CN112974789A

CN112974789A - Refining furnace buggy ladle positioning method

Info

Publication number: CN112974789A
Application number: CN202110182999.6A
Authority: CN
Inventors: 余传铭; 陈志贤; 刘俊; 李超权; 梁坤; 曾涛; 王志康; 邝玉富; 陈韶锋; 卢滔; 张文伟; 陈权; 黎小文; 朱祖华; 关护国; 温伟荣; 李绪贤
Original assignee: SGIS Songshan Co Ltd
Current assignee: SGIS Songshan Co Ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-06-18
Anticipated expiration: 2041-02-08
Also published as: CN112974789B

Abstract

The application provides a method for positioning a buggy ladle of a refining furnace. The method comprises the following steps: acquiring a current signal which is output by a frequency converter and corresponds to the rotating speed of the motor and a rotating time length which corresponds to the current signal; determining the target rotating speed of the motor corresponding to the current signal according to the corresponding relation between the current signal and the rotating speed of the motor; determining the current rotation number of turns of the motor based on the target rotation speed, the rotation time length and the historical rotation number of turns, wherein the historical rotation number of turns is the rotation number of turns of the motor before the rotation time length; and determining the current position of the buggy ladle corresponding to the current number of turns of rotation according to the corresponding relation between the current number of turns of rotation of the motor and the corresponding specified position. So, need not to install the encoder on the buggy ladle, also need not to set up collision travel switch on the route of traveling of buggy ladle to be favorable to improving the interference killing feature and the reliability of buggy ladle location, avoid damaging devices such as encoder, collision travel switch and can't fix a position the buggy ladle because of the splash of high-temperature liquid.

Description

Refining furnace buggy ladle positioning method

Technical Field

The application relates to the field of electrical equipment detection control, in particular to a refining furnace buggy ladle positioning method.

Background

In the smelting industry, during steel refining, a steel ladle car of a refining furnace is generally required to transport high-temperature liquid metal in the smelting process so as to carry out corresponding process treatment. Wherein, the buggy ladle usually travels on the route of settlement, and need stop at corresponding assigned position to carry out corresponding process and handle. At present, the ladle car of the refining furnace is positioned by two modes of installing an encoder or colliding a travel switch. When the existing two modes meet high-temperature liquid metal splashing, a device for realizing buggy ladle positioning is easy to damage, so that the buggy ladle positioning has low anti-interference capability and low reliability.

Disclosure of Invention

The embodiment of the application aims to provide a refining furnace buggy ladle positioning method which can solve the problems of low anti-interference capability and low reliability of buggy ladle positioning.

In order to achieve the above object, embodiments of the present application are implemented as follows:

in a first aspect, an embodiment of the present application provides a method for positioning a buggy ladle of a refining furnace, which is applied to a control device electrically connected to a frequency converter in the buggy ladle, wherein the frequency converter is electrically connected to a motor for driving the buggy ladle to travel on a set path, and the method includes:

acquiring a current signal which is output by the frequency converter and corresponds to the rotating speed of the motor and a rotating time length which corresponds to the current signal;

determining the target rotating speed of the motor corresponding to the current signal according to the corresponding relation between the current signal and the rotating speed of the motor;

determining the current number of turns of the motor based on the target rotating speed, the rotating time length and the historical number of turns of the motor, wherein the historical number of turns of the motor is the number of turns of the motor before the rotating time length;

and determining the current position of the buggy ladle corresponding to the current number of turns according to the corresponding relation between the number of turns of the motor and the corresponding specified position.

In the above embodiment, the current signal output by the frequency converter may be converted into the rotation speed of the motor in a corresponding time period by using the correspondence between the current signal output by the frequency converter and the rotation speed of the motor, and then the position of the buggy ladle may be determined based on the current number of rotations of the motor based on the correspondence between the number of rotations of the motor and the travelling position of the buggy ladle. So, need not to install the encoder on the buggy ladle, also need not to set up collision travel switch on the route of traveling of buggy ladle to be favorable to improving the interference killing feature and the reliability of buggy ladle location, avoid damaging devices such as encoder, collision travel switch and can't fix a position the buggy ladle because of the splash of high-temperature liquid.

With reference to the first aspect, in some optional embodiments, the method further comprises:

and when the travelling direction of the buggy ladle is far away from the processing position and the absolute value of the difference value between the current number of turns and the first designated number of turns is less than or equal to a first preset value, controlling the rotating speed of the motor to be reduced to the first rotating speed from the current rotating speed so as to enable the buggy ladle to travel at a reduced speed, wherein the first designated number of turns is the number of turns of the motor when the buggy ladle travels from the processing position to a first target position, and the first rotating speed is less than the current rotating speed.

And when the current rotation number of turns of the motor reaches the first appointed number of turns, controlling the motor to stop rotating.

In the above embodiment, when the absolute value of the difference between the current number of turns and the first designated number of turns is less than or equal to the first preset value, it indicates that the buggy ladle is closer to the first target position, and at this time, the buggy ladle needs to be decelerated to brake immediately when the buggy ladle reaches the first target position, thereby avoiding a situation where the distance difference between the braked buggy ladle and the first target position is large due to an excessively large speed of the buggy ladle. When the number of turns reaches the first appointed number of turns, it shows that the buggy ladle travels to the first target position, and at the moment, direct braking can be performed, so that the buggy ladle is stopped.

With reference to the first aspect, in some optional embodiments, before controlling the motor to stop rotating when the current number of rotations of the motor reaches the first designated number of rotations, the method further comprises:

and when the driving direction of the buggy ladle is far away from the processing position and the absolute value of the difference between the current rotating number of turns of the motor and the first appointed number of turns is less than or equal to a second preset value, controlling the rotating speed of the motor to be reduced from the current rotating speed to a second rotating speed so as to reduce the speed of the buggy ladle to drive, wherein the second preset value is less than the first preset value, and the second rotating speed is less than the first rotating speed.

In the embodiment, the speed reduction driving is carried out in two stages, so that the ladle car is favorably converted from high-speed driving to slow driving, the phenomenon that the transported high-temperature liquid splashes due to too fast speed reduction of the ladle car is avoided, and the stability of braking and stopping is improved.

when the driving direction of the buggy ladle is far away from the processing position, and the absolute value of the difference between the current number of turns of the motor and the second designated number of turns of the motor is less than or equal to a third preset value, controlling the rotating speed of the motor to be reduced from the current rotating speed to a third rotating speed so as to reduce the speed of the buggy ladle to drive, wherein the second designated number of turns is the number of turns of the motor when the buggy ladle runs from the processing position to a second target position, and the third rotating speed is less than the current rotating speed;

and when the current rotation number of turns of the motor reaches the second designated number of turns, controlling the motor to stop rotating.

With reference to the first aspect, in some optional embodiments, before controlling the motor to stop rotating when the current number of rotations of the motor reaches the second designated number of rotations, the method further comprises:

and when the driving direction of the buggy ladle is far away from the processing position and the absolute value of the difference between the current number of turns of the motor and the second designated number of turns of the motor is smaller than or equal to a fourth preset value, controlling the rotating speed of the motor to be reduced from the current rotating speed to a fourth rotating speed so as to reduce the speed of the buggy ladle to drive, wherein the fourth preset value is smaller than the third preset value, and the fourth rotating speed is smaller than the third rotating speed.

With reference to the first aspect, in some alternative embodiments, determining the current number of rotations of the motor based on the target rotation speed, the rotation time period, and the historical number of rotations includes:

when the driving direction of the buggy ladle is far away from a processing position, determining a first target number of turns of the motor in the turning time length according to the target rotating speed and the turning time length, and determining the sum of the first target number of turns of the motor and the historical number of turns of the motor as the current number of turns of the motor;

and when the driving direction of the buggy ladle is close to the processing position, determining a second target number of turns of the motor in the turning time length according to the target rotating speed and the turning time length, and determining the difference between the second target number of turns of the motor and the historical number of turns of the motor as the current number of turns of the motor.

when the travelling direction of the buggy ladle is close to the treatment position and the current number of turns of the turning is less than a third specified number of turns, controlling the rotating speed of the motor to be reduced from the current rotating speed to a fifth rotating speed so as to reduce the travelling speed of the buggy ladle, wherein the fifth rotating speed is less than the current rotating speed;

and when the buggy ladle runs to the treatment position, controlling the motor to stop rotating.

With reference to the first aspect, in some optional embodiments, before obtaining the current signal corresponding to the rotation speed of the motor output by the frequency converter and the rotation time period corresponding to the current signal, the method further includes:

and establishing and storing a corresponding relation between the current signal of the frequency converter and the rotating speed of the motor according to the current signal generated by the frequency converter based on the rotating speed of the motor.

when a locking signal is received, initializing the current number of turns of the motor to an initial value, wherein the locking signal is a signal generated by triggering of a sensor in the buggy ladle when the buggy ladle is driven to a processing position and locked.

With reference to the first aspect, in some optional embodiments, determining the current position of the buggy ladle corresponding to the current number of rotations according to the correspondence between the number of rotations of the motor and the corresponding designated position includes:

and based on the corresponding relation between the current rotating turn number of the motor and the corresponding specified position, when the current rotating turn number represents the rotating turn number of the motor when the buggy ladle runs to the specified position, determining that the current position of the buggy ladle is the specified position, wherein the specified position comprises one of a processing position, a first target position and a second target position.

In a second aspect, an embodiment of the present application further provides a refining furnace buggy ladle positioning device, which is applied to a control device electrically connected to a frequency converter in the buggy ladle, wherein the frequency converter is electrically connected to a motor for driving the buggy ladle to travel on a set path, and the device includes:

the data acquisition unit is used for acquiring a current signal which is output by the frequency converter and corresponds to the rotating speed of the motor and the rotating time length which corresponds to the current signal;

the rotating speed determining unit is used for determining the target rotating speed of the motor corresponding to the current signal according to the corresponding relation between the current signal and the rotating speed of the motor;

the turn number determining unit is used for determining the current turn number of the motor based on the target rotating speed, the rotating time length and the historical turn number, wherein the historical turn number is the turn number of the motor before the rotating time length;

and the position determining unit is used for determining the current position of the buggy ladle corresponding to the current number of turns according to the corresponding relation between the number of turns of the motor and the corresponding specified position.

In a third aspect, an embodiment of the present application further provides a control device, where the control device includes a processor and a memory coupled to each other, and a computer program is stored in the memory, and when the computer program is executed by the processor, the control device is caused to perform the above-mentioned method.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a control device and a buggy ladle provided in an embodiment of the present application.

Fig. 2 is a schematic view of a driving route of the buggy ladle provided by the embodiment of the application.

FIG. 3 is a schematic flow chart of a method for positioning a buggy ladle of a refining furnace according to an embodiment of the present application.

FIG. 4 is a block diagram of a finer buggy ladle positioning device provided in an embodiment of the present application.

Icon: 10-a control device; 11-a processing module; 12-a storage module; 20-buggy ladle; 21-an electric motor; 22-a frequency converter; 100-a ladle car positioning device of a refining furnace; 110-a data acquisition unit; 120-a rotational speed determination unit; 130-turn number determination unit; 140-position determination unit.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It should be noted that the terms "first," "second," and the like are used merely to distinguish one description from another, and are not intended to indicate or imply relative importance.

The applicant finds that, at present, when positioning the buggy ladle, the encoder is installed beside the motor of the buggy ladle in a manner of installing the encoder, the manner needs more supporting equipment, a Programmable Logic Controller (PLC) module needs to be installed, and a moving cable needs to be laid, the investment cost is high, the price is high, the moving cable moves along with the buggy ladle, and when the ladle on the buggy ladle is filled with high-temperature liquid metal, the sprayed liquid metal is easy to damage the cable. The mode of colliding the travel switch is to install the travel switch on the spot, and the travel switch is collided to realize positioning after the buggy ladle moves, and the mode is easy to damage the travel switch and the control cable when liquid metal splashes or metal slag falls off. Both of these approaches suffer from the above-mentioned harsh environmental failure rates which are relatively high. For example, a steel plant refining furnace has stations at a plurality of designated positions, a buggy ladle needs to be driven to the station position for smelting during refining, the positioning is realized by the fact that a baffle on the buggy ladle collides with a travel switch on the ground, the molten steel splashing can be caused in the smelting process, sometimes, large splashing can occur, the travel switch and a cable on the ground are easy to burn or are smashed by iron slag, and when in maintenance, maintenance personnel can replace the travel switch and the cable for a long time and have certain potential safety hazards.

In view of the above problems, the applicant of the present application proposes the following embodiments to solve the above problems. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, the present embodiment provides a control device 10, which can be used to detect the traveling position of a ladle car of a refining furnace and control the traveling of the ladle car of the refining furnace. Wherein, the refining furnace buggy ladle can be abbreviated as buggy ladle 20. A ladle car for a refining furnace is understood to be a ladle car 20 suitable for transporting the metal to be processed when refining the metal. Refiners are well known to those skilled in the art as boiler plants for refining metals. The buggy ladle 20 is usually laid with corresponding paths for the buggy ladle 20 to travel automatically. Understandably, the buggy ladle 20 is generally unmanned, and the running of the buggy ladle 20 can be controlled by the control device 10.

In this embodiment, the control device 10 may include a processing module 11 and a storage module 12. The memory module 12 stores therein a computer program which, when executed by the processing module 11, enables the control device 10 to perform the steps of the method for locating a ladle car of a finer described below.

Of course, the control device 10 may also include other modules, for example, the control device 10 may also include a buggy ladle positioning device solidified in the storage module 12. The processing module 11, the memory module 12, and the finer buggy ladle positioning device 100 are electrically connected directly or indirectly between the various elements to effect the transmission or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

In the present embodiment, the buggy ladle 20 includes an electric motor 21 and an inverter 22. The motor 21 is used for driving the buggy ladle 20 to run, and the frequency converter 22 can generate a corresponding current signal according to the rotating speed of the motor 21. In general, the current value of the current signal generated by the inverter 22 is linear with the rotation speed of the motor 21. The operation principle of the motor 21 and the frequency converter 22 of the buggy ladle 20 is well known to those skilled in the art and will not be described here.

Referring to fig. 2, in the present embodiment, the buggy ladle 20 can travel along a set route. The set path can be determined according to actual conditions, and a track can be set or the track does not need to be set. On the travel route, a plurality of designated positions including a processing bit and a target bit are generally set. The target bit may be one or more. For example, in fig. 2, the processing bit is the position of point a in the path, and the target bits include a first target bit and a second target bit. The first target position is the position of the point B in the path, and the second target position is the position of the point C in the path. Of course, in other embodiments, the number of target bits may be different from that shown in fig. 2, and the number of target bits is not particularly limited.

In the present embodiment, the treatment site is understood to be a starting point for the ladle carriage 20 to transport the hot liquid metal. The target position is a position where the buggy ladle 20 may need to be suspended for the corresponding process treatment. The target positions include but are not limited to wire feeding positions, lifting positions and the like. Wherein, the position of wire feeding position and handling position can be set for according to actual conditions. The wire feed station is understood to be a station where it is necessary to add other wire-like material to the liquid metal. The filament material includes but is not limited to carbon filament, calcium filament, silicon filament, etc. For example, during steel smelting, molten steel in a high-temperature liquid state is loaded on the ladle car 20 staying at the wire feeding position pair, and one or more wire-shaped materials such as carbon wire, calcium wire, silicon wire and the like are added to the molten steel according to the type of steel to be smelted.

The ladle bodies transported by the buggy ladle 20 are usually stored with high-temperature liquid metal, and can be lifted and moved away at a lifting position. The liquid metal transported by the ladle car 20 is the metal to be processed, including but not limited to steel, aluminum, etc., and the transported metal is not particularly limited.

Referring to fig. 1 again, in the present embodiment, the processing module 11 of the control device 10 may be electrically connected to the frequency converter 22 for receiving the current signal output by the frequency converter 22.

Referring to fig. 3, an embodiment of the present application further provides a method for positioning a buggy ladle 20, which can be applied to the control apparatus 10, and each step of the method is executed or implemented by the control apparatus 10. The method may comprise the steps of:

step S210, acquiring a current signal which is output by a frequency converter and corresponds to the rotating speed of the motor and a rotating time length which corresponds to the current signal;

and determining the current position of the buggy ladle corresponding to the current number of turns of rotation according to the corresponding relation between the number of turns of rotation of the motor and the corresponding specified position.

The individual steps of the process are explained in detail below, as follows:

in step S210, the control device may acquire, through the processing module, a current signal output by a frequency converter in the buggy ladle. Wherein the frequency converter may generate a corresponding current signal based on the rotational speed of the motor, as is well known to a person skilled in the art. The different rotating speeds of the motor correspond to the current signals with different current values.

In addition, the current signal corresponds to the rotation duration, and the rotation duration corresponding to the current signal can be determined according to actual conditions. The present current signal may be a current signal within one second, or the present current signal may be a current signal within one minute, and the rotation time period corresponding to the present current signal is not particularly limited. Generally, there may be differences in current signals at different time points, and the current signals include the corresponding relationship of the current values changing with time.

In step S220, the correspondence relationship between the current signal and the rotational speed of the motor is stored in the control apparatus in advance. The corresponding relation can be set according to actual conditions.

Understandably, prior to step S210, the method may further comprise: and establishing and storing a corresponding relation between the current signal of the frequency converter and the rotating speed of the motor according to the current signal generated by the frequency converter based on the rotating speed of the motor.

The correspondence of the current signal of the frequency converter to the rotational speed of the motor may be referred to as a first correspondence. Exemplarily, it is assumed that the current value of the current signal output by the frequency converter may be any current value from 4 milliamps (unit mA) to 20 milliamps. The rated speed of the motor is assumed to be 975 r/min. The current signal of the current value range output by the frequency converter from 4 milliamperes to 20 milliamperes and the rotating speed of the motor from 0r/min to 975r/min are in a linear relation. That is, a 4 ma current signal corresponds to a rotation speed of 0r/min, a 20 ma current signal corresponds to a rotation speed of 975r/min, and different rotation speeds correspond to different current values, so as to obtain a first corresponding relationship, which is as follows:

in the above formula, Q is the average rotation speed (unit r/min) in one second, I is the average current value (unit mA) of the current signal in one second, and I ranges from 4 to 20.

Understandably, the current signal may be a current value corresponding to a time duration of one second, and at this time, the rotation time duration is one second. In this way, based on the first corresponding relationship between the current value and the rotation speed, the current value of the current signal can be converted into the rotation speed of the motor in one second, and the rotation speed is the target rotation speed of the motor.

In this embodiment, step S230 may include:

Understandably, the first target number of rotations is the product of the target rotation speed and the rotation duration. The second target number of revolutions is calculated in a similar manner to the first target number of revolutions. The first target rotating turn number and the second target rotating turn number can be used for distinguishing the driving direction of the buggy ladle, and no other limiting meanings exist.

When the driving direction of the buggy ladle is far away from the processing position, the current number of turns of the motor can be calculated by adding the number of turns of the motor in each second to the historical number of turns of the motor, and the obtained number of turns of the motor is the current number of turns of the motor. The historical number of turns of the motor can be recorded before the ladle car leaves the processing position to the length of time by taking the processing position as a zero position. Wherein the number of revolutions of the motor at the time of processing the bits is usually an initial value. The initial value may be set according to actual conditions, and may be 0 or other values. When the current number of turns of the motor is calculated, the number of turns of the motor in each second after the buggy ladle is far away from the processing position can be accumulated on the basis of the initial value, so that the current number of turns of the motor can be obtained. The number of revolutions of the motor per second is the product of the rotational speed of the motor per second and one second.

Similarly, when the driving direction of the buggy ladle is close to the processing position, when the current number of turns of the motor is calculated, the number of turns of the motor per second can be subtracted from the historical number of turns of the motor per second, and the obtained number of turns is the current number of turns of the motor per second.

The determination of the driving direction of the buggy ladle is well known to those skilled in the art and will not be described here.

In step S240, the control apparatus may store a correspondence relationship of the number of rotations of the motor to the respective designated positions, which may be referred to as a second correspondence relationship for the sake of distinction. Wherein the second corresponding relationship is determined before step S210.

For example, before the method is executed, when the buggy ladle is at the processing position, the number of turns of the motor is initialized and cleared, and when the buggy ladle runs from the processing position to the first target position, the motor needs to rotate 10000 turns; when the buggy ladle runs from the processing position to the second target position, the motor needs to rotate 20000 circles; the number of turns of the processing position is 0 turn, the number of turns of the first target position is 10000 turns, and the number of turns of the second target position is 20000 turns, so that the second corresponding relationship is obtained.

Step S240 may include: and based on the corresponding relation between the current rotating turn number of the motor and the corresponding specified position, when the current rotating turn number represents the rotating turn number of the motor when the buggy ladle runs to the specified position, determining that the current position of the buggy ladle is the specified position, wherein the specified position comprises one of a processing position, a first target position and a second target position.

Following the second correspondence of the above example, when the method is executed, if it is determined that the current number of rotations of the motor is 10000 cycles, it indicates that the buggy ladle is driven to the first target position, i.e., the current position of the buggy ladle is the first target position; if the current rotation number of turns of the motor is 20000 turns, the buggy ladle is shown to be driven to a second target position, namely the current position of the buggy ladle is the second target position; and if the current rotation number of turns of the motor is 0 turn, the buggy ladle is shown to be driven to the processing position, namely the current position of the buggy ladle is the processing position.

Prior to step S210, the method may further comprise: when a locking signal is received, initializing the current number of turns of the motor to an initial value, wherein the locking signal is a signal generated by triggering of a sensor in the buggy ladle when the buggy ladle is driven to a processing position and locked.

Understandably, when the buggy ladle is driven to the treatment location and stopped, the buggy ladle can be position-locked by staff or other automated equipment to avoid the buggy ladle from sliding during the stop. The position locking manner is well known to those skilled in the art and will not be described herein. When the buggy ladle is locked in position, sensors on the buggy ladle can sense and generate corresponding locking signals. Wherein, the sensor can select according to actual conditions, can be used for detecting whether the position of buggy ladle is locked. For example, the sensor can be laser sensor, and operating personnel can cooperate through bolt and spacing groove, locks the position of buggy ladle, and wherein, the spacing groove can set up on ground or other difficult fixed objects that remove.

For example, the buggy ladle is provided with a through hole matched with the bolt, and the bolt can penetrate through the through hole and be inserted and fixed in the limiting groove, so that the position of the buggy ladle is locked. The laser sensor can be arranged on the through hole, when the bolt is inserted, the sensing signal output by the sensor is different from the sensing signal when the bolt is not inserted into the through hole, and at the moment, the sensing signal generated by the sensor when the bolt is inserted is the locking signal. Of course, the type of sensor may also be of other types, such as a gravity sensor. The type of the sensor is not particularly limited as long as the sensor can detect that the position of the buggy ladle is locked.

When the processing module of the control equipment receives the locking signal, the control equipment indicates that the buggy ladle runs to the processing position and is locked, and at the moment, the processing module can initialize the current number of turns of the motor based on the received locking signal, namely, the recorded current number of turns of the motor is reset to an initial value when the buggy ladle is locked. The initial value may be 0 or other values, and is not particularly limited herein. Therefore, the situation that the calculated accumulated error of the current rotating turns is large in the process of repeated back and forth movement of the buggy ladle can be avoided, and the accuracy of the determined current rotating turns at each time is improved.

As an optional implementation, the method may further include:

when the travelling direction of the buggy ladle is far away from a processing position and the absolute value of the difference between the current number of turns and a first designated number of turns is less than or equal to a first preset value, controlling the rotating speed of the motor to be reduced from the current rotating speed to the first rotating speed so as to reduce the speed of the buggy ladle to travel, wherein the first designated number of turns is the number of turns of the motor when the buggy ladle travels from the processing position to a first target position, and the first rotating speed is less than the current rotating speed;

and when the current rotating number of turns of the motor reaches the first appointed number of turns, or the difference value between the first appointed number of turns and the current rotating number of turns of the motor is smaller than a fifth preset value, controlling the motor to stop rotating.

Understandably, the first designated number of turns and the second designated number of turns described below can be set according to actual conditions. In addition, the first preset value, the fifth preset value, the second preset value, the third preset value and the fourth preset value can be set according to actual conditions. Illustratively, the first specified number of turns is 10000 turns, the second specified number of turns is 20000 turns, and the first preset value and the third preset value may be the same, for example 1000 turns; the second preset value may be the same as the fourth preset value, for example 100 turns, and the fifth preset threshold value generally represents the number of turns of the motor corresponding to the buggy ladle closer to the parking space. For example, the fifth preset threshold may be 50 turns, 30 turns, and the like.

In this embodiment, the first rotational speed may be a lower rotational speed. For example, the first rotational speed is 50%, 20%, 10%, 5% or the like of the rated rotational speed. When the driving direction of the buggy ladle is far away from the processing position and the absolute value of the difference between the current number of turns and the first designated number of turns is less than or equal to a first preset value, the current rotating speed of the motor is usually the rated rotating speed, and the buggy ladle is closer to the first target position. At this time, the rotation speed of the motor may be gradually reduced from the current rotation speed to the first rotation speed, and the acceleration of the reduction may be determined according to actual conditions, which is not particularly limited herein. Therefore, before the buggy ladle reaches the first target position, the buggy ladle can be decelerated in advance, and the buggy ladle can be stably stopped at the first target position.

The first rotation speed of the buggy ladle is low (for example, 5% of the rated rotation speed), so that when the buggy ladle can be immediately braked to finish the fixed-point parking (i.e. the braking duration is short, for example, less than one second, and during braking, the buggy ladle hardly moves), if the current rotation number of turns of the motor reaches the first specified number of turns, the buggy ladle can be directly braked to stop the buggy ladle at the first target position. If the first rotating speed of the buggy ladle is higher, so that the buggy ladle needs to be slowly braked (i.e. the braking duration is longer, for example, more than one second, during the braking, the buggy ladle will continue to move, and the motor will still rotate at a reduced speed), at this time, if the difference between the first specified number of turns and the current number of turns of the motor is less than a fifth preset value (for example, 50 turns), the buggy ladle is controlled to start slow braking, so that the buggy ladle is decelerated during the braking until the buggy ladle stops when the buggy ladle reaches the first target position, and thus, the buggy ladle can be stably stopped at the first target position.

As an alternative embodiment, before controlling the motor to stop rotating when the current number of rotations of the motor reaches the first designated number of rotations, the method may further include:

In this embodiment, if the first rotational speed is high, the buggy ladle can be decelerated in stages. When the driving direction of the buggy ladle is far away from the processing position and the absolute value of the difference between the current number of turns and the first appointed number of turns is less than or equal to a first preset value, controlling the rotating speed of the motor to be decelerated from the current rotating speed to the first rotating speed before the absolute value of the difference between the current number of turns of the motor and the first appointed number of turns is less than or equal to a second preset value; and then controlling the current rotating speed (usually the first rotating speed) of the motor to be decelerated to the second rotating speed when the absolute value of the difference between the current rotating number of turns of the motor and the first designated number of turns is less than or equal to a second preset value. The second rotational speed is lower than the first rotational speed. For example, the first rotational speed may be 50% of the rated rotational speed, and the second rotational speed may be 5% of the rated rotational speed. So, through the control motor segmentation speed reduction for the buggy ladle can the segmentation speed reduction, guarantee that the travelling speed of buggy ladle is lower when arriving first target position, be favorable to realizing the fixed point and park, avoid buggy ladle because of the too big unable accuracy of acceleration of deceleration to stop at first target position.

Of course, in other embodiments, the split parking mode may include a multi-stage deceleration parking mode such as three-stage or four-stage deceleration parking mode, and is not limited to the above two-stage deceleration parking mode implemented by the first rotation speed and the second rotation speed. The multi-stage deceleration parking mode is similar to the two-stage deceleration parking mode, and is not described herein again.

As an optional implementation, the method may further include:

Understandably, the target bits may include a second target bit and other more target bits in addition to the first target bit. The second target bit may be one that is further away from the processed bit at the first target bit as shown in fig. 2. For example, the first target position is a wire feeding position, and the second target position can be a lifting position.

The deceleration parking mode of the buggy ladle at the second target position is similar to the mode of realizing deceleration parking at the first target position. The third preset value can be the same as or different from the first preset value; the third rotation speed may be the same as or different from the first rotation speed, and both the third preset value and the third rotation speed may be set according to actual conditions.

As an alternative embodiment, before controlling the motor to stop rotating when the current number of rotations of the motor reaches the second designated number of rotations, the method further includes:

It is understood that the manner of realizing two-stage deceleration parking of the buggy ladle at the second target position by controlling the motor to decelerate from the current rotational speed (such as the rated rotational speed) to the third rotational speed and then to decelerate to the fourth rotational speed for low-speed running is similar to the manner of realizing segmented deceleration parking of the buggy ladle at the first target position by the first rotational speed and the second rotational speed, and is not repeated here. The fourth preset value may be the same as or different from the second preset value, the fourth rotation speed may be the same as or different from the second rotation speed, and both the fourth preset value and the fourth rotation speed may be set according to actual conditions, which is not specifically limited herein.

In this embodiment, when the buggy ladle travels to the target position farthest from the processing position, for example, the second target position shown in fig. 2, for example, the lifting position, and the lifting position performs the corresponding process (for example, lifting and removing the transported can body), the buggy ladle needs to be returned to the processing position. After the buggy ladle is returned to the treatment station, the next transport task can be carried out. One transport task is understood to be: the ladle car transports the tank body from the treatment position to a target position farthest from the treatment position and returns to the treatment position, and the ladle car needs to be stopped at the corresponding target position in the transportation process so as to carry out corresponding treatment on the transported metal to be treated.

As an optional implementation, the method may further include:

In this embodiment, the manner of decelerating and stopping the buggy ladle when the buggy ladle is returned to the treatment position is similar to the decelerating and stopping manner of the buggy ladle at the first target position and the second target position, and the details are not repeated here. Wherein the current number of revolutions of the motor is decremented during the return of the buggy ladle to the treatment position, and when the recorded current number of revolutions of the motor is an initial value, it is generally indicated that the buggy ladle has been driven to said treatment position. In addition, the third designated number of turns may be understood as a number of turns corresponding to a distance closer to the position of the treatment station during the return of the buggy ladle to the treatment station. For example, the third specified number of turns may be 1000 turns, 100 turns, etc.

The fifth rotating speed can be a rotating speed lower than the rated rotating speed and can be set according to actual conditions, for example, the fifth rotating speed is 5% of the rated rotating speed, and therefore the buggy ladle is favorably stably stopped at the processing position.

Based on above-mentioned design, when the later stage needs according to the position of assigned position such as demand change adjustment processing position, first target position, second target position, managers can directly adjust and handle the position, the number of turns of rotation of the motor that first target position, second target position correspond, so, need not to remove collision travel switch's position and control cable like collision travel switch's implementation mode, also need not to remove control cable like encoder's implementation mode, be favorable to taking place the back that changes at the assigned position, simplify the maintenance operation who realizes buggy ladle location. In addition, the collision travel switch and the encoder do not need to be installed, so that the hardware cost is reduced.

Referring to fig. 4, the embodiment of the present application further provides a positioning device 100 for a buggy ladle of a refining furnace, which can be applied to the above-mentioned control equipment for executing the steps of the method. The finer ladle car positioning device 100 includes at least one software function module that can be stored in a memory module in the form of software or Firmware (Firmware) or solidified in an Operating System (OS) of a control device. The processing module is used for executing executable modules stored in the storage module, such as software function modules and computer programs included in the refining furnace buggy ladle positioning device 100.

The finer buggy ladle positioning apparatus 100 can include a data acquisition unit 110, a rotational speed determination unit 120, a lap number determination unit 130, and a position determination unit 140, and the operational steps that can be performed can be as follows:

a data obtaining unit 110, configured to obtain a current signal output by the frequency converter and corresponding to the rotation speed of the motor and a rotation duration corresponding to the current signal;

a rotation speed determining unit 120, configured to determine, according to a correspondence between a current signal and a rotation speed of the motor, a target rotation speed of the motor corresponding to the current signal;

a turn number determining unit 130, configured to determine a current turn number of the motor based on the target rotation speed, the rotation duration, and a historical turn number, where the historical turn number is a turn number of the motor before the rotation duration;

and a position determining unit 140, configured to determine, according to a corresponding relationship between the number of turns of the motor and the corresponding designated position, a current position of the buggy ladle corresponding to the number of turns of the current rotation.

Optionally, the positioning device 100 of the ladle car of the refining furnace further comprises a rotation speed control unit and a brake unit. The rotating speed control unit is used for controlling the rotating speed of the motor to be reduced to a first rotating speed from the current rotating speed when the driving direction of the buggy ladle is far away from the processing position and the absolute value of the difference value between the current rotating number of turns and the first appointed number of turns is less than or equal to a first preset value, so that the buggy ladle is reduced in speed to drive, wherein the first appointed number of turns is the number of turns of the motor when the buggy ladle is driven from the processing position to a first target position, and the first rotating speed is less than the current rotating speed.

The braking unit is used for controlling the motor to stop rotating when the current rotating number of turns of the motor reaches the first appointed number of turns.

Optionally, before the braking unit controls the motor to stop rotating, the rotation speed control unit is further configured to: and when the driving direction of the buggy ladle is far away from the processing position and the absolute value of the difference between the current rotating number of turns of the motor and the first appointed number of turns is less than or equal to a second preset value, controlling the rotating speed of the motor to be reduced from the current rotating speed to a second rotating speed so as to reduce the speed of the buggy ladle to drive, wherein the second preset value is less than the first preset value, and the second rotating speed is less than the first rotating speed.

Optionally, the rotating speed control unit is configured to control the rotating speed of the motor to be decelerated from the current rotating speed to a third rotating speed when the driving direction of the buggy ladle is away from the processing position and an absolute value of a difference between a current number of turns of the motor and a second number of turns of the motor is less than or equal to a third preset value, so that the buggy ladle is decelerated to drive, wherein the second number of turns of the motor is the number of turns of the motor when the buggy ladle is driven from the processing position to a second target position, and the third rotating speed is less than the current rotating speed. And the braking unit is used for controlling the motor to stop rotating when the current rotating number of turns of the motor reaches the second designated number of turns.

Optionally, before the braking unit controls the motor to stop rotating when the current number of rotations of the motor reaches the second designated number of rotations, the rotation speed control unit is further configured to: and when the driving direction of the buggy ladle is far away from the processing position and the absolute value of the difference between the current number of turns of the motor and the second designated number of turns of the motor is smaller than or equal to a fourth preset value, controlling the rotating speed of the motor to be reduced from the current rotating speed to a fourth rotating speed so as to reduce the speed of the buggy ladle to drive, wherein the fourth preset value is smaller than the third preset value, and the fourth rotating speed is smaller than the third rotating speed.

Optionally, the lap number determination unit 130 is further configured to:

Optionally, when the driving direction of the buggy ladle is close to the treatment position and the current number of turns is less than a third specified number of turns, the rotating speed control unit is further configured to control the rotating speed of the motor to be reduced from the current rotating speed to a fifth rotating speed so as to reduce the speed of the buggy ladle to drive, and the fifth rotating speed is less than the current rotating speed; when the buggy ladle runs to the treatment position, the brake unit is also used for controlling the motor to stop rotating.

Optionally, the finer buggy ladle positioning apparatus 100 further comprises a relationship establishing unit. Before the data obtaining unit 110 obtains the current signal output by the frequency converter and corresponding to the rotating speed of the motor and the rotating time length corresponding to the current signal, the relationship establishing unit is configured to establish and store a corresponding relationship between the current signal of the frequency converter and the rotating speed of the motor according to the current signal generated by the frequency converter based on the rotating speed of the motor.

Optionally, finer buggy ladle positioning apparatus 100 further comprises an initialization unit. Before the data acquisition unit 110 acquires the current signal corresponding to the rotating speed of the motor and the rotating time corresponding to the current signal, which are output by the frequency converter, when a locking signal is received, the initialization unit is used for initializing the current rotating number of turns of the motor to an initial value, wherein the locking signal is a signal generated by triggering of a sensor in the buggy ladle when the buggy ladle is driven to a processing position and locked.

Optionally, the position determination unit 140 may be further configured to: and based on the corresponding relation between the current rotating turn number of the motor and the corresponding specified position, when the current rotating turn number represents the rotating turn number of the motor when the buggy ladle runs to the specified position, determining that the current position of the buggy ladle is the specified position, wherein the specified position comprises one of a processing position, a first target position and a second target position.

In this embodiment, the processing module may be an integrated circuit chip having signal processing capability. The processing module may be a general purpose processor. For example, the processor may be a PLC module, a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application.

The memory module may be, but is not limited to, a random access memory, a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, and the like. In this embodiment, the storage module may be configured to store the first corresponding relationship, the second corresponding relationship, and the like. Of course, the storage module may also be used to store a program, and the processing module executes the program after receiving the execution instruction.

It will be appreciated that the arrangement shown in figure 1 is merely a schematic illustration of the arrangement of the control device, which may also comprise more components than those shown in figure 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.

It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working process of the control device described above may refer to the corresponding process of each step in the foregoing method, and will not be described in detail herein.

The embodiment of the application also provides a computer readable storage medium. The computer-readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to execute the method of positioning a finer buggy ladle as described in the above-described embodiments.

From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by hardware, or by software plus a necessary general hardware platform, and based on such understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments of the present application.

To sum up, the application provides a refining furnace buggy ladle positioning method. The method comprises the following steps: acquiring a current signal which is output by a frequency converter and corresponds to the rotating speed of the motor and a rotating time length which corresponds to the current signal; determining the target rotating speed of the motor corresponding to the current signal according to the corresponding relation between the current signal and the rotating speed of the motor; determining the current rotation number of turns of the motor based on the target rotation speed, the rotation time length and the historical rotation number of turns, wherein the historical rotation number of turns is the rotation number of turns of the motor before the rotation time length; and determining the current position of the buggy ladle corresponding to the current number of turns of rotation according to the corresponding relation between the current number of turns of rotation of the motor and the corresponding specified position. In the scheme, the current signal output by the frequency converter can be converted into the rotating speed of the motor within corresponding time length by utilizing the corresponding relation between the current signal output by the frequency converter and the rotating speed of the motor, and then the position of the buggy ladle can be determined based on the current rotating number of turns of the motor based on the corresponding relation between the rotating number of turns of the motor and the running position of the buggy ladle. So, need not to install the encoder on the buggy ladle, also need not to set up collision travel switch on the route of traveling of buggy ladle to be favorable to improving the interference killing feature and the reliability of buggy ladle location, avoid damaging devices such as encoder, collision travel switch and can't fix a position the buggy ladle because of the splash of high-temperature liquid.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus, system, and method may be implemented in other ways. The apparatus, system, and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for positioning a buggy ladle of a refining furnace, which is applied to a control apparatus electrically connected to a frequency converter in the buggy ladle, the frequency converter being electrically connected to a motor for driving the buggy ladle to travel on a set route, the method comprising:

2. The method of claim 1, further comprising:

3. The method of claim 2, wherein before controlling the motor to stop rotating when the current number of rotations of the motor reaches the first designated number of rotations, the method further comprises:

4. The method of claim 2, further comprising:

5. The method of claim 4, wherein before controlling the motor to stop rotating when the current number of rotations of the motor reaches the second designated number of rotations, the method further comprises:

6. The method of claim 1, wherein determining a current number of revolutions of the motor based on the target speed, the length of revolutions, and a historical number of revolutions comprises:

7. The method of claim 1, further comprising:

8. The method of claim 1, wherein prior to obtaining a present current signal corresponding to a rotational speed of the motor output by the inverter and a length of rotation time corresponding to the present current signal, the method further comprises:

9. The method of claim 1, wherein prior to obtaining a present current signal corresponding to a rotational speed of the motor output by the inverter and a length of rotation time corresponding to the present current signal, the method further comprises:

10. The method according to claim 1, wherein determining the current position of the buggy ladle corresponding to the current number of rotations based on the correspondence between the number of rotations of the motor and the corresponding designated position comprises: