CN111826492A - Automatic slag tapping control method and system for linked slag car and converter - Google Patents

Automatic slag tapping control method and system for linked slag car and converter Download PDF

Info

Publication number
CN111826492A
CN111826492A CN202010495972.8A CN202010495972A CN111826492A CN 111826492 A CN111826492 A CN 111826492A CN 202010495972 A CN202010495972 A CN 202010495972A CN 111826492 A CN111826492 A CN 111826492A
Authority
CN
China
Prior art keywords
converter
slag
slag car
linkage
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010495972.8A
Other languages
Chinese (zh)
Other versions
CN111826492B (en
Inventor
陈跃华
李清忠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wisdri Engineering and Research Incorporation Ltd
Original Assignee
Wisdri Engineering and Research Incorporation Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wisdri Engineering and Research Incorporation Ltd filed Critical Wisdri Engineering and Research Incorporation Ltd
Priority to CN202010495972.8A priority Critical patent/CN111826492B/en
Publication of CN111826492A publication Critical patent/CN111826492A/en
Application granted granted Critical
Publication of CN111826492B publication Critical patent/CN111826492B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
    • C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
    • C21C5/28—Manufacture of steel in the converter
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054—Input/output

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Automation & Control Theory (AREA)
  • Carbon Steel Or Casting Steel Manufacturing (AREA)

Abstract

The invention provides an automatic slag tapping control method and system for slag car converter linkage, wherein the method comprises the following steps: starting automatic slag discharging, moving a slag car to a linkage initial position, and tilting the converter to a linkage initial angle; the slag car runs from the initial linkage position to the end linkage position at a constant speed, and the inclination angle and the tilting speed set value of the converter are calculated according to the actual position value of the slag car; and delaying for a plurality of seconds after the slag car and the converter reach the linkage end position to wait for the steel slag to be discharged completely, and then moving the slag car and the converter to the automatic slag discharging end position. The invention realizes the automatic control of the converter slag discharging process, and calculates the inclination angle set value and the inclination speed set value of the converter in real time according to the actual position value of the slag car in the linkage process of the slag car and the converter, thereby realizing the high-precision automatic control of two devices, ensuring that the steel slag is just poured into a steel slag tank, solving the problems of instability and poor precision of manual operation, reducing the labor intensity of workers and improving the efficiency and the safety of slag discharging operation.

