JPH05277664A - Molten metal surface level control method for twin belt type continuous casting - Google Patents
Molten metal surface level control method for twin belt type continuous castingInfo
- Publication number
- JPH05277664A JPH05277664A JP25112791A JP25112791A JPH05277664A JP H05277664 A JPH05277664 A JP H05277664A JP 25112791 A JP25112791 A JP 25112791A JP 25112791 A JP25112791 A JP 25112791A JP H05277664 A JPH05277664 A JP H05277664A
- Authority
- JP
- Japan
- Prior art keywords
- molten metal
- level
- metal surface
- pouring amount
- command value
- Prior art date
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- Continuous Casting (AREA)
- Control Of Non-Electrical Variables (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、双ベルト連続鋳造の湯
面制御方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a molten metal level control method for twin belt continuous casting.
【０００２】[0002]
【従来の技術】湯面レベルの検出方法としては、以下に
示すようなものがある。2. Description of the Related Art There are the following methods for detecting the molten metal level.
【０００３】１．浮き子を利用する方法 湯面に浮き子を浮かべ、この浮き子の位置を棒またはチ
ェ−ン等により検出する方法。1. Method of using a float A method of floating a float on the surface of the molten metal and detecting the position of this float with a stick or a chain.
【０００４】２．光学（光電変換）方法 湯面と容器等の接触位置における輝度の違いに着目し、
この境界線を例えばアレイセンサあるいはテレビカメラ
等を用いて三角測量によって測定する方法。2. Optical (photoelectric conversion) method Focusing on the difference in brightness at the contact position between the molten metal surface and the container,
A method of measuring this boundary line by triangulation using an array sensor or a television camera, for example.
【０００５】３．超音波による方法 超音波を湯面表面に照射し、その反射した音波が戻って
くる時間を測ることで湯面までの距離を測定する方法。3. Ultrasonic method A method of irradiating ultrasonic waves on the surface of the molten metal and measuring the time it takes for the reflected sound waves to return to measure the distance to the molten metal surface.
【０００６】４．放射線を利用する方法 湯面に対し斜め方向に放射線を透過させ、この放射線の
減衰量により湯面レベルを検出する方法。4. Method of using radiation A method of transmitting radiation diagonally to the surface of the molten metal and detecting the level of the molten metal by the attenuation of this radiation.
【０００７】５．浸漬電極法 電極と湯面により電気回路のＯＮ−ＯＦＦ状態を作って
湯面レベルを検出する方法。5. Immersion electrode method A method to detect the level of the molten metal by creating an ON-OFF state of the electric circuit with the electrode and the molten metal surface.
【０００８】６．電磁誘導法 特開昭４８−９３５３９号公報には、モ−ルド外壁面に
深さ方向に長いコイルを設け、このコイルをインピ−ダ
ンスブリッジ回路の一辺に接続する方法で、モ−ルド内
の湯面レベルの変化をモ−ルド壁温度変化としてとら
え、これによって生じるモ−ルド壁の固有抵抗変化によ
りモ−ルド内に発生する渦電流の変化を利用して湯面レ
ベルを検出する方法を提示している。6. Electromagnetic induction method In Japanese Patent Laid-Open No. 48-93539, a coil long in the depth direction is provided on the outer wall surface of the mold and this coil is connected to one side of an impedance bridge circuit. A method of detecting a change in the molten metal level as a change in the mold wall temperature and detecting the molten metal level by utilizing the change in the eddy current generated in the mold due to the change in the resistivity of the mold wall caused by this change Presenting.
【０００９】双ベルト連続鋳造の湯面レベル制御方法と
しては、上述の湯面レベル検出器で測定された１か所で
の湯面レベル測定値と湯面レベル目標値との差からＰＩ
制御器またはＰＩＤ制御器により注湯量指令値を演算
し、この注湯量指令値を注湯量操作器に出力するのが一
般的な従来の技術である。As a method for controlling the molten metal level in twin-belt continuous casting, PI is calculated from the difference between the measured molten metal level at one location measured by the above-mentioned molten metal level detector and the molten metal level target value.
It is a general conventional technique that a pouring amount command value is calculated by a controller or a PID controller and the pouring amount command value is output to a pouring amount operation device.
【００１０】[0010]
【発明が解決しようとする課題】１か所での湯面レベル
測定値に基づきＰＩ制御器またはＰＩＤ制御器を用いる
双ベルト連続鋳造の湯面制御方法は、湯面の振動を考慮
することができないので、演算された注湯量指令値によ
る注湯量変化が、湯面の振動を引き起こす場合があり、
製品の品質または歩留まり，操業率，操業時の安全性の
点で問題を生じる。In the twin-belt continuous casting level control method using the PI controller or the PID controller based on the level measurement value at one location, vibration of the level may be taken into consideration. Since it is not possible, changes in the pouring amount due to the calculated pouring amount command value may cause vibration of the molten metal surface,
This causes problems in terms of product quality or yield, operating rate, and safety during operation.
【００１１】本発明は、湯面の平均レベルに影響を与え
る外乱を補償し、湯面の平均レベルを目標値に追従させ
るとともに、湯面の振動を積極的に抑制する制御方法を
提供することを目的とする。The present invention provides a control method that compensates for disturbances that affect the average level of the molten metal surface, makes the average level of the molten metal surface follow a target value, and positively suppresses vibration of the molten metal surface. With the goal.
【００１２】[0012]
【課題を解決するための手段】本発明は、双ベルト連続
鋳造の湯面制御方法において、（イ）湯面レベルを水平
方向に互いに異なる２か所以上の位置で測定し、（ロ）
上記２か所以上での湯面ヘレベル測定値からモ−ダルフ
ィルタにより湯面の平均レベルおよび１個以上の湯面の
振動モ−ドのモ−ド変位を演算し、（ハ）湯面レベル目
標値と上記湯面の平均レベルから主注湯量指令値を演算
し、（ニ）上記湯面の振動モ−ドのモ−ド変位から補助
注湯量指令値を演算し、（ホ）上記主注湯量指令値と補
助注湯量指令値から注湯量指令値を演算し、（ヘ）上記
注湯量指令値を注湯量操作器に出力する、ことにより、
湯面の平均レベルに影響を与える外乱を補償し、湯面の
平均レベルを目標値に追従させるとともに、湯面の振動
を抑制することを特徴とする。According to the present invention, in a molten metal level control method for twin belt continuous casting, (a) the molten metal level is measured at two or more positions horizontally different from each other.
The average level of the molten metal level and the mode displacement of the vibration mode of one or more molten metal levels are calculated by the modal filter from the measured values of the molten metal level at the above two or more locations. The main pouring amount command value is calculated from the target value and the average level of the pouring surface, (d) the auxiliary pouring amount command value is calculated from the mode displacement of the vibration mode of the pouring surface, and (e) the main pouring amount. By calculating the pouring amount command value from the pouring amount command value and the auxiliary pouring amount command value, and (f) outputting the pouring amount command value to the pouring amount operation device,
It is characterized by compensating for disturbances that affect the average level of the molten metal surface, making the average level of the molten metal surface follow the target value, and suppressing vibration of the molten metal surface.
【００１３】[0013]
【作用】以下、本発明について詳細に説明する。The present invention will be described in detail below.
【００１４】モ−ルドに向かってモ−ルドの左端上の１
点を原点として、水平方向にｙ軸，鉛直上向きにｚ軸を
とり、時刻ｔ，位置ｙでの湯面レベルをｚ＝ζ（ｙ，
ｔ）〔ｍ〕とするとき、ζ（ｙ，ｔ）はＮ＋１項（Ｎ≧
１）の和1 on the left end of the mold towards the mold
With the point as the origin, the y-axis is set horizontally and the z-axis is set vertically upward, and the molten metal level at time t and position y is z = ζ (y,
t) [m], ζ (y, t) is the N + 1 term (N ≧
Sum of 1)
【００１５】[0015]
【数１】 [Equation 1]
【００１６】で近似される。「ｄ」は時間微分を表す。
ｋn ［１／ｍ］は次式で表される。Is approximated by "D" represents time differentiation.
k n [1 / m] is represented by the following equation.
【００１７】 ｋn ＝ｎπ（１≦ｎ≦Ｎ）／Ｌ ・・・（２） Ｌ［ｍ］はモ−ルド幅である。K n = nπ (1 ≦ n ≦ N) / L (2) L [m] is a mold width.
【００１８】ｘ0 （ｔ）［ｍ］は湯面の平均レベル、ｄ
ｘn （ｔ）［ｍ］は湯面のｎ次の振動モ−ドのモ−ド変
位であり、それぞれ次の微分方程式で表される。X 0 (t) [m] is the average level of the molten metal surface, d
x n (t) [m] is the displacement of the n-th order vibration mode of the molten metal surface, and is represented by the following differential equations.
【００１９】[0019]
【数２】 [Equation 2]
【００２０】ｇは重力加速度でｇ＝９．８［ｍ／ｓ2］
である。G is a gravitational acceleration g = 9.8 [m / s 2 ]
Is.
【００２１】ｖ（ｔ）［ｍ／ｓ］は引き抜き速度であ
る。V (t) [m / s] is a drawing speed.
【００２２】ｗ0 （無次元），ｗn （無次元）は次式で
表される。W 0 (dimensionless) and w n (dimensionless) are expressed by the following equations.
【００２３】[0023]
【数３】 [Equation 3]
【００２４】ｗ（ｙ）（無次元）は、ノズルからの注湯
速度のｙ方向の分布であり、ノズルの寸法・形状より決
定する。ｕ（ｔ）［ｍ／ｓ］は、ノズルからの平均注湯
速度である。W (y) (dimensionless) is the distribution of the pouring speed from the nozzle in the y direction and is determined by the size and shape of the nozzle. u (t) [m / s] is the average pouring speed from the nozzle.
【００２５】本発明は、以上の知見をもとになされたも
のである。The present invention is based on the above findings.
【００２６】以下に本発明の作用について、図１を参照
しながら詳細に説明する。The operation of the present invention will be described in detail below with reference to FIG.
【００２７】図１は、本発明において、２か所での湯面
レベル測定値を用いる場合の、湯面制御のための、注湯
量制御システムの構成を示したものである。これは、上
述のモデルでＮ＝１の場合に基づいている。図１で、大
きい円の中に変数を書いたものは変数の値を乗じる乗算
器、小さい円の中に加算記号を書いたものは加算器、小
さい円の中に減算記号を書いたものは減算器を表す。こ
のうち、減算器は減算の順序を明示するために、加算記
号と減算記号とを添えてある。FIG. 1 shows the structure of a pouring amount control system for controlling the molten metal level when the measured molten metal level at two locations is used in the present invention. This is based on the model above with N = 1. In Figure 1, a variable written in a large circle is a multiplier that multiplies the value of the variable, an addition symbol is written in a small circle, and an addition symbol is written in a small circle. Represents a subtractor. Of these, the subtractor is added with an addition symbol and a subtraction symbol in order to clearly indicate the order of subtraction.
【００２８】「プラント」は、注湯量指令値を入力とす
る注湯量操作器，ノズル・モ−ルド・湯面プロセス，湯
面レベル測定値を出力とする湯面検出器等からなる。The "plant" is composed of a pouring amount operation device for inputting a pouring amount command value, a nozzle, a mold, a pouring process, a pouring surface detector for outputting a pouring level measured value, and the like.
【００２９】「主注湯量演算器」は、ＰＩ制御器，ＰＩ
Ｄ制御器等の線形制御器、またはファジィ制御器等の非
線形制御器を用いて実現される。The "main pouring amount calculator" is a PI controller or PI.
It is realized by using a linear controller such as a D controller or a non-linear controller such as a fuzzy controller.
【００３０】「補助注湯量演算器」は、Ｐ制御器，ＰＤ
制御器，位相補償器等の線形制御器、またはファジィ制
御器等の非線形制御器を用いて実現される。The "auxiliary pouring amount calculator" is a P controller, PD
It is realized by using a linear controller such as a controller or a phase compensator, or a non-linear controller such as a fuzzy controller.
【００３１】２式の湯面レベル検出器を用いて、湯面レ
ベルを水平方向に互いに異なる２か所の位置ｙ＝ｙ0 ，
ｙ＝ｙ1 (ｙ0 ≠ｙ1 ）で測定し、その湯面レベル測定
値をそれぞれ湯面レベル測定値０ ζ0 （ｔ）＝ζ（ｙ0 ，ｔ） ・・・（５） 湯面レベル測定値１ ζ1 （ｔ）＝ζ（ｙ1 ，ｔ） ・・・（６） とする。湯面レベル測定値０および湯面レベル測定値１
は式（１）よりBy using the two-level level detectors, the two levels of the level are horizontally different from each other, y = y 0 ,
y = y 1 (y 0 ≠ y 1 ), and the measured values of the molten metal level are 0 ζ 0 (t) = ζ (y 0 , t) (5) Level measurement value 1 ζ 1 (t) = ζ (y 1 , t) (6) Surface level measurement value 0 and surface level measurement value 1
Is from equation (1)
【００３２】[0032]
【数４】 [Equation 4]
【００３３】と表される。これよりｘ0 （ｔ），ｄｘn
（ｔ）はIt is expressed as follows. From this, x 0 (t), dx n
(T) is
【００３４】[0034]
【数５】 [Equation 5]
【００３５】と表される。 ここでIt is expressed as follows. here
【００３６】[0036]
【数６】 [Equation 6]
【００３７】である。It is
【００３８】湯面レベル測定値０および湯面レベル測定
値１は、モ−ダルフィルタに入力され、式（９）のａ00
，ａ01 ，ａ10 ，ａ11 を乗じる乗算器および加算器に
より（８）式のように演算され、湯面の平均レベルｘ0
（ｔ）および湯面の１次の振動モ−ドのモ−ド変位ｄｘ
n （ｔ）が出力される。The molten metal level measured value 0 and the molten metal level measured value 1 are input to the modal filter, and a 00 of the equation (9) is used.
, A 01 , a 10 , and a 11 are multiplied by a multiplier and an adder, and the average level x 0
(T) and the mode displacement dx of the primary vibration mode of the molten metal surface
n (t) is output.
【００３９】湯面レベル目標値と湯面の平均レベルｘ0
（ｔ）から、主注湯量演算器により、主注湯量指令値を
演算する。モ−ド変位ｄｘn （ｔ）から、補助注湯量演
算器により補助注湯量指令値を演算する。主注湯量指令
値と補助注湯量指令値から、減算器により、注湯量指令
値を演算する。Target surface level and average surface level x 0
From (t), the main pouring amount calculator calculates the main pouring amount command value. Mode - the de displacement dx n (t), calculates the assist pouring amount command value by the auxiliary pouring amount calculator. From the main pouring amount command value and the auxiliary pouring amount command value, a subtracter calculates the pouring amount command value.
【００４０】湯面制御の目的は、湯面レベルを与えられ
た目標値に追従させ、湯面レベルに影響を与える外乱を
補償し、湯面の振動を抑制することである。すなわち、
ｘ0 （ｔ），ｄｘn （ｔ）において、湯面の平均レベル
ｘ0 （ｔ）に影響を与える外乱を補償し、湯面の平均レ
ベルｘ0 （ｔ）を目標値に追従させ、湯面の振動モ−ド
のモ−ド変位ｄｘn （ｔ）を漸近的に零に近づけること
により、目的の制御が達成される。本発明では、主注湯
量指令値が、湯面の平均レベルｘ0 （ｔ）に影響を与え
る外乱を補償し、湯面の平均レベルｘ0 （ｔ）を目標値
に追従させ、補助注湯量指令値が、湯面の振動モ−ドの
モ−ド変位ｄｘn （ｔ）を漸近的に零に近づけることに
より、目的の制御を達成している。The purpose of the molten metal level control is to cause the molten metal level to follow a given target value, compensate for disturbances that affect the molten metal level, and suppress vibration of the molten metal level. That is,
At x 0 (t) and dx n (t), the disturbance affecting the average level x 0 (t) of the molten metal surface is compensated, and the average level x 0 (t) of the molten metal surface is made to follow the target value. The target control is achieved by asymptotically approaching the mode displacement dx n (t) of the vibration mode of the surface. In the present invention, Shuchu hot water command value to compensate for the disturbance which affects the average level x 0 of the molten metal surface (t), to follow the average level x 0 of molten steel surface (t) to the target value, the auxiliary pouring amount The command value achieves the target control by asymptotically approaching the mode displacement dx n (t) of the vibration mode of the molten metal surface to zero.
【００４１】以上で、２か所で湯面レベルを測定し、２
か所での測定値を用いる場合を図１に基づき説明を行っ
た。図３に３か所で湯面レベルを測定し、３か所での測
定値を用いる場合を示す。これは、上述のモデルでＮ＝
２の場合に基づいている。With the above, the level of the molten metal is measured at two places, and
The case of using the measured values at different locations has been described with reference to FIG. FIG. 3 shows a case where the molten metal level is measured at three points and the measured values at three points are used. This is N =
Based on case 2.
【００４２】この場合、モ−ダルフィルタは９個の乗算
器，６個の加算器をもち、３か所で測定した湯面レベル
が入力され、湯面の平均レベルおよび２個の湯面の振動
モ−ドのモ−ド変位が出力される。湯面レベル目標値と
湯面の平均レベルから、主注湯量演算器により、主注湯
量指令値を演算する。２個のモ−ド変位から、補助注湯
量演算器により補助注湯量指令値を演算する。主注湯量
指令値と補助注湯量指令値から、減算器により、注湯量
指令値を演算する。In this case, the modal filter has nine multipliers and six adders, the levels of the molten metal measured at three points are input, and the average level of the molten metal and the two levels of molten metal are input. The mode displacement of the vibration mode is output. The main pouring amount command value is calculated by the main pouring amount calculator from the target level of the molten metal level and the average level of the molten metal level. An auxiliary pouring amount command value is calculated by the auxiliary pouring amount calculator from the two mode displacements. From the main pouring amount command value and the auxiliary pouring amount command value, a subtracter calculates the pouring amount command value.
【００４３】以上の展開は、一般のＮ（Ｎ≧１）につい
て、Ｎ＋１か所での湯面レベルを用いる場合に拡張され
る。この場合、モ−ダルフィルタは、（Ｎ＋１）2個の
乗算器，Ｎ（Ｎ＋１）個の加算器をもちＮ＋１か所で測
定した湯面レベルが入力され、湯面の平均レベルおよび
Ｎ個の湯面の振動モ−ドのモ−ド変位が出力される。湯
面レベル目標値と湯面の平均レベルから、主注湯量演算
器により、主注湯量指令値を演算する。Ｎ個のモ−ド変
位から、補助注湯量演算器により補助注湯量指令値を演
算する。主注湯量指令値と補助注湯量指令値から、減算
器により、注湯量指令値を演算する本発明の他の目的お
よび特徴は、図面を参照した以下の実施例の説明より明
らかになろう。The above development is expanded for general N (N ≧ 1) when using the melt level at N + 1 places. In this case, the modal filter has (N + 1) 2 multipliers and N (N + 1) adders, and the melt level measured at N + 1 places is input, and the average level of the melt level and the N melt levels are input. The vibration displacement mode of the molten metal surface is output. The main pouring amount command value is calculated by the main pouring amount calculator from the target level of the molten metal level and the average level of the molten metal level. An auxiliary pouring amount command value is calculated by the auxiliary pouring amount calculator from N mode displacements. Other objects and features of the present invention for calculating the pouring amount command value by the subtracter from the main pouring amount command value and the auxiliary pouring amount command value will be apparent from the following description of the embodiments with reference to the drawings.
【００４４】[0044]
【実施例】本発明を実施した例を図２に示す。図２は、
２か所での湯面レベル測定値を用いる場合を実施した例
である。主注湯量演算器として減算器とＰＩ制御器を用
い、補助注湯量演算器として位相補償器を用いた。EXAMPLE FIG. 2 shows an example of implementing the present invention. Figure 2
This is an example in which the case where the measured values of the melt level at two locations are used is implemented. A subtractor and a PI controller were used as the main pouring amount calculator, and a phase compensator was used as the auxiliary pouring amount calculator.
【００４５】図３は図２のシミュレ−ショュンである。
実線は本発明の湯面制御方法の場合の湯面レベル推移
を、破線は従来のＰＩ制御方法の場合の湯面レベル推移
を示す。FIG. 3 is the simulation tune of FIG.
The solid line shows the level change in the level control method of the present invention, and the broken line shows the level change in the level control method of the conventional PI control method.
【００４６】ｔ＜０で定常状態の後、図３の（ａ）で
は、ｔ＝０［ｓ］で湯面レベル目標値を＋１０［ｍｍ］
変更した場合のモ−ルド左端での湯面レベルを、図３の
（ｂ）では、ｔ＝０［ｓ］で引き抜き速度に＋０．０１
［ｍ／ｓ］の外乱が加わった場合のモ−ルド左端での湯
面レベルを示している。横軸は時刻で単位は［ｓ］、縦
軸は湯面レベルで単位は［ｍｍ］である。モ−ルドの幅
をＬ＝１［ｍ］とし、０．２５［ｍ］の幅のノズルをノ
ズルの左端とモ−ルドの中心が一致するように位置して
いる。本発明の制御方法（本発明例）では、湯面レベル
はモ−ルドの両端で測定している。After the steady state at t <0, in FIG. 3 (a), at t = 0 [s], the molten metal level target value is +10 [mm].
The level of the molten metal at the left end of the mold when changed is shown in FIG. 3 (b) at t = 0 [s], and the drawing speed is +0.01.
The level of the molten metal at the left end of the mold is shown when a disturbance of [m / s] is applied. The horizontal axis represents time and the unit is [s], and the vertical axis represents the molten metal level and the unit is [mm]. The width of the mold is L = 1 [m], and a nozzle having a width of 0.25 [m] is positioned so that the left end of the nozzle and the center of the mold coincide with each other. In the control method of the present invention (example of the present invention), the molten metal level is measured at both ends of the mold.
【００４７】したがって、式（９）でｙ0 ＝０，ｙ1 ＝
Ｌとおくと、 ａ00 ＝０．５， ａ01 ＝０．５， ａ10 ＝０．５， ａ11 ＝−０．５ ・・・（１０） が得られる。ＰＩ制御器の伝達関数を Ｋp 〔１＋（１／ＴiP ）〕 ・・・（１１） 位相補償器の伝達関数を ｆ〔（ｐ＋ｂ）／（ｐ＋ａ）〕 ・・・（１２） とする。種々のシミュレ−ションを行い、湯面レベル測
定値の安定性，即応性を考慮して、各パラメ−タは、 Ｋp ＝４， Ｔi ＝２．５， ｆ＝−１２， ａ＝９， ｂ＝３ ・・・（１３） と設定した。ＰＩ制御方法（比較例）では、湯面レベル
をモ−ルドの左端１か所で測定している。ＰＩ制御器の
パラメ−タは、上と同じ値に設定した。Therefore, in equation (9), y 0 = 0, y 1 =
When L is set, a 00 = 0.5, a 01 = 0.5, a 10 = 0.5, a 11 = -0.5 (10) is obtained. The transfer function of the PI controller is K p [1+ (1 / T iP )] (11) The transfer function of the phase compensator is f [(p + b) / (p + a)] (12). Various simulations were performed, and in consideration of the stability and responsiveness of the measured value of the molten metal surface level, the respective parameters were: K p = 4, T i = 2.5, f = -12, a = 9 , B = 3 (13). In the PI control method (comparative example), the molten metal level is measured at one left end of the mold. The parameters of the PI controller were set to the same values as above.
【００４８】図３の（ａ）は目標値への追従の様子を示
し、図３の（ｂ）は外乱の補償の様子を示している。Ｐ
Ｉ制御方法（比較例）では、目標値への追従，外乱の補
償いずれの場合も湯面レベル測定値は振動的であるのに
対して、本発明の制御方法（本発明例）では、目標値へ
の追従，外乱の補償いずれの場合も速やかに行われ、湯
面レベルは実質上振動していない。FIG. 3A shows how the target value is followed, and FIG. 3B shows how the disturbance is compensated. P
In the I control method (comparative example), the measured level of the molten metal surface is oscillatory in both cases of following the target value and compensating for disturbance, whereas in the control method of the present invention (example of the present invention), Both the tracking of the value and the compensation of the disturbance are performed promptly, and the molten metal level does not substantially vibrate.
【００４９】[0049]
【発明の効果】本発明によれば、湯面の平均レベルを目
標値に追従させ、外乱を補償するとともに、湯面の振動
を積極的に抑制することができ、連続鋳造においては製
品の品質および歩留まりの向上，操業率の向上，操業時
の安全性の効果がある。According to the present invention, the average level of the molten metal surface can be made to follow the target value, the disturbance can be compensated, and the vibration of the molten metal surface can be actively suppressed. It also has the effects of improving yield, improving operating rate, and operating safety.
【図１】本発明で２か所での湯面レベル測定値を用いる
場合を示すブロック線図である。FIG. 1 is a block diagram showing a case where a melt level measurement value at two locations is used in the present invention.
【図２】図１すなわち２か所での湯面レベル測定値を用
いる場合において、主注湯量演算器として減算器とＰＩ
制御器を用い、補助注湯量演算器として位相補償器を用
いた実施例である。[FIG. 2] FIG. 2 shows a subtracter and a PI as a main pouring amount calculator when using the melt level measurement values at two places.
In this embodiment, a controller is used and a phase compensator is used as an auxiliary pouring amount calculator.
【図３】本発明例を実施する場合と従来例を実施する場
合の湯面レベル変動を示す図であり、（ａ）は目標値を
変更した場合の湯面レベル変動を、（ｂ）は引き抜き速
度が変化した場合の湯面レベル変動を示す。FIG. 3 is a diagram showing changes in the molten metal surface level when the example of the present invention is carried out and when the conventional example is carried out, where (a) shows the molten metal level fluctuation when the target value is changed, and (b) shows The fluctuation of the molten metal level when the drawing speed is changed is shown.
【図４】本発明で３か所での湯面レベル測定値を用いる
場合を示すブロック線図である。FIG. 4 is a block diagram showing a case in which measured values of molten metal level at three points are used in the present invention.
─────────────────────────────────────────────────────
─────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成４年１２月２４日[Submission date] December 24, 1992
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】特許請求の範囲[Name of item to be amended] Claims
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【特許請求の範囲】[Claims]
【手続補正２】[Procedure Amendment 2]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１２[Correction target item name] 0012
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１２】[0012]
【課題を解決するための手段】本発明は、双ベルト連続
鋳造の湯面制御方法において、（イ）湯面レベルを水平
方向に互いに異なる２か所以上の位置で測定し、（ロ）
上記２か所以上での湯面レベル測定値からモーダルフィ
ルタにより湯面の平均レベルおよび１個以上の湯面の振
動モードのモード変位を演算し、（ハ）湯面レベル目標
値と上記湯面の平均レベルから主注湯量指令値を演算
し、（ニ）上記湯面の振動モードのモード変位から補助
注湯量指令値を演算し、（ホ）上記主注湯量指令値と補
助注湯量指令値から注湯量指令値を演算し、（ヘ）上記
注湯量指令値を注湯量操作器に出力する、ことにより、
湯面の平均レベルに影響を与える外乱を補償し、湯面の
平均レベルを目標値に追従させるとともに、湯面の振動
を抑制することを特徴とする。According to the present invention, in a molten metal level control method for twin belt continuous casting, (a) the molten metal level is measured at two or more positions horizontally different from each other.
The average level of the molten metal surface and the mode displacement of the vibration mode of one or more molten metal surfaces are calculated by the modal filter from the measured molten metal surface levels at two or more locations, and (c) the molten metal level target value and the molten metal level above. The main pouring amount command value is calculated from the average level of, and (d) the auxiliary pouring amount command value is calculated from the mode displacement of the vibration mode of the molten metal surface, and (e) the main pouring amount command value and the auxiliary pouring amount command value. By calculating the pouring amount command value from (f) and outputting the pouring amount command value to the pouring amount operating device,
It is characterized by compensating for disturbances that affect the average level of the molten metal surface, making the average level of the molten metal surface follow the target value, and suppressing vibration of the molten metal surface.
【手続補正３】[Procedure 3]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１７[Correction target item name] 0017
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１７】 ｋｎ＝ｎπ／Ｌ （１≦ｎ≦Ｎ） ・・・（２） Ｌ［ｍ］はモールド幅である。 K n = nπ / L (1 ≦ n ≦ N) (2) L [m] is a mold width.
【手続補正４】[Procedure amendment 4]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００３４[Correction target item name] 0034
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００３４】[0034]
【数５】 [Equation 5]
【手続補正５】[Procedure Amendment 5]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００４７[Correction target item name] 0047
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００４７】したがって、式（９）でｙ０＝０，ｙ１＝
Ｌとおくと、 ａ００＝０．５， ａ０１＝０．５， ａ１０＝０．５， ａ１１＝−０．５ ・・・（１０） が得られる。ＰＩ制御器の伝達関数を Ｋｐ 〔１＋（１／Ｔｉｐ）〕 ・・・（１１） 位相補償器の伝達関数を ｆ〔（ｐ＋ｂ）／（ｐ＋ａ）〕 ・・・（１２） とする。種々のシミュレーションを行い、湯面レベル測
定値の安定性，即応性を考慮して、各パラメータは、 Ｋｐ＝４， Ｔｉ＝２．５， ｆ＝−１２， ａ＝９， ｂ＝３ ・・・（１３） と設定した。ＰＩ制御方法（比較例）では、湯面レベル
をモールドの左端１か所で測定している。ＰＩ制御器の
パラメータは、上と同じ値に設定した。Therefore, in the equation (9), y 0 = 0, y 1 =
Putting the L, a 00 = 0.5, a 01 = 0.5, a 10 = 0.5, a 11 = -0.5 ··· (10) is obtained. The transfer function of the PI controller transfer function of K p [1+ (1 / T i p)] (11) a phase compensator and f [(p + b) / (p + a) ] (12) .. Various simulations were performed, and in consideration of the stability and responsiveness of the measured value of the molten metal surface level, the respective parameters were: K p = 4, T i = 2.5, f = -12, a = 9, b = 3 ... (13) was set. In the PI control method (comparative example), the molten metal level is measured at one left end of the mold. The parameters of the PI controller were set to the same values as above.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 徳 田 篤 洋 大分市大字西ノ洲１番地 新日本製鐵株式 会社大分製鐵所内 (72)発明者 森 景 続 大分市大字西ノ洲１番地 新日本製鐵株式 会社大分製鐵所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Atsushi Tokuda 1st Nishinosu, Oita-shi, Oita Steel Co., Ltd. Inside Oita Works (72) Inventor Kei Mori, 1st Nishinosu, Oita-shi New Nippon Steel Stock company Oita Steel Works
Claims (1)
て、（イ）湯面レベルを水平方向に互いに異なる２か所
以上の位置で測定し、（ロ）上記２か所以上での湯面ヘ
レベル測定値からモ−ダルフィルタにより湯面の平均レ
ベルおよび１個以上の湯面の振動モ−ドのモ−ド変位を
演算し、（ハ）湯面レベル目標値と上記湯面の平均レベ
ルから主注湯量指令値を演算し、（ニ）上記湯面の振動
モ−ドのモ−ド変位から補助注湯量指令値を演算し、
（ホ）上記主注湯量指令値と補助注湯量指令値から注湯
量指令値を演算し、（ヘ）上記注湯量指令値を注湯量操
作器に出力する、ことにより、湯面の平均レベルに影響
を与える外乱を補償し、湯面の平均レベルを目標値に追
従させるとともに、湯面の振動を抑制することを特徴と
する双ベルト連続鋳造の湯面制御方法。1. A molten metal level control method for twin-belt continuous casting, wherein (a) the molten metal level is measured at two or more positions horizontally different from each other, and (b) the molten metal level at the above two or more positions. From the level measurement value, the average level of the molten metal surface and the mode displacement of the vibration mode of one or more molten metal surfaces are calculated from the modal filter, and (c) the molten metal level target value and the average level of the molten metal surface. The main pouring amount command value is calculated from (d) and the auxiliary pouring amount command value is calculated from the mode displacement of the vibration mode of the above-mentioned molten metal surface,
(E) The pouring amount command value is calculated from the main pouring amount command value and the auxiliary pouring amount command value, and (f) the pouring amount command value is output to the pouring amount manipulator, whereby the average level of the pouring level is obtained. A molten metal level control method for twin-belt continuous casting, which comprises compensating for an influence of disturbance, causing the average level of the molten metal level to follow a target value, and suppressing vibration of the molten metal level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25112791A JPH0751258B2 (en) | 1991-09-30 | 1991-09-30 | Twin-belt continuous casting level control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25112791A JPH0751258B2 (en) | 1991-09-30 | 1991-09-30 | Twin-belt continuous casting level control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05277664A true JPH05277664A (en) | 1993-10-26 |
| JPH0751258B2 JPH0751258B2 (en) | 1995-06-05 |
Family
ID=17218077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25112791A Expired - Fee Related JPH0751258B2 (en) | 1991-09-30 | 1991-09-30 | Twin-belt continuous casting level control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0751258B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0847815A1 (en) * | 1996-12-14 | 1998-06-17 | Sms Schloemann-Siemag Aktiengesellschaft | Method and device for rolling billets |
-
1991
- 1991-09-30 JP JP25112791A patent/JPH0751258B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0847815A1 (en) * | 1996-12-14 | 1998-06-17 | Sms Schloemann-Siemag Aktiengesellschaft | Method and device for rolling billets |
| US5992001A (en) * | 1996-12-14 | 1999-11-30 | Sms Schloemann-Siemag Ag | Method and apparatus for connecting billets |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0751258B2 (en) | 1995-06-05 |
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