc length shared by the arc section of rear portion is corresponding circular arc.
Above two groups of equations can be solved using iterative manner, first true according to copper liquid quality in the movement of casting package and packet
Fixed residing casting state then using previous moment casting package outlet copper liquid liquid level and flow as the input of this moment, then passes through
Model solution under corresponding states exports copper water decrease speed, obtains this moment outlet copper liquid height, casting is finally calculated
Flow, and two values are stored, pass to subsequent time calculating.
The copper liquid flow that the present embodiment is established in the case of two kinds goes out flow model, for follow-up positive the excellent of curve movement of casting
Change.
Casting package forward direction casting stage optimal casting curve problem be actually an original state, final state it is known that
And end time is free, equality and inequality constraints are with the time optimal control problem deposited, and is so that positive casting time is most short
Target, corresponding casting package movement angle θ, angular velocity omega, angular acceleration u, copper water flow velocity v and driving shaft driving torque T meet
Condition is constraint, establishes optimal curve model：
Min J=tf-ts
x1(ts)=ms；x2(ts)=0
x1(tf)=mf；x2(tf)=0
x3(ts)=θs；x4(ts)=0
x3(tf)=θf；x4(tf)=0
θmin≤x3(t)≤θmax
ωl≤x4(t)≤ωh
0 ＜ v (t) ＜ vmax
Tmin≤T(t)≤Tmax
ul≤u(t)≤uh
G (t, x (t), u (t)) is dynamic model when casting equipment is run, i.e. copper liquid goes out flow model；ms、mfRespectively pour
Cast packet copper liquid initial mass and termination quality；θs、θfRespectively casting package initial angle and termination point；ωlWith ωhFor casting
Packet minimum and maximum angular rate；vmaxFor copper water maximum flow rate, value cannot be excessive, and high temperature copper water otherwise can occur and splash, cause
The accident of equipment damage and staff's injures and deaths；Since there are the influence of casting package rotational angular velocity, the biographies of corresponding main drive shaft
Kinetic moment T also there is maximum moment to be constrained with minimum torque；It is limited by servo motor model number, main drive shaft angular acceleration u also has
There is minimum angular acceleration to be constrained with maximum angular acceleration.In the initial time t of copper water castings, end time tf, copper in casting package
The constraints that the movement of water quality, flow and main drive shaft meets is equality constraint, and casting package angular speed need to be in consecutive hours
Between on meet copper water flow velocity in inequality, casting package and need to equally meet inequality constraints under continuous state.
This patent carries out optimizing using particle cluster algorithm (PSO), and algorithm steps are as follows：
Step 1：Random initializtion population, and assign each particle one initial solution, initialize weight and acceleration system
Number；
Step 2：Calculate the adaptive response of each particle；
Step 3：The fitness of each particle is evaluated, according to comparative structure more new individual extreme value and global extremum；
Step 4：Present speed and the position that each particle is updated according to weight, acceleration factor, judge whether to reach most
Big iterations or global optimum position meet minimum limit, if so, jump out cycle, otherwise return to step 2.
The error and control that the basic thought of iterative learning control generates when being using preceding primary or preceding operation several times input
Form the control input of previous cycle so that iterative task performance in current operational process is more preferable.It is returned and was wrapped due to casting package
Journey there is difference to pour time between repeating motion, design iteration learning controller of the embodiment of the present invention, by casting package along iteration
Axis is constantly restrained, and control casting terminal weight reaches desired value, meets the high-precision control of terminal weight.It cast for this
Process disturbance present in journey inhibits the disturbance for reversely returning packet procedures with iterative learning control principle.
Described to use MFA control method and iterative learning control principle, control casting package reversely returns Bao Yun
It is dynamic to specifically include：
Closed loop PD type iterative learning control laws are：
In formula, uk(t) it measures in order to control, i.e. casting package motor rotation speed specified rate, subscript k indicates that iterations, t are this
At the time of secondary iteration, ek(t) it is the tracking error of system：
Wherein, ek(t) expression formula is：
ek(t)=yk(t)-yd(t)
yk(t) it is the output gravimetric value at current iteration current time, yd(t) it is the casting at desired casting curve current time
Weight.
Wherein, the controlled quentity controlled variable at current iteration current time corresponds to the controlled quentity controlled variable at moment by last iteration and current iteration acquires
Error signal determine that the controlled quentity controlled variable is input to servo-drive system, and control casting package carries out corresponding time package operation.
On the basis of the various embodiments described above, the packet stage is reversely being returned, the method further includes：
On-line amending, closed loop PD type iteration are carried out to the parameter of PD type iterative learning controllers with fuzzy control principle
It practises controller and packet movement is returned according to the reversed of revised state modulator casting package.
Wherein, fuzzy control be by Fuzzy Set Theory, Vague language mention fuzzy logic based on control, it is fuzzy
The application of mathematics in the controls is a kind of Nonlinear Intelligent control.Fuzzy control is the knowledge using people to control object
A kind of method controlled is usually showed with the form of " if conditions, then results ", so being colloquially called language control again
System.Being generally used for can not be with the control object model of strict mathematical notation, you can utilizes the experience of people (skilled expert) and knows
Know to control well.Therefore it is exactly fuzzy control using the method that the intelligence of people faintly carries out system control.
The packet stage is reversely returned in casting package, since iterative learning is controlled there are the mechanism of on-line study, needs casting package
Practical casting could repeatedly obtain preferable casting effect, and the copper liquid total amount of each stove of copper concentrate grade is certain so that casting package
The number of casting process study should not be excessive, it is therefore desirable to which optimal controller parameter makes casting package be converged to rapidly along iteration axis
It is expected that near casting curve, shorten learning process, reduces learning cost.
Fig. 3 is the structural schematic diagram according to fuzzy closed loop PD type iterative learning control systems provided in an embodiment of the present invention,
As shown in figure 3, to make casting package control system that there is better dynamic property and steady-state behaviour, the present embodiment to use fuzzy control
Principle carries out on-line amending to two parameters of closed loop PD iterative learning controllers, to achieve the purpose that optimization.By LpWith LdTwo
Iterative learning gain is expressed as：
Lp=Lp0+ΔLpk
Ld=Ld0+ΔLdk
Wherein, Lp0With Ld0It for initial given value, can be obtained by field experience, fuzzy controller is used for adjusting Δ LpkWith
ΔLdkTwo parameters, and by error ek(t) with error change eck(t) as input, Δ LpkWith Δ LdkTwo parameters are as defeated
Go out.Wherein,
eck(t)=ek(t)-ek(t-1)
And e, ec={ NB, NM, NS, ZO, PS, PM, PB }, the element in subset respectively represent it is negative it is big, negative in, it is negative it is small, zero,
It is just small, center, it is honest.Therefore it can be established for Δ L with thispkWith Δ LdkThe fuzzy control table of two parameters such as the following table 1,2.
Table 1：ΔLpkFuzzy control rule table
Table 2：ΔLdkFuzzy control rule table
According to the experience in casting package field control practical operation, and becoming according to system output errors and error rate
Gesture eliminates error, with reference to Δ LpkWith Δ LdkThe fuzzy control table of two parameters can formulate following corresponding fuzzy inference rule,
Totally 49, part is as follows：
If(e is NB)and(ec is NB)then(ΔLpkis PB)(ΔLdkis PS)
If(e is NB)and(ec is NM)then(ΔLpkis PB)(ΔLdkis NS)
……
Further, since casting package casting weight demands be 380kg ± 1%, error bear domain be ± 3kg, therefore this programme with
3kg is smallest interval, determines that e={ -15, -10, -5,0,5,10,15 }, discrete domain are { -3, -2, -1,0,1,2,3 }, then misses
The quantizing factor k of poor ee=1/5, it similarly can determine the quantizing factor k of error change ecec=1/10.
Accordingly, it can be determined that fuzzy closed loop PD type iterative learning control laws are：
As shown in figure 3, the specific rate-determining steps of fuzzy closed loop PD type iterative learning control systems are as follows：
Step 1：Determine the parameter L of initial p Dp0With Ld0, and determined according to field experience and Δ L is established by table 1,2pkWith
ΔLdkPractical fuzzy control rule table；
Step 2：It is the expectation copper liquid weight distribution curve under 650kg to utilize the optimizing algorithm of (4) to find the initial copper liquid of casting package
Corresponding casting package curve movement, respectively as the controlling curve u of desired output curve and first iteration0(t)；
Step 3：When casting package is in hovering process latter stage, casting weight reaches preset value M5bWhen, it is switched to back packet control
Stage；
Step 4：Weighing sensor obtains error signal ek(t) with error change eck(t), it and fuzzy closed loop PD types is transmitted to changes
For learning controller, fuzzy closed loop PD types iterative learning controller is according to Δ LpkWith Δ LdkFuzzy control table and control law
(10) current controlled quentity controlled variable u is obtainedk(t), servo-drive system is acted on, control casting package returns packet movement；
Step 5：Step4 is repeated, returning packet procedures until casting package stops；
Step 6：Start casting process next time, return to step 3.
The embodiment of the present invention considers the excessively slow problem of the learning process of classical iterative learning control, is proposed in conjunction with site technique
The method of fuzzy control, on-line amending iterative learning control law parameter, improve casting control system dynamic property with it is stability
Energy.
Fig. 4 is the structure diagram according to copper disc casting control device provided in an embodiment of the present invention, as shown in figure 4, should
Device includes that forward direction pours die piece 401 and reversely returns packet module 402, wherein
Forward direction pours die piece 401 and goes out flow model for establishing copper liquid flow, with intelligent algorithm, optimizes the forward direction of casting package
Casting curve movement, and according to the positive movement of casting of the positive casting curve movement control casting package after optimization.Reversely
It returns packet module 402 to be used to use MFA control method, control casting package reversely returns the casting of packet motion stage copper liquid
Weight.
Specifically, casting package is the device in copper anode quantitative casting system, in the entire production process of electrolysis Copper making
In, the copper water of molten condition becomes after quantitative casting meets the copper coin that electrolysis requires, and satisfactory copper coin is in electrolysis
Under effect, it will generate the cathode copper of high-purity.Casting package accepts a certain amount of copper water for toppling over of tundish, stores and by copper water
In a mold by a certain amount of casting, it carries out pole plate and quantifies precision cast.Casting package Weight control is by the filled weighing and sensing in its underpart
Device is completed.Casting package is toppled over by driving device come driving pouring package when casting copper water.Casting package will be set by casting curve
Fixed topples over speed and angle, and at the appointed time, copper water in packet is smoothly cast in mold, realizes that copper polar plate accurately pours
Casting.
Fig. 2 is according to the Optimizing Flow schematic diagram of positive curve movement of casting provided in an embodiment of the present invention, forward direction casting
Module 401 initially sets up copper liquid flow and goes out flow model, by analyzing casting package forward direction casting movement characteristic, is referred to based on actual process
Mark ensures that it is bent to establish the optimal casting of casting package forward direction casting stage without the anode plate qualities requirement such as copper liquid splashing in casting process
Line model.Then intelligent algorithm is used, using casting time as optimization aim, optimizes the positive casting curve movement of casting package, most
The positive casting curve movement after optimization is input in servo-drive system afterwards, controls the positive casting of casting package.Improve casting life
The efficiency of production.Solve the problems, such as that production efficiency is relatively low in tradition casting production process.
After the completion of the casting of casting package forward direction, into reversely returning the packet stage, under nominal situation, the initial copper liquid weight of casting package is
650kg ± 40kg, initial copper liquid weight is relatively stable at this time, since to go out flow model complexity higher for the copper liquid of casting package, it is difficult to
Realize System design based on model strategy, it is difficult to meet the high-precision control of casting terminal weight.It reversely returns packet module 402 and utilizes nothing
Model self-adapted control method, the reversed weight for returning the casting of packet stage copper liquid of control, analysis casting package return the repeat property of packet simultaneously
Closed loop PD type iterative learning controllers are designed, with iterative learning control principle, the reversed of casting package is controlled and returns packet movement.Its
In, model-free adaption (MFA, Model-Free Adaptive) control is a kind of without establishing the self-adaptive controlled of process model
Method processed, MFA control system should have the property that or feature：Without accurate process Quantitative Knowledge；In system
Without process identification mechanism and identifier；A certain process need not be directed to and carry out controller design；Complicated artificial control is not needed
Device parameter tuning processed；With closed-loop system stability analysis and criterion, it is ensured that the stability of system.
Copper disc casting control device provided in an embodiment of the present invention, will casting subprocess be integrated into " forward direction casting " with
" reversed to return packet " two stages optimize the positive casting curve movement of casting package in the positive casting stage by intelligent algorithm,
Improve the efficiency of casting production.When casting package reversely returns packet, for external interference present in casting process, pass through closed loop
PD type iterative learning controllers control the reversed of casting package and return packet movement, make casting package constantly repeat to adjust along iteration axis, reach
Casting terminal weight indicator, improves the disturbance rejection of casting process, improves the stability of casting system.
On the basis of the various embodiments described above, the forward direction is poured die piece 401 and is specifically used for：
Go out flow model based on the copper liquid flow, using casting time as optimization aim, cannot be rushed with copper liquid in casting process
It is constraints to go out master mold, establishes single object optimization model, carries out parameter optimization；Obtain the positive casting curve movement of optimization.
On the basis of the various embodiments described above, described device further includes：
Parameters revision module, for being carried out to the parameter of the PD types iterative learning controller with fuzzy control principle
Line amendment, closed loop PD types iterative learning controller return packet movement according to the reversed of revised state modulator casting package.
Wherein, fuzzy control be by Fuzzy Set Theory, Vague language mention fuzzy logic based on control, it is fuzzy
The application of mathematics in the controls is a kind of Nonlinear Intelligent control.Fuzzy control is the knowledge using people to control object
A kind of method controlled is usually showed with the form of " if conditions, then results ", so being colloquially called language control again
System.Being generally used for can not be with the control object model of strict mathematical notation, you can utilizes the experience of people (skilled expert) and knows
Know to control well.Therefore it is exactly fuzzy control using the method that the intelligence of people faintly carries out system control.
The packet stage is reversely returned in casting package, since iterative learning is controlled there are the mechanism of on-line study, needs casting package
Practical casting could repeatedly obtain preferable casting effect, and the copper liquid total amount of each stove of copper concentrate grade is certain so that casting package
The number of casting process study should not be excessive, it is therefore desirable to which optimal controller parameter makes casting package be converged to rapidly along iteration axis
It is expected that near casting curve, shorten learning process, reduces learning cost.
Fig. 3 is the structural schematic diagram according to fuzzy closed loop PD type iterative learning control systems provided in an embodiment of the present invention,
As shown in figure 3, to make casting package control system that there is better dynamic property and steady-state behaviour, the present embodiment to use fuzzy control
Principle carries out on-line amending to two parameters of closed loop PD iterative learning controllers, to achieve the purpose that optimization.By LpWith LdTwo
Iterative learning gain is expressed as：
Lp=Lp0+ΔLpk
Ld=Ld0+ΔLdk
Wherein, Lp0With Ld0It for initial given value, can be obtained by field experience, fuzzy controller is used for adjusting Δ LpkWith
ΔLdkTwo parameters, and by error ek(t) with error change eck(t) as input, Δ LpkWith Δ LdkTwo parameters are as defeated
Go out.Wherein,
eck(t)=ek(t)-ek(t-1)
And e, ec={ NB, NM, NS, ZO, PS, PM, PB }, the element in subset respectively represent it is negative it is big, negative in, it is negative it is small, zero,
It is just small, center, it is honest.Therefore it can be established for Δ L with thispkWith Δ LdkThe fuzzy control table of two parameters such as Tables 1 and 2.
According to the experience in casting package field control practical operation, and becoming according to system output errors and error rate
Gesture eliminates error, with reference to Δ LpkWith Δ LdkThe fuzzy control table of two parameters can formulate following corresponding fuzzy inference rule,
Totally 49, part is as follows：
If(e is NB)and(ec is NB)then(ΔLpkis PB)(ΔLdkis PS)
If(e is NB)and(ec is NM)then(ΔLpkis PB)(ΔLdkis NS)
……
Further, since casting package casting weight demands be 380kg ± 1%, error bear domain be ± 3kg, therefore this programme with
3kg is smallest interval, determines that e={ -15, -10, -5,0,5,10,15 }, discrete domain are { -3, -2, -1,0,1,2,3 }, then misses
The quantizing factor k of poor ee=1/5, it similarly can determine the quantizing factor k of error change ecec=1/10.
Accordingly, it can be determined that fuzzy closed loop PD type iterative learning control laws are：
As shown in figure 3, the specific rate-determining steps of fuzzy closed loop PD type iterative learning control systems are as follows：
Step 1：Determine the parameter L of initial p Dp0With Ld0, and determined according to field experience and Δ L is established by table 1,2pkWith
ΔLdkPractical fuzzy control rule table；
Step 2：It is the expectation copper liquid weight distribution curve under 650kg to utilize the optimizing algorithm of (4) to find the initial copper liquid of casting package
Corresponding casting package curve movement, respectively as the controlling curve u of desired output curve and first iteration0(t)；
Step 3：When casting package is in hovering process latter stage, casting weight reaches preset value M5bWhen, it is switched to back packet control
Stage；
Step 4：Weighing sensor obtains error signal ek(t) with error change eck(t), it and fuzzy closed loop PD types is transmitted to changes
For learning controller, fuzzy closed loop PD types iterative learning controller is according to Δ LpkWith Δ LdkFuzzy control table and control law
(10) current controlled quentity controlled variable u is obtainedk(t), servo-drive system is acted on, control casting package returns packet movement；
Step 5：Step4 is repeated, returning packet procedures until casting package stops；
Step 6：Start casting process next time, return to step 3.
The embodiment of the present invention considers the excessively slow problem of the learning process of classical iterative learning control, is proposed in conjunction with site technique
The method of fuzzy control, on-line amending iterative learning control law parameter, improve casting control system dynamic property with it is stability
Energy.
The present invention provides a kind of computer program product, and the computer program product includes being stored in non-transient computer
Computer program on readable storage medium storing program for executing, the computer program include program instruction, when described program is instructed by computer
When execution, the computer is made to execute the method that above-mentioned each method embodiment is provided.Such as including：It establishes copper liquid flow and goes out stream
Model optimizes the positive casting curve movement of casting package, and according to the positive casting movement after optimization with intelligent algorithm
The positive casting movement of curve controlled casting package；With MFA control method and iterative learning control principle, control
The reversed of casting package returns packet movement.
The present invention provides a kind of non-transient computer readable storage medium, and the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute the method that above-mentioned each method embodiment is provided.Such as
Including：It establishes copper liquid flow and goes out flow model, with intelligent algorithm, optimize the positive casting curve movement of casting package, and according to excellent
The positive casting movement of the positive casting curve movement control casting package after change；With MFA control method and
Iterative learning control principle controls the reversed of casting package and returns packet movement.
This one of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can lead to
The relevant hardware of program instruction is crossed to complete, program above-mentioned can be stored in a computer read/write memory medium, the journey
Sequence when being executed, executes step including the steps of the foregoing method embodiments；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or
The various media that can store program code such as CD.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, for the ordinary skill in the art, it is possible to understand that
Can these embodiments be carried out with a variety of variations without departing from the principles and spirit of the present invention, modification, replace and become
Type, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention
Protection domain within.
Claims (9)
1. a kind of copper disc casting control method, which is characterized in that including:
Go out flow model according to default casting package copper liquid flow, with intelligent algorithm, optimize the positive casting curve movement of casting package,
And the positive casting movement of casting package is controlled according to the positive casting curve movement after optimization；
With MFA control method, the reversed weight for returning the casting of packet motion stage copper liquid of casting package is controlled.
2. copper disc casting control method according to claim 1, which is characterized in that described to pass through intelligent algorithm, optimization
The positive casting curve movement of casting package specifically includes：
Go out flow model based on the copper liquid flow, using casting time as optimization aim, mother cannot be gone out with copper liquid in casting process
Mould is constraints, establishes single object optimization model, carries out parameter optimization, obtains the positive casting curve movement after optimization.
3. copper disc casting control method according to claim 1, which is characterized in that described to use model-free adaption control
Method processed and iterative learning control principle, reversed time packet movement for controlling casting package specifically include：
Establish closed loop PD type iterative learning control law models：
In formula, uk(t) it measures in order to control, i.e. casting package motor rotation speed specified rate, subscript k indicates that iterations, t change for this
For at the time of, ek(t) it is the tracking error of system：
Wherein, ek(t) expression formula is：
ek(t)=yk(t)-yd(t)
In formula, yk(t) it is the output gravimetric value at current iteration current time, yd(t) it is the casting at desired casting curve current time
Weight.
Wherein, the controlled quentity controlled variable at current iteration current time is corresponded to the mistake of the controlled quentity controlled variable and current iteration acquisition at moment by last iteration
Difference signal determines, the controlled quentity controlled variable is input to servo-drive system, control casting package carries out corresponding time package operation.
4. copper disc casting control method according to claim 3, which is characterized in that the method further includes：
On-line amending, closed loop PD type iterative learning controls are carried out to the parameter of PD type iterative learning controllers with fuzzy control principle
Device processed returns packet movement according to the reversed of revised state modulator casting package.
5. a kind of copper disc casting control device, which is characterized in that including：
Forward direction pours die piece, and for going out flow model according to default copper liquid flow, with intelligent algorithm, the forward direction for optimizing casting package is poured
Curve movement is cast, and controls the positive casting movement of casting package according to the positive casting curve movement after optimization.
Packet module is reversely returned, for using MFA control method, control casting package reversely returns packet motion stage copper
The weight of liquid casting.
6. device according to claim 5, which is characterized in that the forward direction is poured die piece and is specifically used for：
Go out flow model based on the copper liquid flow, using casting time as optimization aim, mother cannot be gone out with copper liquid in casting process
Mould is constraints, establishes single object optimization model, carries out parameter optimization；Obtain the positive casting curve movement of optimization.
7. device according to claim 5, which is characterized in that described device further includes：
Parameters revision module, for being repaiied online to the parameter of the PD types iterative learning controller with fuzzy control principle
Just, closed loop PD types iterative learning controller returns packet movement according to the reversed of revised state modulator casting package.
8. a kind of computer program product, which is characterized in that the computer program product includes being stored in non-transient computer
Computer program on readable storage medium storing program for executing, the computer program include program instruction, when described program is instructed by computer
When execution, the computer is made to execute such as Claims 1-4 any one of them method.
9. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute such as Claims 1-4 any one of them method.
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