Description

Automatic slag tapping control method and system for linked slag car and converter
Technical Field
The invention relates to the technical field of automatic control of converters, in particular to an automatic slag tapping control method and system for linkage of a slag car and a converter.
Background
Converter steelmaking is the most dominant steelmaking method in the world today, and the steel yield accounts for more than 65% of the total world steel yield. After the converter steelmaking is finished, the smelted molten steel is poured into a ladle car, and then the steel slag in the converter is poured into a slag car. The iron and steel production enterprises pay more attention to the converting and tapping process, but pay less attention to the deslagging process, but the requirement on the operation of personnel in the deslagging process is not low. In the existing converter slag discharging process, an operator operates a furnace rocking handle and a slag car control handle in a front operating room to respectively control the tilting of a converter and the movement of a slag car, so that the converter tilts to a certain angle, and steel slag in the converter is poured into a steel slag tank through a furnace opening. In the process, the tilting of the converter and the movement of the slag car are completed in a matching way, and the current completion depends on the experience of operators and visual observation, namely the slag car is driven to a corresponding slag receiving position according to the visual observation of the inclination angle of the converter. However, the converter steelmaking site environment is severe, which affects the sight and judgment ability of people, the control precision of the converter inclination angle and the slag car position is difficult to be ensured, the habits of each operator are different, the action time of the converter and the slag car is fast and slow, and the time difference of the slag discharging process is large. The problem that the action coordination of the converter and the slag car is not good can be avoided in the slag discharging process, the situation that the steel slag can not be poured into the steel slag tank completely can be caused, the leaked steel slag is accumulated on the rails of the slag car and the slag car, the movement of the slag car is influenced, the phenomena that the slag car is unstable in parking, the slag car slides and the like can be caused, and even the steel slag can be splashed to nearby workers at times to cause safety accidents.
Disclosure of Invention
The invention aims to provide an automatic slag tapping control method and system for linkage of a slag car and a converter, and aims to realize automation of a slag tapping process, enable steel slag to be just poured into a steel slag tank and solve the problems of instability and poor precision of manual operation.
The invention is realized by the following steps:
on one hand, the invention provides an automatic slag tapping control method for slag car converter linkage, which comprises the following steps:
s10, starting automatic slag discharging, moving the slag car to the linkage initial position, and tilting the converter to the linkage initial angle;
s20, enabling the slag car to run from the initial linkage position to the end linkage position at a constant speed, and calculating the set values of the inclination angle and the tilting speed of the converter according to the actual position value of the slag car;
and S30, delaying for several seconds after the slag car and the converter reach the linkage end position to wait for the steel slag to be discharged completely, and then moving the slag car and the converter to the automatic slag discharging end position.
Further, the moving speed of the slag car moving to the linkage initial position in the step S10 is divided into three stages according to the absolute value of the position difference, as follows:
Figure BDA0002522831550000021
in the formula, V1，setIs a set value of the speed of the slag car, Vhigh、VmidAnd VlowHigh, medium and low three-gear speeds respectively set for the slag car, abs represents the operation of obtaining absolute value, PiniIs the linked initial position of the slag car, PactThe current position actual value of the slag car is obtained.
Further, in step S10, the tilting speed of the converter tilting to the linkage initial angle is calculated by using a proportional controller, and the calculation formula is as follows:
S1，set＝LIM1[abs(Aini-Aact)×Kp]
in the formula, S1，setFor the set value of the speed of the converter, LIM1 is a first amplitude limiting link, and the set value of the speed is limited to 0.0-6 degrees/s, AiniIs the linked initial angle of the converter, AactIs the actual value of the current inclination angle of the converter, KpIs a scaling factor.
Further, the method for calculating the set values of the position and the moving speed of the slag car according to the actual value of the inclination angle of the converter in the step S20 is as follows:
s201, calculating a theoretical linkage ending position of the slag car according to the linkage initial inclination angle and the linkage ending inclination angle of the converter;
s202, solving a corresponding theoretical position value of the slag car according to the actual position value of the slag car;
s203, calculating a given value of an inclination angle of the converter in a linkage stage according to the theoretical position value of the slag car;
and S204, calculating a tilting speed set value of the converter in the linkage stage according to the speed of the slag car.
Further, in the step S201, a calculation formula for calculating the theoretical linkage end position of the slag car according to the linkage initial inclination angle and the linkage end inclination angle of the converter is as follows:
Figure BDA0002522831550000031
in the formula, Ppri，finalIs the theoretical linkage end position of the slag car, AiniIs the linked initial angle of the converter, AfinalIs the linkage end angle of the converter, PiniIs the linked initial position, R, of the slag carBOFThe distance from the center of the rotating shaft of the converter to the center of the converter mouth of the converter.
Further, in the step S202, a calculation formula for calculating the corresponding theoretical position value of the slag car according to the actual value of the position of the slag car is as follows:
Figure BDA0002522831550000032
in the formula, PpriIs the theoretical position of the slag car, PactIs an actual value of the slag car position, PiniIs the linked initial position of the slag car, Ppri，finalIs the theoretical linkage end position of the slag car, Pact，finalIs the actual linkage end position of the slag car.
Further, the calculation formula for calculating the given value of the inclination angle of the converter in the linkage stage according to the theoretical position value of the slag car in the step S203 is as follows:
Figure BDA0002522831550000033
Figure 1
in the formula, A2，radThe given value of the inclination angle of the converter in the linkage stage with rad as the unit is PiniIs the linked initial position of the slag car, AiniIs the linked initial angle of the converter, PpriIs the theoretical position of the slag car, RBOFThe distance from the center of the rotary shaft of the converter to the center of the mouth of the converter, A2，setFor converting the angle into the angle unit linkage stage converter dip angle set value, LIM2 is a second amplitude limiting link, which shows that the amplitude of the calculated dip angle set value is limited at Aini～ AfinalWithin the range.
Further, the method for calculating the tilting speed set value of the converter in the linkage stage according to the speed of the slag car in the step S204 is as follows:
calculating a speed given reference value of the converter in the linkage stage, wherein the calculation formula is as follows:
Figure BDA0002522831550000042
in the formula, S2，baseSetting a reference value for the speed of the converter in the linkage phase, AiniIs the linked initial angle of the converter, AfinalIs the linkage end angle of the converter, PiniIs the linked initial position of the slag car, Pact，finalIs the actual linkage end position of the slag car, VhighSetting a speed value of the slag car in a linkage stage;
and (3) calculating the converter inclination angle difference according to the following calculation formula:
DA＝A2，set-Aact
in the formula, DAIs the difference of the converter inclination angle A2，setFor converting into a set value of the inclination angle of the converter in the linkage stage with the angle as a unit, AactThe actual value of the converter inclination angle is obtained;
determining a self-adaptive factor according to the inclination angle difference of the converter, wherein if the inclination angle difference is within an allowable range, the self-adaptive factor is 1.0; if the tilt angle difference exceeds the range, the adaptive factor is calculated as follows:
Gada＝LIM3(1.0+DA×0.05)
in the formula, GadaFor the adaptive factor, LIM3 denotes a third clipping element, DAIs the difference of the inclination angle of the converter；
Final set value S of tilting speed of converter in linkage stage2，setComprises the following steps:
S2，set＝LIM4(S2，base×Gada)
in the formula, S2，setFor the set value of the tilting speed of the converter in the linkage stage, LIM4 represents the fourth limiting link, S2，baseSetting a reference value, G, for the speed of the converter in the coupled phaseadaIs an adaptive factor.
Further, before starting automatic slag tapping, the interlocking condition of automatic slag tapping is checked, automatic slag tapping is started after all conditions are met, and the interlocking condition of automatic slag tapping comprises:
the slag car has no electric transmission fault and no communication fault; the converter has no electric transmission fault and no communication fault; converter tapping is completed; the manual operation authority of the converter is in front of the converter; the converter is allowed to tilt; the current inclination angle of the converter is between-20 degrees and 80 degrees; the current position of the slag car is 20-45 m.
On the other hand, the invention also provides an automatic slag tapping control system for linkage of the slag car and the converter, which is used for realizing the method and comprises the converter capable of tilting back and forth, a movable slag car, a PLC (programmable logic controller), a converter tilting frequency converter, a converter tilting motor, a slag car transmission frequency converter, a slag car moving motor and a laser range finder, wherein an inclination angle encoder is installed on a rotating shaft of the converter, a tilting speed encoder is installed on the converter tilting motor, a moving speed encoder is installed on the slag car moving motor, the inclination angle encoder is used for measuring an actual inclination angle value of the converter and sending the actual inclination angle value to the PLC, the tilting speed encoder is used for measuring an actual tilting speed value of the converter and sending the actual inclination angle value to the PLC, the moving speed encoder is used for measuring an actual moving speed value of the slag car and sending the actual inclination angle value to the PLC, the laser range finder is used for measuring an actual position of the slag car and sending the actual position to, the PLC is used for calculating and sending a tilting speed set value to the converter tilting frequency converter, the converter tilting frequency converter is used for controlling the converter tilting motor, and therefore the converter is controlled to rotate, the PLC is also used for calculating and sending a slag car moving speed set value to the slag car transmission frequency converter, and the slag car transmission frequency converter is used for controlling the slag car moving motor, and therefore the slag car is controlled to move.
Compared with the prior art, the invention has the following beneficial effects:
the automatic slag tapping control method and the automatic slag tapping control system for the linkage of the slag car and the converter realize the automatic control of the slag tapping process of the converter, and the inclination angle set value and the inclination speed set value of the converter are calculated in real time according to the actual position value of the slag car in the linkage process of the slag car and the converter, so that the high-precision automatic control of two devices is realized, the steel slag is just poured into a steel slag tank, the problems of instability and poor precision of manual operation are solved, the labor intensity of workers is reduced, and the efficiency and the safety of the slag tapping operation are improved.
Drawings
Fig. 1 is a schematic flow chart of an automatic slag tapping control method for converter linkage of a slag car according to an embodiment of the invention;
fig. 2 is a schematic view of an automatic slag tapping control system for converter linkage of a slag car provided in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the embodiment of the invention provides S10, starts automatic slag tapping, moves the slag car to the linkage initial position, and tilts the converter to the linkage initial angle;
s20, enabling the slag car to run from the initial linkage position to the end linkage position at a constant speed, and calculating the set values of the inclination angle and the tilting speed of the converter according to the actual position value of the slag car;
and S30, delaying for several seconds after the slag car and the converter reach the linkage end position to wait for the steel slag to be discharged completely, and then moving the slag car and the converter to the automatic slag discharging end position.
The above steps will be described in detail below.
Before starting automatic slag tapping, the interlocking condition of automatic slag tapping is examined, and after all conditions are met, automatic slag tapping is started, and the interlocking condition of automatic slag tapping comprises:
the slag car has no electric transmission fault and no communication fault; the converter has no electric transmission fault and no communication fault; converter tapping is completed; the manual operation authority of the converter is in front of the converter; the converter is allowed to tilt; the current inclination angle of the converter is between-20 degrees and 80 degrees; the current position of the slag car is 20-45 m.
In this embodiment, the initial linkage position of the slag car is set to 38.0m, after the automatic slag tapping is started, the slag car moves from the current position to the initial linkage position, and the moving speed of the slag car moving to the initial linkage position in step S10 is divided into three stages according to the absolute value of the position difference, as follows:
Figure BDA0002522831550000071
in the formula, V1，setIs a set value of the speed of the slag car, Vhidh、VmidAnd VlowHigh, medium and low three-gear speeds respectively set for the slag car, abs represents the operation of obtaining absolute value, PiniIs the linked initial position of the slag car, PactThe current position actual value of the slag car is obtained.
In this embodiment, the initial linkage angle of the converter is set to 112 °, after the automatic slag tapping is started, the converter tilts from the current position to the initial linkage angle, and the tilting speed of the converter tilting to the initial linkage angle in step S10 is calculated by using a proportional controller, and the calculation formula is as follows:
S1，set＝LIM1[abs(Aini-Aact)×Kp]
in the formula, S1，setFor the set value of the speed of the converter, LIM1 is a first amplitude limiting link, and the set value of the speed is limited to 0.0-6 degrees/s, AiniIs the linked initial angle of the converter, AactTo turn toActual value of furnace inclination, KpAnd the proportionality coefficient is adjusted properly according to the working condition.
Thus, the converter runs at a high speed when the inclination angle difference is large, the speed is slower and slower when the inclination angle difference is close to the set value, and the converter can be stopped stably when the inclination angle difference reaches the set value finally.
In the first step of automatic slag tapping, the converter and the slag car reach the initial linkage position at respective set speeds, and then the converter and the slag car start to be linked. The slag car is mainly used in the linkage process, and the converter is matched. And the slag car runs to the linkage ending position at a constant speed, the set inclination angle and the set tilting speed of the converter are calculated according to the actual position value of the slag car, and the converter moves according to the set value and reaches the linkage ending position together with the slag car.
The method for calculating the set values of the position and the moving speed of the slag car according to the actual value of the inclination angle of the converter in the step S20 is as follows:
s201, calculating a theoretical linkage ending position of the slag car according to the linkage initial inclination angle and the linkage ending inclination angle of the converter;
in the embodiment, according to the actual situation of the site, the initial linkage angle of the converter is set to be 112 degrees, the end linkage angle is set to be 213 degrees, and the calculation formula for calculating the theoretical linkage end position of the slag car according to the initial linkage inclination angle and the end linkage inclination angle of the converter is as follows:
Figure BDA0002522831550000081
in the formula, Ppri，finalIs the theoretical linkage end position of the slag car, AiniIs the linked initial angle of the converter, AfinalIs the linkage end angle of the converter, PiniIs the linked initial position, R, of the slag carBOFThe distance from the center of the rotating shaft of the converter to the center of the converter mouth of the converter.
S202, solving a corresponding theoretical position value of the slag car according to the actual position value of the slag car; the calculation formula is as follows:
Figure BDA0002522831550000082
in the formula, PpriIs the theoretical position of the slag car, PactIs an actual value of the slag car position, PiniIs the linked initial position of the slag car, Ppri，finalIs the theoretical linkage end position of the slag car, Pact，finalThe actual linkage end position of the slag car is set to be 45.2 m.
S203, calculating a given value of an inclination angle of the converter in a linkage stage according to the theoretical position value of the slag car; the calculation formula is as follows:
Figure BDA0002522831550000083
Figure BDA0002522831550000084
in the formula, A2，radThe given value of the inclination angle of the converter in the linkage stage with rad as the unit is PiniIs the linked initial position of the slag car, AiniIs the linked initial angle of the converter, PpriIs the theoretical position of the slag car, RBOFThe distance from the center of the rotary shaft of the converter to the center of the mouth of the converter, A2，setFor converting the angle into the angle unit linkage stage converter dip angle set value, LIM2 is a second amplitude limiting link, which shows that the amplitude of the calculated dip angle set value is limited at Aini～ AfinalWithin the range.
S204, calculating a set tilting speed value of the converter in the linkage stage according to the speed of the slag car, wherein the calculation method comprises the following steps:
firstly, calculating a speed given reference value of the converter in a linkage stage, and giving a high speed V of a slag car in the linkage stage to quickly finish automatic slag tapping operationhighIf the converter moves along with the movement of the slag car, the calculation formula of the speed given reference value of the converter in the linkage stage is as follows:
Figure BDA0002522831550000091
in the formula, S2，baseFor the speed of the converter in the linkage stageReference value, AiniIs the linked initial angle of the converter, AfinalIs the linkage end angle of the converter, PiniIs the linked initial position of the slag car, Pact，finalIs the actual linkage end position of the slag car, VhighSetting a speed value of the slag car in a linkage stage;
the final speed set value of the converter tilting is multiplied by an adaptive factor according to the tilt angle difference in actual operation, if the tilt angle difference is a positive value and is larger, the adaptive factor is properly increased to improve the tilting speed, and if the tilt angle difference is a negative value and is larger, the adaptive factor is properly decreased.
Then, the converter inclination angle difference is calculated according to the following formula:
DA＝A2，set-Aact
in the formula, DAIs the difference of the converter inclination angle A2，setFor converting into a set value of the inclination angle of the converter in the linkage stage with the angle as a unit, AactThe actual value of the converter inclination angle is shown.
Then determining a self-adaptive factor according to the inclination angle difference of the converter, wherein if the inclination angle difference is within an allowable range, the self-adaptive factor is 1.0; if the tilt angle difference exceeds the range, the adaptive factor is calculated as follows:
Gada＝LIM3(1.0+DA×0.05)
in the formula, GadaFor the adaptive factor, LIM3 denotes a third clipping element, DAIs the converter inclination angle difference;
in this embodiment, if the inclination angle difference is between-1 ° and 1 °, which indicates that the inclination angle difference is within the allowable range, the adaptive factor is 1.0; if the tilt difference exceeds this range, the adaptive factor is adjusted appropriately. Specifically, the adaptation factor is calculated as follows:
Gada＝LIM3(1.0+DA×0.05)DA＞1.0°or DA＜-1.0°
in the formula, LIM2 represents the third clipping step, and in this embodiment, to ensure the stability of the system, the adaptive factor is clipped between 0.7 and 1.3, and the adaptive factor is set to be calculatedFactor GadaWithin the range of 0.95 to 1.05 (i.e. the difference of the inclination angles is between-1 DEG and 1 DEG), Gada＝1.0。
Final set value S of tilting speed of converter in linkage stage2，setComprises the following steps:
S2，set＝LIM4(S2，base×Gada)
in the formula, S2，setFor the set value of the tilting speed of the converter in the linkage stage, LIM4 represents the fourth limiting link, S2，baseSetting a reference value, G, for the speed of the converter in the coupled phaseadaIs an adaptive factor.
And the converter acts according to the inclination angle and the tilting speed set value in the linkage stage and reaches the linkage ending position together with the slag car.
In step S30, the slag car and the converter are delayed for several seconds after reaching the linkage end position to wait for the steel slag to be discharged completely.
In the embodiment, the actual value of the position of the slag car enters the linkage ending position PfinalIn the range of +/-0.3 m, and simultaneously the actual value of the inclination angle of the converter enters the linkage ending angle Aact，finalAnd in the range of +/-0.7 degrees, the converter and the slag car reach the linkage end position. And after the slag is completely discharged, keeping the converter for 5 seconds to wait for the steel slag in the converter to be completely discharged, and basically finishing the slag discharging process.
The slag car then returns to the slag tapping end position and the converter tilts to the slag tapping end angle.
In the embodiment, according to the field operation habit, the slag tapping termination position of the slag car is set to be 33.0m, the slag tapping termination angle of the converter is set to be 45 degrees, and the slag car and the converter return to the termination position at a high speed after the delay is finished. And after the two are in place, automatically discharging the slag.
The invention provides an automatic slag tapping control method for linkage of a slag car and a converter, which divides an automatic slag tapping process of converter steelmaking into three steps. The first step is that the converter and the slag car operate to the linkage initial position at respective set speeds, wherein the slag car divides three speeds of high, middle and low according to the position difference, and the converter calculates the tilting speed set value by adopting a proportional controller according to the tilting angle difference. Generally, when the position difference or the inclination angle difference is large, the equipment operates at a high speed, so that the operation time can be saved, and when the set value is close, the speed is reduced to a low speed, so that the equipment can be stably stopped after being in place. The second step is a linkage process of the slag car and the converter, wherein the slag car is mainly used in the linkage process, and the converter is matched. And the slag car moves to the linkage ending position at a constant speed, the set inclination angle and the set tilting speed of the converter are calculated according to the actual position value of the slag car, and the converter tilts according to the set value and reaches the linkage ending position together with the slag car. The third step is a slag tapping ending step, wherein the slag car and the converter delay for a plurality of seconds after reaching the linkage ending position to wait for the steel slag to be discharged completely, then the slag car and the converter move to an automatic slag tapping ending position, and the automatic slag tapping is ended after the slag car and the converter are in place.
As shown in fig. 2, the embodiment of the present invention further provides an automatic slag tapping control system for linkage of a slag car and a converter, which is used for implementing the above method embodiment, the system includes a converter 9 capable of tilting back and forth, a movable slag car 14, a PLC controller 1, a converter tilting frequency converter 2, a converter tilting motor 4, a slag car transmission frequency converter 5, a slag car moving motor 7, and a laser range finder 8, the converter has a steel tap 11 and a tap hole 12, the converter 9 tilts forward during tapping, molten steel is poured into a ladle from the tap hole 11, the converter 9 tilts back during tapping, and steel slag is poured into a steel slag pot 13 on the slag car 14 from the tap hole 12. The slag car tilting system is characterized in that an inclination angle encoder 10 is installed on a rotating shaft of the converter 9, a tilting speed encoder 3 is installed on a converter tilting motor 4, a moving speed encoder 6 is installed on a slag car moving motor 7, the inclination angle encoder 10 is used for measuring an actual inclination angle value of the converter 9 and sending the actual inclination angle value to the PLC controller 1, the tilting speed encoder 3 is used for measuring an actual tilting speed value of the converter 9 and sending the actual tilting speed value to the PLC controller 1, the moving speed encoder 6 is used for measuring an actual moving speed value of the slag car 14 and sending the actual moving speed value to the PLC controller 1, the laser range finder 8 is used for measuring an actual position of the slag car 14 and sending the actual position to the PLC1, the PLC controller 1 is used for calculating and sending a tilting speed set value to the converter tilting frequency converter 2, the converter tilting motor 4 is controlled by the converter tilting frequency converter 2 so as to control the converter 9 to rotate, the PLC controller 1 is also used for calculating and sending a slag car moving speed set value to the, the slag car transmission frequency converter 5 controls the slag car moving motor 7, thereby controlling the slag car 14 to move. All automatic tapping functions are realized by programming in the PLC controller 1.
In summary, the automatic slag tapping control method and system for slag car-converter linkage provided by the embodiments of the present invention realize automatic control of the slag tapping process of the converter, and in the linkage process of the slag car and the converter, the inclination angle set value and the tilting speed set value of the converter are calculated in real time according to the actual position value of the slag car, so that high-precision automatic control of two devices is realized, so that steel slag is just poured into a steel slag pot, the problems of instability and poor precision of manual operation are solved, the labor intensity of workers is reduced, and the efficiency and safety of slag tapping operation are improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. The automatic slag tapping control method for the linkage of the slag car and the converter is characterized by comprising the following steps of:
s10, starting automatic slag discharging, moving the slag car to the linkage initial position, and tilting the converter to the linkage initial angle;
s20, enabling the slag car to run from the initial linkage position to the end linkage position at a constant speed, and calculating the set values of the inclination angle and the tilting speed of the converter according to the actual position value of the slag car;
and S30, delaying for several seconds after the slag car and the converter reach the linkage end position to wait for the steel slag to be discharged completely, and then moving the slag car and the converter to the automatic slag discharging end position.
2. The method for controlling automatic slag tapping of a linked slag car and converter according to claim 1, wherein the moving speed of the slag car moving to the linked initial position in the step S10 is divided into three stages according to the absolute value of the position difference, which is as follows:
Figure FDA0002522831540000011
in the formula, V1，setIs a set value of the speed of the slag car, Vhigh、VmidAnd VlowHigh, medium and low three-gear speeds respectively set for the slag car, abs represents the operation of obtaining absolute value, PiniIs the linked initial position of the slag car, PactThe current position actual value of the slag car is obtained.
3. The automatic slag tapping control method for slag car converter linkage according to claim 1, wherein the tilting speed of the converter tilting to the linkage initial angle in the step S10 is calculated by using a proportional controller, and the calculation formula is as follows:
S1，set＝LIM1[abs(Aini-Aact)×Kp]
in the formula, S1，setFor the set value of the speed of the converter, LIM1 is a first amplitude limiting link, and the set value of the speed is limited to 0.0-6 degrees/s, AiniIs the linked initial angle of the converter, AactIs the actual value of the current inclination angle of the converter, KpIs a scaling factor.
4. The method for controlling automatic slag tapping by linkage of a slag car and a converter according to claim 1, wherein the method for calculating the set values of the position and the moving speed of the slag car according to the actual value of the inclination angle of the converter in step S20 is as follows:
s201, calculating a theoretical linkage ending position of the slag car according to the linkage initial inclination angle and the linkage ending inclination angle of the converter;
s202, solving a corresponding theoretical position value of the slag car according to the actual position value of the slag car;
s203, calculating a given value of an inclination angle of the converter in a linkage stage according to the theoretical position value of the slag car;
and S204, calculating a tilting speed set value of the converter in the linkage stage according to the speed of the slag car.
5. The automatic slag tapping control method for slag car-converter linkage according to claim 4, wherein in step S201, a calculation formula for calculating the theoretical linkage end position of the slag car according to the linkage initial inclination angle and the linkage end inclination angle of the converter is as follows:
Figure FDA0002522831540000021
in the formula, Ppri，finalIs the theoretical linkage end position of the slag car, AiniIs the linked initial angle of the converter, AfinalIs the linkage end angle of the converter, PiniIs the linked initial position, R, of the slag carBOFThe distance from the center of the rotating shaft of the converter to the center of the converter mouth of the converter.
6. The automatic slag tapping control method for slag car converter linkage according to claim 4, wherein in the step S202, a calculation formula for solving the corresponding theoretical position value of the slag car according to the actual position value of the slag car is as follows:
Figure FDA0002522831540000022
in the formula, PpriIs the theoretical position of the slag car, PactIs an actual value of the slag car position, PiniIs the linked initial position of the slag car, Ppri，finalIs the theoretical linkage end position of the slag car, Pact，finalIs the actual linkage end position of the slag car.
7. The automatic slag tapping control method for slag car converter linkage according to claim 4, wherein the calculation formula for calculating the given value of the inclination angle of the converter in the linkage stage according to the theoretical position value of the slag car in the step S203 is as follows:
Figure FDA0002522831540000031
Figure FDA0002522831540000032
in the formula, A2，radThe given value of the inclination angle of the converter in the linkage stage with rad as the unit is PiniIs the linked initial position of the slag car, AiniIs the linked initial angle of the converter, PpriIs the theoretical position of the slag car, RBOFThe distance from the center of the rotary shaft of the converter to the center of the mouth of the converter, A2，setFor converting the angle into the angle unit linkage stage converter dip angle set value, LIM2 is a second amplitude limiting link, which shows that the amplitude of the calculated dip angle set value is limited at Aini～AfinalWithin the range.
8. The method for controlling automatic slag tapping through linked converter and slag car according to claim 4, wherein the calculation method for calculating the tilting speed set value of the converter in the linked stage according to the speed of the slag car in the step S204 is as follows:
calculating a speed given reference value of the converter in the linkage stage, wherein the calculation formula is as follows:
Figure FDA0002522831540000033
in the formula, S2，baseSetting a reference value for the speed of the converter in the linkage phase, AiniIs the linked initial angle of the converter, AfinalIs the linkage end angle of the converter, PiniIs the linked initial position of the slag car, Pact，finalIs the actual linkage end position of the slag car, VhighSetting a speed value of the slag car in a linkage stage;
and (3) calculating the converter inclination angle difference according to the following calculation formula:
DA＝A2，set-Aact
in the formula, DAIs the difference of the converter inclination angle A2，setFor converting into a set value of the inclination angle of the converter in the linkage stage with the angle as a unit, AactThe actual value of the converter inclination angle is obtained;
determining a self-adaptive factor according to the inclination angle difference of the converter, wherein if the inclination angle difference is within an allowable range, the self-adaptive factor is 1.0; if the tilt angle difference exceeds the range, the adaptive factor is calculated as follows:
Gada＝LIM3(1.0+DA×0.05)
in the formula, GadaFor the adaptive factor, LIM3 denotes a third clipping element, DAIs the converter inclination angle difference;
final set value S of tilting speed of converter in linkage stage2，setComprises the following steps:
S2，set＝LIM4(S2，base×Gada)
in the formula, S2，setFor the set value of the tilting speed of the converter in the linkage stage, LIM4 represents the fourth limiting link, S2，baseSetting a reference value, G, for the speed of the converter in the coupled phaseadaIs an adaptive factor.
9. The automatic slag tapping control method for the linked slag car and converter according to claim 1, characterized in that: before starting automatic slag tapping, the interlocking condition of automatic slag tapping is examined, and after all conditions are met, automatic slag tapping is started, and the interlocking condition of automatic slag tapping comprises:
the slag car has no electric transmission fault and no communication fault; the converter has no electric transmission fault and no communication fault; converter tapping is completed; the manual operation authority of the converter is in front of the converter; the converter is allowed to tilt; the current inclination angle of the converter is between-20 degrees and 80 degrees; the current position of the slag car is 20-45 m.
10. An automatic slag tapping control system for linkage of a slag car and a converter, which is used for realizing the method according to any one of claims 1 to 9, and is characterized in that: the system comprises a converter, a movable slag car, a PLC (programmable logic controller), a converter tilting frequency converter, a converter tilting motor, a slag car transmission frequency converter, a slag car moving motor and a laser range finder, wherein the converter can tilt forwards and backwards, the converter tilting motor is installed on a rotating shaft of the converter, the converter tilting speed encoder is installed on the converter tilting motor, the slag car moving motor is provided with a moving speed encoder, the tilting speed encoder is used for measuring an actual tilt angle value of the converter and sending the actual tilt angle value to the PLC, the tilting speed encoder is used for measuring an actual tilt speed value of the converter and sending the actual tilt speed value to the PLC, the moving speed encoder is used for measuring an actual moving speed value of a slag car and sending the actual tilt speed value to the PLC, the laser range finder is used for measuring an actual position of the slag car and sending the actual tilt speed value to the PLC, the PLC is used for calculating and sending a set tilt speed value to the converter tilting frequency, the converter tilting frequency converter is used for controlling the converter tilting motor so as to control the converter to rotate, the PLC is also used for calculating and sending a set value of the moving speed of the slag car to the slag car transmission frequency converter, and the slag car transmission frequency converter is used for controlling the slag car moving motor so as to control the slag car to move.
CN202010495972.8A 2020-06-03 2020-06-03 Automatic slag tapping control method and system for linked slag car and converter Active CN111826492B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010495972.8A CN111826492B (en) 2020-06-03 2020-06-03 Automatic slag tapping control method and system for linked slag car and converter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010495972.8A CN111826492B (en) 2020-06-03 2020-06-03 Automatic slag tapping control method and system for linked slag car and converter

Publications (2)

Publication Number Publication Date
CN111826492A true CN111826492A (en) 2020-10-27
CN111826492B CN111826492B (en) 2021-09-28

Family

ID=72897594

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010495972.8A Active CN111826492B (en) 2020-06-03 2020-06-03 Automatic slag tapping control method and system for linked slag car and converter

Country Status (1)

Country Link
CN (1) CN111826492B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113050104A (en) * 2021-04-02 2021-06-29 中冶南方工程技术有限公司 Vehicle position measuring method based on position estimation, terminal equipment and storage medium

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60218413A (en) * 1984-04-13 1985-11-01 Kawasaki Heavy Ind Ltd Method and apparatus for separation and tapping of molten steel and slag
CN101516548A (en) * 2006-09-13 2009-08-26 西门子Vai金属科技有限责任公司 Method for pouring melt from a tiltable metallurgic vessel and system for performing the method
CN204265790U (en) * 2014-11-14 2015-04-15 南京钢铁股份有限公司 The device of converter platform and slag car duplex technique
CN105739423A (en) * 2016-02-19 2016-07-06 中冶南方工程技术有限公司 Converter tilting quick start up and shut down stable furnace rocking control system and method
CN110039036A (en) * 2019-04-19 2019-07-23 山信软件股份有限公司 A kind of converter buggy ladle, the slag car are anti-to open overtravel technology
CN110616288A (en) * 2018-06-20 2019-12-27 宝山钢铁股份有限公司 Full-automatic tapping method and system for converter
CN110616289A (en) * 2018-06-20 2019-12-27 宝山钢铁股份有限公司 Tapping flow control method and system for full-automatic tapping of converter

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60218413A (en) * 1984-04-13 1985-11-01 Kawasaki Heavy Ind Ltd Method and apparatus for separation and tapping of molten steel and slag
CN101516548A (en) * 2006-09-13 2009-08-26 西门子Vai金属科技有限责任公司 Method for pouring melt from a tiltable metallurgic vessel and system for performing the method
CN204265790U (en) * 2014-11-14 2015-04-15 南京钢铁股份有限公司 The device of converter platform and slag car duplex technique
CN105739423A (en) * 2016-02-19 2016-07-06 中冶南方工程技术有限公司 Converter tilting quick start up and shut down stable furnace rocking control system and method
CN110616288A (en) * 2018-06-20 2019-12-27 宝山钢铁股份有限公司 Full-automatic tapping method and system for converter
CN110616289A (en) * 2018-06-20 2019-12-27 宝山钢铁股份有限公司 Tapping flow control method and system for full-automatic tapping of converter
CN110039036A (en) * 2019-04-19 2019-07-23 山信软件股份有限公司 A kind of converter buggy ladle, the slag car are anti-to open overtravel technology

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
御风: ""炼钢熔渣检测的新型装置和技术"", 《世界金属导报》 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113050104A (en) * 2021-04-02 2021-06-29 中冶南方工程技术有限公司 Vehicle position measuring method based on position estimation, terminal equipment and storage medium

Also Published As

Publication number Publication date
CN111826492B (en) 2021-09-28

Similar Documents

Publication Publication Date Title
CN111826492B (en) Automatic slag tapping control method and system for linked slag car and converter
EP2061612B1 (en) Method for pouring melt from a tiltable metallurgic vessel and system for performing the method
CN105739423B (en) The steady grate control system of converter inclining rapid starting/stopping and method
CN111663016B (en) Automatic control method for tilting speed in converter tapping process
CN111624884B (en) Automatic slag discharge control method and system for converter slag car linkage
CN103255261A (en) Converter tapping hole sliding gate slag-stopping process
CN102944447A (en) Automatic temperature-measuring sampling slag-breaking device and method
CN102564150B (en) Full-automatic tilting system and method for furnace
CN106893798A (en) A kind of corrosion-resisting steel adds the smelting process of antimony
CN201525859U (en) Control device for tapping of converter
CN211854880U (en) Crucible tilting automatic speed change control system for vacuum induction furnace
CN210386383U (en) Automatic flow coating control device
CN112795727A (en) Three-dimensional positioning method for automatically slagging off desulfurized molten iron
JPH1182362A (en) Controller of water supply system comprising plural pumps
CN115090837B (en) Ladle top blowing device and use method thereof
JPH0446665A (en) Automatic molten metal pouring machine
CN115178730B (en) Quantitative pouring device and method for copper alloy intermediate frequency furnace
CN113088622A (en) Automatic furnace pressing control method and system in tapping process
CN211464813U (en) Automatic positioning control system for torpedo ladle
CN116100010A (en) Design method for realizing automatic can pouring
CN221183362U (en) Device for automatically spraying fire-resistant slag-sticking-preventing agent of slag pot
CN103602841B (en) A kind of aluminium alloy smelting function flux automatic powder adding adding method and device thereof
CN102861689A (en) Method, device and system for controlling injection pressure of injection machine and injection machine
CN218115492U (en) Improved molten steel tank integrated vehicle
CN103031411A (en) Method for relieving slag bonding for insertion tube of vacuum chamber

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant