JPH07256419A - Method for controlling molten steel surface level in continuous casting for duplex layer steel plate - Google Patents
Method for controlling molten steel surface level in continuous casting for duplex layer steel plateInfo
- Publication number
- JPH07256419A JPH07256419A JP5013594A JP5013594A JPH07256419A JP H07256419 A JPH07256419 A JP H07256419A JP 5013594 A JP5013594 A JP 5013594A JP 5013594 A JP5013594 A JP 5013594A JP H07256419 A JPH07256419 A JP H07256419A
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- Prior art keywords
- molten steel
- molten
- ratio
- pouring
- pouring amount
- Prior art date
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、異種溶鋼から直接に複
層鋼板を連続鋳造する際の湯面レベル制御方法に関し、
特に、一つのタンディッシュ内部を二つの独立した溶鋼
貯留槽に区分けした溶鋼貯留槽の異種溶鋼から直接、複
層鋼板を連続鋳造する際の湯面レベル制御方法に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a level control method for continuously casting a multi-layer steel sheet directly from different kinds of molten steel,
In particular, the present invention relates to a molten metal level control method for continuously casting a multilayer steel sheet directly from different molten steel in a molten steel storage tank in which one tundish is divided into two independent molten steel storage tanks.
【０００２】[0002]
【従来の技術】複層鋼板の連続鋳造設備の操業において
は、二つのタンディッシュに貯留された異種溶鋼を各別
の注湯ノズルを用いて鋳型内部に注ぎ分け、目標湯面レ
ベルや鋳造速度の設定値変更に応じて、表層および内層
用溶鋼の注湯ノズルからの注湯量の目標注湯量に対する
変動を最小にして、ブレークアウト等の操業事故の発生
を未然に防止すると共に、表面欠陥の発生を低減させ、
表層と内層の界面が明瞭な表面性状の優れた高品質の複
層鋼板を得るための湯面レベル制御が行われている。2. Description of the Related Art In the operation of a continuous casting facility for multi-layer steel sheets, different molten steel stored in two tundishes is poured into the mold by using different pouring nozzles, and the target molten metal level and casting speed are set. Depending on the change of the set value of, the fluctuation of the pouring amount of the molten steel for the surface layer and the inner layer from the pouring nozzle is minimized to prevent the occurrence of operational accidents such as breakout and to prevent surface defects. Reduce the occurrence of
Level control is performed to obtain high-quality multi-layer steel sheets with excellent surface properties in which the interface between the surface layer and the inner layer is clear.
【０００３】この湯面レベル制御は一般的に、両者のタ
ンディッシュの注湯羽口にストッパー等の開度調節手段
と該タンディッシュ内の溶鋼重量を測定して検出するロ
ードセル、及び鋳型内部の湯面レベルを測定して検出す
るレベル計を設け、さらに、ロードセルによるタンディ
ッシュ内溶鋼重量の検出精度と注湯量制御に対する要求
制御精度より、ロードセルによる検出溶鋼重量を用いた
注湯量計算所定時間を予め決定して定めておき、該所定
時間内でのロードセルによる検出重量減少量と目標重量
減少量との偏差、及びレベル計による検出湯面レベルと
目標湯面レベルとの偏差が解消するように、前記開度調
節手段を動作させ、鋳型への溶鋼注湯量を調整する手順
にて行われている。This level control of the molten metal level is generally performed by adjusting the opening degree such as a stopper at the pouring tuyere of both tundishes, the load cell for measuring and detecting the molten steel weight in the tundish, and the inside of the mold. A level meter that measures and detects the molten metal level is provided.Furthermore, based on the detection accuracy of the molten steel weight in the tundish by the load cell and the required control accuracy for the pouring amount control, the pouring amount calculation time using the molten steel weight detected by the load cell It is determined and determined in advance so that the deviation between the weight reduction amount detected by the load cell and the target weight reduction amount within the predetermined time, and the deviation between the molten metal level detected by the level meter and the target molten metal level are eliminated. The procedure for operating the opening adjusting means to adjust the molten steel pouring amount into the mold is performed.
【０００４】[0004]
【発明が解決しようとする課題】ところが、前述した様
な複層鋼板の連続鋳造方法は、設備を建設するためのコ
ストと複層鋼板を製造するコストとが高価なものになる
という欠点を有する。この方法に対して、最近、一つの
タンディッシュ内部を二つの独立した溶鋼貯留槽に区分
けし、各溶鋼貯留槽に貯留された溶鋼を各別の注湯ノズ
ルを用いて鋳型内部に注ぎ分け、目標湯面レベルや鋳造
速度の設定値変更に応じて、表層および内層用溶鋼の注
湯ノズルからの注湯量の目標注湯量に対する変動を最小
にして、ブレークアウト等の操業事故の発生を未然に防
止すると共に、表面欠陥の発生を低減させ、表層と内層
の界面が明瞭な表面性状の優れた高品質の複層鋼板を得
るための湯面レベル制御技術の開発が望まれている。し
かし、未だ応答性よく制御の安定性が高い湯面レベル制
御技術は確立されるに至っていない。However, the continuous casting method for a multilayer steel sheet as described above has a drawback that the cost for constructing equipment and the cost for manufacturing the multilayer steel sheet are high. . In contrast to this method, recently, the inside of one tundish was divided into two independent molten steel storage tanks, and the molten steel stored in each molten steel storage tank was poured into the mold using separate pouring nozzles, In response to changes in the target melt level and casting speed settings, fluctuations in the amount of molten metal from the surface and inner layer molten steel pouring nozzles to the target amount of molten metal are minimized to prevent operational accidents such as breakouts. It is desired to develop a molten metal level control technique for preventing the occurrence of surface defects and reducing the occurrence of surface defects, and obtaining a high-quality multi-layer steel sheet having an excellent surface property with a clear interface between the surface layer and the inner layer. However, the level control technology of the molten metal surface has not yet been established, which has high responsiveness and high control stability.
【０００５】さらに、前記注湯ノズルの内部には溶鋼の
通流に伴う溶損、及び局部的な凝固金属の付着が生じて
おり、この溶損の進行度合い、及び凝固金属の付着態様
の相違により、両者の注湯ノズルの流量特性が異なり、
しかもこれらが系時的に変化するため、両者の注湯ノズ
ルからの注湯量の均等化を図ることは、非常に困難であ
った。Further, inside the pouring nozzle, melting loss due to the flow of molten steel and local adhesion of solidified metal occur, and the degree of progress of this melting loss and the mode of adhesion of solidified metal differ. Depending on the flow rate characteristics of the two pouring nozzles,
Moreover, since these change with time, it was very difficult to equalize the amount of molten metal poured from both of the molten metal nozzles.
【０００６】従って本発明は、表層用および内層用のそ
れぞれの注湯ノズルからの注湯量の、目標注湯量に対す
る変動の最小化を図りつつ注湯量比を調節し、これらの
注湯ノズルにて注湯される鋳型内部において、適正な湯
面レベルを維持することを目的とする。Therefore, the present invention adjusts the pouring amount ratio while minimizing the fluctuation of the pouring amount from each of the surface layer pouring nozzle and the inner layer pouring nozzle with respect to the target pouring amount. The purpose is to maintain an appropriate level of molten metal inside the casting mold.
【０００７】[0007]
【課題を解決するための手段】上記課題を解決するため
に本発明は、一つのタンディッシュの内部の独立した２
つの溶鋼貯留槽のそれぞれより開度調節手段および注湯
ノズルを介して異種溶鋼を１つの鋳型の内部に注ぎ分
け、溶鋼から直接に複層鋼板を連続鋳造するにおいて、
鋳型内部の湯面レベルと鋳造速度より溶鋼注湯量を算出
し、溶鋼貯留槽それぞれの溶鋼高さと鋳型内部の湯面レ
ベルより、溶鋼貯留槽それぞれの溶鋼ヘッドを算出し、
算出した溶鋼注湯量および溶鋼ヘッド、ならびに、前記
開度調節手段の開度を用いて、表層，内層用溶鋼の第１
注湯量補正係数比を算出し、取鍋から前記溶鋼貯留槽の
どちらにも溶鋼が注湯されていない場合、溶鋼貯留槽そ
れぞれの溶鋼高さ減少速度を用いて、表層，内層用溶鋼
の第２注湯量補正係数比を算出し、第１注湯量補正係数
比の時系列平均値を、第２注湯量補正係数比に漸近させ
る補正係数を算出し、表層，内層用溶鋼の目標注湯量
比，第１注湯量補正係数比，前記補正係数、及び、溶鋼
貯留槽それぞれの溶鋼ヘッドの比を用いて、表層，内層
用溶鋼の目標注湯量比補正計算式モデルにより、目標注
湯量比を補正して更新し、鋳型内部の湯面レベルを目標
湯面レベルに維持するための開度調節手段の開度和を算
出し、該開度和および目標注湯量比を用いて、開度調節
手段それぞれの所要開度を算出して設定する、ことを特
徴とする。In order to solve the above problems, the present invention provides two independent inside tundish.
In each of the two molten steel storage tanks, the different molten steel is poured into the inside of one mold through the opening adjusting means and the pouring nozzle, and in the continuous casting of the multilayer steel sheet directly from the molten steel,
Calculate the molten steel pouring amount from the molten metal level inside the mold and the casting speed, calculate the molten steel head of each molten steel storage tank from the molten steel height of each molten steel storage tank and the molten metal level inside the mold,
Using the calculated molten steel pouring amount, the molten steel head, and the opening degree of the opening degree adjusting means, the first of the molten steels for the surface layer and the inner layer is obtained.
When the molten metal correction coefficient ratio is calculated and molten steel is not poured from the ladle to either of the molten steel storage tanks, the molten steel height decreasing rate of each molten steel storage tank is used to determine the 2 Calculate the pouring amount correction coefficient ratio, calculate the correction coefficient that makes the time-series average of the first pouring amount correction coefficient ratio asymptotic to the second pouring amount correction coefficient ratio, and calculate the target pouring amount ratio for the surface and inner layer molten steels. , The first pouring amount correction coefficient ratio, the correction coefficient, and the ratio of the molten steel heads of the molten steel storage tanks are used to correct the target pouring amount ratio by the target pouring amount ratio correction calculation model for the surface and inner layers Then, the sum of the opening degrees of the opening degree adjusting means for maintaining the molten metal level inside the mold at the target molten metal level is calculated, and the opening degree adjusting means is calculated using the sum of the opening degrees and the target pouring amount ratio. It is characterized in that each required opening is calculated and set.
【０００８】１つの具体的な実施態様で本発明は、一つ
のタンディッシュ内部を二つの独立した溶鋼貯留槽に区
分けし、該両者の溶鋼貯留槽より異種溶鋼を各別の注湯
ノズルを用いて鋳型内部に注ぎ分け、前記両者の溶鋼貯
留槽の注湯羽口にストッパー等の開度調節手段と、前記
両者の溶鋼貯留槽内部の溶鋼高さを測定して検出する各
別のレベル計、及び鋳型内部の湯面レベルを測定して検
出するレベル計を設け、さらに鋳型内部に注湯された異
種溶鋼の混合抑制のため直流磁界を作用させ、溶鋼から
直接、表層，内層の界面が明瞭で表面性状の優れた複層
鋼板を連続鋳造するにおいて、 １） 目標湯面レベルや鋳造速度の設定値変更に基づい
て決定される、表層厚を一定とする表層，内層用溶鋼の
目標注湯量比計算式モデルにより、表層，内層用溶鋼の
目標注湯量比を算出し、 ２） 鋳型内部の湯面レベルと鋳造速度を測定して検出
した検出湯面レベルと検出鋳造速度より、鋳型内部へ注
湯される溶鋼注湯量推定計算式モデルにより、鋳型内部
へ注湯される溶鋼注湯量を推定し、 ３） 前記両者の溶鋼貯留槽内部の溶鋼高さを測定して
検出した溶鋼貯留槽内部の検出溶鋼高さと前記鋳型内部
の検出湯面レベルより、前記両者の溶鋼貯留槽内部の溶
鋼ヘッドを推定し、 ４） 前記鋳型内部へ注湯される溶鋼注湯量の推定値，
前記両者の溶鋼貯留槽内部の溶鋼ヘッドの推定値、及
び、表層，内層用ストッパーの開度を用いて、指数重み
付き最小２乗同定逐次型アルゴリズムを応用した表層，
内層用溶鋼の注湯量補正係数推定計算式モデルにより、
表層，内層用溶鋼の注湯量補正係数を推定して注湯量補
正係数比を算出し、 ５） 前記溶鋼貯留槽内部の溶鋼高さを測定して検出す
るレベル計の検出精度と注湯量制御に対する要求制御精
度より、溶鋼貯留槽内部の検出溶鋼高さを用いた注湯量
計算所定時間を予め決定して定めておき、前記両者の溶
鋼貯留槽内部の検出溶鋼高さの今回値を含む過去4点の
時系列データの変動より、取鍋から前記両者の溶鋼貯留
槽への溶鋼の注湯状況を判定し、 5-1) 取鍋から前記両者の溶鋼貯留槽のどちらにも溶鋼
が注湯されていない場合、 前記表層，内層用溶鋼の注湯量補正係数比の推定
値，前記両者の溶鋼貯留槽内部の検出溶鋼高さ，表層，
内層用ストッパーの開度比、及び、前記両者の溶鋼貯留
槽内部の推定溶鋼ヘッドの比等の鋳造データの前記所定
時間内の時系列データの更新処理を行い、 前記所定時間内の前記両者の溶鋼貯留槽内部の検出
溶鋼高さの減少量を用いて、表層，内層用溶鋼の注湯量
補正係数比計算式モデルにより、前記所定時間内での実
際の表層，内層用溶鋼の注湯量補正係数比を算出し、 適応アルゴリズムを応用して、前記表層，内層用溶
鋼の注湯量補正係数比の推定値の前記所定時間内での平
均値を、前記表層，内層用溶鋼の実際の注湯量補正係数
比に漸近させるような補正係数を算出し、 5-2) 取鍋から前記両者の溶鋼貯留槽のどちらかに溶鋼
が注湯されている場合前記表層，内層用溶鋼の注湯量補
正係数比の推定値，前記両者の溶鋼貯留槽内部の検出溶
鋼高さ，表層，内層用ストッパーの開度比、及び、前記
溶鋼貯留槽内部の推定溶鋼ヘッドの比等の鋳造データの
前記所定時間内の時系列データを初期化し、 ６） 前記表層，内層用溶鋼の目標注湯量比，前記表
層，内層用溶鋼の注湯量補正係数比の推定値，前記注湯
量補正係数比の推定値を補正する補正係数、及び、前記
両者の溶鋼貯留槽内部の推定溶鋼ヘッドの比を用いて、
表層，内層用溶鋼の目標注湯量比補正計算式モデルによ
り、前記表層，内層用溶鋼の目標注湯量比を補正して、
今回の注湯量制御のための目標注湯量比を決定し、 ７） 前記鋳型内部の検出湯面レベルを目標湯面レベル
に維持する表層，内層用ストッパー等の開度調節手段の
設定開度和を比例および積分制御アルゴリズムを適用し
て算出して決定し、 ８） 前記表層，内層用溶鋼の今回の注湯量制御のため
の目標注湯量比，前記表層，内層用ストッパー等の開度
調節手段の設定開度和を用いて、表層，内層用ストッパ
ー等の開度調節手段の設定開度計算式モデルにより、表
層，内層用ストッパー等の開度調節手段の設定開度を算
出して決定して実行する、ことを特徴とする。In one specific embodiment, the present invention divides the inside of one tundish into two independent molten steel storage tanks, and uses different molten steel from each of the molten steel storage tanks using different pouring nozzles. And leveling means for adjusting the opening degree such as a stopper at the pouring tuyere of the molten steel storage tanks of both of the above, and each level meter for detecting by detecting the molten steel height inside the molten steel storage tanks of the both , And a level meter that measures and detects the molten metal level inside the mold, and a direct current magnetic field is applied to suppress the mixing of the different molten steel poured inside the mold, and the interface between the surface layer and the inner layer is directly applied from the molten steel. In continuous casting of multi-layered steel sheets with clear and excellent surface properties, 1) Target injection of molten steel for surface layer and inner layer with constant surface layer thickness, which is determined based on the target molten metal level and casting speed setting change. With the hot water ratio calculation formula model, Calculate the target pouring amount ratio of the layered molten steel, and 2) Estimate the pouring amount of molten steel to be poured into the mold from the detected molten metal surface level and the detected casting speed that are detected by measuring the molten metal surface level inside the mold and the casting speed. The amount of molten steel poured into the mold is estimated by a calculation model, and 3) the detected molten steel height inside the molten steel storage tank and the inside of the mold, which are detected by measuring the molten steel height inside the molten steel storage tanks of the both. The molten steel heads inside the molten steel storage tanks of the both are estimated from the detected molten metal surface level, and 4) the estimated value of the molten steel pouring amount poured into the mold,
A surface layer applying an exponentially weighted least squares identification recursive algorithm using the estimated values of the molten steel heads in the molten steel storage tanks of the both and the opening degrees of the stoppers for the surface layer and the inner layer,
Based on the calculation formula model for estimating the pouring amount correction coefficient for molten steel for the inner layer,
Estimate the pouring amount correction coefficient of the molten steel for the surface layer and the inner layer and calculate the pouring amount correction coefficient ratio. 5) For the detection accuracy of the level meter and the pouring amount control for measuring and detecting the molten steel height inside the molten steel storage tank Based on the required control accuracy, the predetermined amount of time for pouring molten metal is calculated by using the detected molten steel height inside the molten steel storage tank. The molten steel pouring condition from the ladle to the molten steel storage tanks of the both is judged from the fluctuation of the time series data of the points, and 5-1) Molten steel is poured from the ladle to both of the molten steel storage tanks. If not, the estimated value of the pouring amount correction coefficient ratio of the molten steel for the surface layer and the inner layer, the detected molten steel height in the molten steel storage tanks of the both, the surface layer,
The opening ratio of the stopper for the inner layer, and update processing of the time-series data within the predetermined time of the casting data such as the ratio of the estimated molten steel head inside the molten steel storage tank of the both, and the both within the predetermined time Using the reduction amount of the detected molten steel height in the molten steel storage tank, the molten metal pouring amount correction coefficient for the surface layer and the inner layer is calculated by the ratio calculation model, and the actual molten metal pouring amount correction coefficient for the surface layer and the inner layer within the specified time is calculated. The ratio is calculated and the adaptive algorithm is applied to calculate the average pouring amount correction coefficient of the molten steel for the surface layer and the inner layer within the predetermined time, and the actual pouring amount correction for the surface layer and the inner layer is corrected. 5-2) When a molten steel is being poured from the ladle into one of the molten steel storage tanks of the two, a correction coefficient is calculated so as to be asymptotic to the coefficient ratio. The estimated value of the 6) Initialize time series data of casting data such as height, surface layer, opening ratio of stoppers for inner layer, ratio of estimated molten steel head in the molten steel storage tank, etc. within the predetermined time, 6) Target molten metal pouring amount ratio, estimated value of pouring amount correction coefficient ratio of the surface layer and inner layer molten steel, correction coefficient for correcting estimated value of pouring amount correction coefficient ratio, and estimated molten steel inside the molten steel storage tanks of both Using the head ratio,
The target pouring amount ratio correction calculation model of the surface layer and inner layer molten steel is used to correct the target pouring amount ratio of the surface layer and inner layer molten steel.
The target pouring amount ratio for the current pouring amount control is determined, and 7) the sum of the set opening amounts of the opening adjusting means such as the surface layer and the inner layer stopper for maintaining the detected molten metal surface level inside the mold at the target molten metal level. Is calculated by applying a proportional and integral control algorithm, and 8) a target pouring amount ratio for controlling the pouring amount of the molten steel for the surface layer and the inner layer at this time, and opening degree adjusting means for the surface layer and the stopper for the inner layer. Using the sum of the set opening degrees of the above, the set opening degree of the opening adjustment means of the surface layer, the inner layer stopper, etc. is calculated and determined by the set opening degree calculation model of the opening degree adjustment means of the surface layer, the inner layer stopper, etc. It is characterized by being executed.
【０００９】[0009]
【作用】図２は、本発明の一実施態様による制御処理手
順を図式化したものである。これは図１に示す連続鋳造
設備に実施する態様のものである。以下、主に図２に基
づいて本発明による制御処理を詳述する。なお、言及す
る連続鋳造設備要素には図１に示した符号を付す。FIG. 2 is a schematic diagram of a control processing procedure according to an embodiment of the present invention. This is an embodiment to be carried out in the continuous casting equipment shown in FIG. The control process according to the present invention will be described in detail below mainly with reference to FIG. The continuous casting equipment elements to be referred to are designated by the reference numerals shown in FIG.
【００１０】１） 目標湯面レベルや鋳造速度の設定値
変更に基づいて決定される表層厚を一定とする表層およ
び内層用溶鋼の目標注湯量比を算出する。1) A target pouring amount ratio of the molten steel for the surface layer and the inner layer, which has a constant surface layer thickness determined on the basis of a change in the set value of the target molten metal level or casting speed, is calculated.
【００１１】複層鋼板の連続鋳造において、表層用溶鋼
は鋳型４上部に注湯され、内層用溶鋼は鋳型下部、即ち
直流磁界の中心位置近傍に注湯される。表層用溶鋼は鋳
型内部の湯面レベル位置より凝固を開始し、内層用溶鋼
は直流磁界の中心位置近傍より凝固を開始して複層鋼板
を形成する。従って表層厚(mm)Ｄは、凝固時間(秒)をｔ
として通常用いるｔ1/2則より、 Ｄ＝ＧK・((Ｙr−Ｈ0)／Ｖs)1/2 ・・・(１) で表せる。ここで、Ｇkは凝固速度係数(mm/秒1/2)、Ｙr
は目標湯面レベル(mm)、Ｈ0は直流磁界の中心位置(mm)
で、Ｖsは鋳造速度(mm/秒)の設定値である。複層鋼板の
板厚(mm)をＷ、板幅(mm)をＬとすると複層鋼板の断面の
面積収支より表層厚を一定とする表層および内層用溶鋼
の目標注湯量(mm3/秒)ＱarおよびＱbrを、 Ｑar＝Ｗ・Ｌ・Ｖs−(Ｗ−２Ｄ)・(Ｌ−２Ｄ)・Ｖs， Ｑbr＝(Ｗ−２Ｄ)・(Ｌ−２Ｄ)・Ｖs ・・・(2) で算出し、表層および内層用溶鋼の目標注湯量比βr、 βr＝Ｑar／Ｑbr ・・・(3) を算出する。In continuous casting of multi-layer steel sheets, the molten steel for the surface layer is poured onto the upper part of the mold 4, and the molten steel for the inner layer is poured onto the lower part of the mold, that is, near the center of the DC magnetic field. The molten steel for the surface layer starts solidification at the molten metal level position inside the mold, and the molten steel for the inner layer starts solidification near the center position of the DC magnetic field to form a multi-layer steel sheet. Therefore, the surface layer thickness (mm) D is t
Expressed in more normal use t 1/2 rule, D = GK · ((Yr -H0) / Vs) 1/2 ··· (1) as. Here, Gk coagulation rate coefficient (mm / sec 1/2), Yr
Is the target molten metal level (mm), H0 is the center position of the DC magnetic field (mm)
Here, Vs is a set value of the casting speed (mm / sec). Target thickness of molten steel for surface and inner layers (mm 3 / sec) where W is the thickness (mm) of the multi-layer steel sheet and L is the width (mm) of the cross-sectional area of the multi-layer steel sheet. ) Qar and Qbr are Qar = W.L.Vs- (W-2D). (L-2D) .Vs, Qbr = (W-2D). (L-2D) .Vs (2) Then, the target pouring amount ratio βr of the molten steel for the surface layer and the inner layer, βr = Qar / Qbr (3) is calculated.
【００１２】２） 鋳型内部の湯面レベルと鋳造速度を
測定して、検出した検出湯面レベルと検出鋳造速度よ
り、鋳型内部へ注湯される溶鋼注湯量を推定する。図３
は、湯面レベルプロセスを表す模式図で、水平断面の内
空間面積がＡMDの鋳型４を積分要素で近似し、レベル計
１６を１次遅れ要素で近似する。鋳型内部へ注湯される
溶鋼注湯量Ｑinとピンチロール１０による引き抜き鋼片
量(mm3/秒）Ｑout(＝ＡMD・Ｖ）を入力、検出湯面レベ
ルＹを出力とすると、湯面レベルプロセスの伝達関数Ｇ
は、 Ｇ(Ｓ)＝〔Ｙ(Ｓ)〕／〔Ｑin(Ｓ)−Ｑout(Ｓ)〕 ＝１／ＡMD・〔Ｓ(１＋ＴＳ)〕 ・・・(4) で表される。ここで、Ｖは鋳造速度、ＡMDは鋳型の断面
積(mm2)、Ｔはレベル計１６の時定数(秒)、Ｓはラプラ
ス変換演算子である。鋳型４へ注湯される溶鋼注湯量Ｑ
inをステップ入力(ｄＱin／ｄｔ＝0)と仮定すると湯面
レベルプロセスの離散型状態方程式は、2) The molten metal level inside the mold and the casting speed are measured, and the amount of molten steel poured into the mold is estimated from the detected molten metal level and the detected casting speed. Figure 3
Is a schematic diagram showing a molten metal level process, in which the mold 4 having an internal space area of horizontal cross section of AMD is approximated by an integral element, and the level meter 16 is approximated by a first-order lag element. When the molten steel pouring amount Qin poured into the mold and the amount of steel pieces drawn out by the pinch roll 10 (mm 3 / sec) Qout (= AMD ・ V) are input and the detected molten metal level Y is output, the molten metal level process Transfer function G of
Is expressed by G (S) = [Y (S)] / [Qin (S) −Qout (S)] = 1 / AMD. [S (1 + TS)] (4). Here, V is the casting speed, AMD is the cross-sectional area of the mold (mm 2 ), T is the time constant (seconds) of the level meter 16, and S is the Laplace transform operator. Molten steel pouring amount Q poured into mold 4
Assuming that in is a step input (dQin / dt = 0), the discrete equation of state of the surface level process is
【００１３】[0013]
【数５】 [Equation 5]
【００１４】とすると、 Ｘ(J+1)＝Ａ・Ｘ(J)＋Ｂ・Ｑout(J)， Ｙ(J)＝Ｃ・Ｘ(J) ・・・(6) で表される。ここで、Ｘは３次元の状態変数ベクトル
で、Ｘ1はレベル計１６による鋳型内部の検出湯面レベ
ル、Ｘ2は鋳型内部の湯面レベル、Ｘ3は鋳型へ注湯され
る溶鋼注湯量Ｑinである。鋳型４へ注湯される溶鋼注湯
量Ｑinは、鋳型内部の湯面レベルと鋳造速度を測定して
検出した検出湯面レベルと検出鋳造速度より、 Ｑout(J)＝ＡMD・Ｖ(J) ・・・(7) として、観測器を用いて状態変数Ｘ1，Ｘ2，Ｘ3を次の
状態変数ベクトル推定アルゴリズム 暫定値：Ｘ0(J+1)＝Ａ・Ｘ(J)＋Ｂ・Ｑout(J)， ただし、Ｘ(0)＝0 最終値：Ｘ(J+1)＝Ｘ0(J+1)＋ｆ（Ｙ(J+1)ーＣ・Ｘ0(J+1)） ・・・(8) を用いて推定し、 Ｑin(J+1)＝Ｘ3(J+1) ・・・
（９） より、鋳型４へ注湯される溶鋼注湯量Ｑｉｎを推定す
る。ここで、ｆは観測器のゲインベクトルで、有限時間
制定観測器を用いる場合、Then, X (J + 1) = A * X (J) + B * Qout (J), Y (J) = C * X (J) (6) Here, X is a three-dimensional state variable vector, X 1 is the molten metal level detected inside the mold by the level meter 16, X 2 is the molten metal level inside the mold, and X 3 is the molten steel pouring amount poured into the mold. It is Qin. The molten steel pouring amount Qin to be poured into the mold 4 is Qout (J) = AMD ・ V (J), based on the detected molten metal surface level detected by measuring the molten metal surface level inside the mold and the casting speed.・ As (7), the state variables X 1 , X 2 , and X 3 are calculated using the observer as the following state variable vector estimation algorithm Provisional value: X 0 (J + 1) = A × X (J) + B × Qout (J), where X (0) = 0 final value: X (J + 1) = X 0 (J + 1) + f (Y (J + 1) -C · X 0 (J + 1)) ・ ・・ Estimated using (8), Qin (J + 1) = X 3 (J + 1)
From (9), the molten steel pouring amount Qin to be poured into the mold 4 is estimated. Here, f is the gain vector of the observer, and when using the finite-time enactment observer,
【００１５】[0015]
【数１０】 [Equation 10]
【００１６】で与えられる。またＪは、湯面レベル制御
回数である。ここで、鋳型内部の湯面レベルを測定して
検出するレベル計１６としては、放射線又は熱線を利用
するレベル計、渦流式，電磁式又は磁界式のレベル計、
マイクロ波を利用するレベル計、更には湯面の撮像によ
りレベル認識を行うレベル計等、種々の形式のものが実
用されているが、これらの内から検出精度および応答性
等を考慮して選定する。 ３） 表層および内層用溶鋼の溶鋼貯留槽２，７の内部
の溶鋼高さを測定して、検出した溶鋼高さ(mm)ｌaおよ
びｌbと鋳型内部の検出湯面レベルＹより、各溶鋼貯留
槽２，７の内部の溶鋼ヘッド(mm)ｈaおよびｈbを、 ｈa(J)＝ｌa(J)ーＹ(J)， ｈb(J)＝ｌb(J)ーＹ(J) ・・・(11) で推定する。ここで、溶鋼貯留槽２，７それぞれの内部
の溶鋼高さを検出するレベル計１４，１５としては、レ
ーザ光線を利用するレベル計、マイクロ波を利用するレ
ベル計、電極を用いたレベル計、渦流式のレベル計、更
には湯面の撮像によりレベル認識を行うレベル計等、種
々の形式のものが実用されているが、これらの内から検
出精度および応答性等を考慮して選定する。Is given by J is the number of molten metal level control. Here, as the level meter 16 for measuring and detecting the level of the molten metal inside the mold, a level meter utilizing radiation or heat rays, a vortex type, an electromagnetic type or a magnetic field type level meter,
Various types of level meters, such as level meters that use microwaves and level recognition that is performed by imaging the surface of the molten metal, are in practical use, but of these, selection is made in consideration of detection accuracy and responsiveness. To do. 3) by measuring the inside of the molten steel height of molten steel reservoir 2,7 superficial and inner layer molten steel, from the detected molten steel height (mm) l a and l b and the mold internal detection molten metal surface level Y, each the inside of the molten steel head (mm) h a and h b of the molten steel reservoir 2,7, h a (J) = l a (J) over Y (J), h b ( J) = l b (J) over Estimate using Y (J) (11). Here, as the level meters 14 and 15 for detecting the molten steel height inside the molten steel storage tanks 2 and 7, respectively, a level meter using a laser beam, a level meter using microwaves, a level meter using electrodes, Various types of eddy current type level meters, and level meters for recognizing the level by imaging the surface of the molten metal are in practical use. Among them, selection is made in consideration of detection accuracy and responsiveness.
【００１７】４） 鋳型内部へ注湯される溶鋼注湯量の
前記推定値，各溶鋼貯留槽内部の溶鋼ヘッドの前記推定
値、及び、表層および内層用ストッパーそれぞれの開度
を用いて、指数重み付き最小２乗同定逐次型アルゴリズ
ムを応用して、表層および内層用溶鋼の注湯量補正係数
を推定して、そして注湯量補正係数比を算出する。4) Using the estimated value of the molten steel pouring amount poured into the mold, the estimated value of the molten steel head in each molten steel storage tank, and the opening degree of each of the surface layer and inner layer stoppers, an exponential weighting is performed. The least squares identification sequential algorithm is applied to estimate the pouring amount correction coefficient of the molten steel for the surface layer and the inner layer, and the pouring amount correction coefficient ratio is calculated.
【００１８】各溶鋼貯留槽から各別の注湯ノズルを介し
て鋳型内部に注湯される表層および内層用溶鋼の単位時
間当たりの溶鋼注湯量ＱaおよびＱbは、 Ｑa(J)＝ｋa(J)・ｆa(J)・(2・ｇ・ｈa(J))1/2 ， Ｑb(J)＝ｋb(J)・ｆb(J)・(2・ｇ・ｈb(J))1/2 ・・・(12) で表される。ここで、ｋaは表層用溶鋼の注湯量補正係
数（−：無次元）、ｋbは内層用溶鋼の注湯量補正係数
(-)、ｆaは表層用ストッパーの開度(mm)、ｆbは内層用
ストッパーの開度(mm)、ｇは重力加速度(mm/秒2)であ
る。表層および内層用溶鋼の注湯量補正係数ｋaおよび
ｋbを推定するのに指数重み付き最小２乗同定逐次型ア
ルゴリズムを用いる。鋳型内部へ注湯される溶鋼注湯量
は、 Ｑin(J)＝Ｑa(J)＋Ｑb(J) ＝Ｆt(J)・Ｘ(J) ・・・(13) ただし、The molten steel pouring amounts Q a and Q b per unit time of the molten steel for the surface layer and the inner layer which are poured into the mold from the molten steel storage tanks via the respective pouring nozzles are Q a (J) = k a (J) · f a (J) · (2 · g · h a (J)) 1/2, Q b (J) = k b (J) · f b (J) · (2 · g · h b (J)) is expressed by 1/2 (12). Here, k a is pouring amount correction coefficient of the surface layer for the molten steel (-: dimensionless), k b is pouring amount correction coefficient of the inner layer for the molten steel
(-), the f a of the surface layer for the stopper opening (mm), the f b of the inner stopper for opening (mm), g is the gravitational acceleration (mm / sec 2). An exponentially weighted least squares identification recursive algorithm is used to estimate the pouring amount correction coefficients k a and k b of the molten steel for the surface layer and the inner layer. The amount of molten steel poured into the mold is Q in (J) = Q a (J) + Q b (J) = Ft (J) · X (J) (13)
【００１９】[0019]
【数１４】 [Equation 14]
【００２０】で、Ｆ及びＸは2次元のベクトルである。
Ｆの推定値をθとすると鋳型内部へ注湯される溶鋼注湯
量に次の誤差を生じる。Where F and X are two-dimensional vectors.
When the estimated value of F is θ, the following error occurs in the molten steel pouring amount poured into the mold.
【００２１】[0021]
【数１５】 [Equation 15]
【００２２】この誤差について次の評価関数を定義す
る。The following evaluation function is defined for this error.
【００２３】[0023]
【数１６】 [Equation 16]
【００２４】ここで、ρは1より大きくはない正の重み
とする。ρが１より小さいときは古いデータへの重みを
へらす(過去を忘れる)ことになる。指数重み付き最小２
乗同定逐次型アルゴリズムを用いた係数ベクトルの推定
は、 θ0＝任意(通常0と選ぶ)， Ｐ0＝γ・Ｉ(γは十分大きな正数、Ｉは(2×2)次元の単位行列) ・・・(17) として、Here, ρ is a positive weight not larger than 1. When ρ is less than 1, the weight of old data is reduced (forgetting the past). Exponentially weighted minimum 2
For coefficient vector estimation using the multiplicative identification recursive algorithm, θ 0 = arbitrary (normally choose 0), P 0 = γ · I (γ is a sufficiently large positive number, I is a (2 × 2) -dimensional unit matrix ) ・ ・ ・ (17)
【００２５】[0025]
【数１８】 [Equation 18]
【００２６】により、係数ベクトルθN、即ち表層およ
び内層用溶鋼の注湯量補正係数ｋa(N)およびｋb(N)を推
定し、注湯量補正係数比（−）ｋM(N)を ｋM(N)＝ｋa(N)／ｋb(N) ・・・(19) より算出する。From the above, the coefficient vector θ N , that is, the pouring amount correction coefficients k a (N) and k b (N) of the molten steel for the surface layer and the inner layer is estimated, and the pouring amount correction coefficient ratio (−) k M (N) is calculated. It is calculated from k M (N) = k a (N) / k b (N) (19).
【００２７】５） 各溶鋼貯留槽内部の溶鋼高さを測定
して検出するレベル計１４，１５の検出精度と注湯量制
御に対する要求制御精度より、溶鋼貯留槽内部の検出溶
鋼高さを用いた注湯量計算所定時間を予め決定して定め
ておき、各溶鋼貯留槽内部の検出溶鋼高さの今回値を含
む過去4点の時系列データの変動より、取鍋から溶鋼貯
留槽２，７への溶鋼の注湯状況を判定する。5) Based on the detection accuracy of the level gauges 14 and 15 that measure and detect the molten steel height inside each molten steel storage tank and the required control accuracy for the pouring amount control, the detected molten steel height inside the molten steel storage tank was used. From the ladle to the molten steel storage tanks 2 and 7 based on the changes in the past four points including the current value of the detected molten steel height inside each molten steel storage tank Determine the molten steel pouring status.
【００２８】溶鋼貯留槽２，７の検出溶鋼高さの今回
(J)、前回(J-1)、前前回(J-2)および前前前回(J-3)のデ
ータの差分データ Δｌa1＝ｌa(J)ーｌa(J-1)， Δｌb1＝ｌb(J)ーｌb(J-1)， Δｌa2＝ｌa(J-1)ーｌa(J-2)， Δｌb2＝ｌb(J-1)ーｌb(J-2)， Δｌa3＝ｌa(J-2)ーｌa(J-3)， Δｌb3＝ｌb(J-2)ーｌb(J-3)， ・・・(20) を求め、 (20)式に示す全ての差分データが正の値を持つ場
合、取鍋から溶鋼貯留槽２，７のどちらにも溶鋼が注湯
されていないと判定し、 全ての差分データの内、一つでも負の値を持つ差分
データがある場合、取鍋から溶鋼貯留槽２，７のどちら
かに溶鋼が注湯されていると判定する。This time of molten steel height detected in molten steel storage tanks 2 and 7
(J), the last (J-1), prior to the previous (J-2) and prefrontal previous difference data .DELTA.l data (J-3) a1 = l a (J) over l a (J-1), Δl b1 = l b (J) over l b (J-1), Δl a2 = l a (J-1) over l a (J-2), Δl b2 = l b (J-1) over l b (J -2), Δl a3 = l a (J-2) over l a (J-3), Δl b3 = l b (J-2) over l b (J-3), obtains a ... (20) , If all the difference data shown in Eq. (20) have a positive value, it is determined that molten steel has not been poured from the ladle to the molten steel storage tanks 2 and 7, and If there is even one difference data having a negative value, it is determined that molten steel is being poured from the ladle into one of the molten steel storage tanks 2 and 7.
【００２９】5-1) 取鍋から溶鋼貯留槽２，７のどちら
にも溶鋼が注湯されていない場合は、 表層および内層用溶鋼の注湯量補正係数比の前記推
定値ｋM，溶鋼貯留槽２，７の検出溶鋼高さ，表層およ
び内層用各ストッパー１２，１３の開度比、及び、溶鋼
貯留槽２，７の推定溶鋼ヘッドの比等の鋳造データの、
前記所定時間内の時系列データの更新処理を行い、 取鍋から前記溶鋼貯留槽に溶鋼が注湯されていない
間は、溶鋼貯留槽２，７の溶鋼高さは、溶鋼貯留槽から
鋳型４へ注湯される溶鋼注湯量によつて減少する。従っ
て、表層および内層用溶鋼の実際の注湯量は、溶鋼貯留
槽２，７の溶鋼高さの減少量の関数として表せる。そこ
で、前記所定時間内での表層および内層用溶鋼貯留槽
２，７の検出溶鋼高さの減少量(mm)ΔｌaおよびΔｌ
b（すなわち減少速度），表層および内層用各ストッパ
ー１２，１３の前記所定時間内での平均開度(mm)Ｆaお
よびＦb、及び、表層および内層用溶鋼貯留槽２，７の
内部の前記所定時間内での平均溶鋼ヘッド(mm)Ｈaおよ
びＨbを用いて、前記所定時間内での表層および内層用
溶鋼の実際の注湯量補正係数比ＫHを、5-1) When molten steel is not poured into the molten steel storage tanks 2 and 7 from the ladle, the estimated value k M of the pouring amount correction coefficient ratio of the molten steel for the surface layer and the inner layer, the molten steel storage Casting data such as the detected molten steel height of the tanks 2 and 7, the opening ratios of the stoppers 12 and 13 for the surface and inner layers, and the estimated molten steel head ratio of the molten steel storage tanks 2 and 7,
While the molten steel is not being poured from the ladle into the molten steel storage tank, the molten steel height of the molten steel storage tanks 2 and 7 is determined from the molten steel storage tank to the mold 4 while the time series data is updated within the predetermined time. It decreases depending on the amount of molten steel poured into. Therefore, the actual pouring amount of the molten steel for the surface layer and the inner layer can be expressed as a function of the reduction amount of the molten steel height of the molten steel storage tanks 2, 7. Therefore, the decrease amount (mm) Δl a and Δl of the detected molten steel height in the molten steel storage tanks 2 and 7 for the surface layer and the inner layer within the predetermined time
b (i.e., decreasing speed), the average opening (mm) F a and F b within the predetermined time of the surface layer and the inner layer each stopper 12, 13, and the surface layer and the interior of the inner-layer molten steel reservoir 2,7 using the average molten steel head (mm) H a and H b within the predetermined time, the actual pouring amount correction coefficient ratio K H of the surface layer and the inner layer for the molten steel within the predetermined time,
【００３０】[0030]
【数２１】 [Equation 21]
【００３１】で算出する。It is calculated by
【００３２】 表層および内層用溶鋼の注湯量補正係
数比の前記推定値ｋMの、前記所定時間内の平均値Ｋ
Mと、表層および内層用溶鋼の前記実際の注湯量補正係
数比ＫHとは、計算式モデル誤差等により、一般的には
一致しない。そこで、前記表層・内層用溶鋼の注湯量補
正係数比の推定値ｋMを補正して、実際の注湯量補正係
数比ＫHに漸近させるような補正係数を適応アルゴリズ
ムを適用して算出する。前記補正係数をαとして、αに
よって補正された注湯量補正係数比の推定値ｋMHとして ＫMH(K+1)＝α(K+1)・ＫM(K+1) ・・・(22) を考え、次の適応逐次型アルゴリズム 暫定値：ＫMH 0(K+1)＝α(K)・ＫM(K+1)， ｅ0(K+1)＝ＫH(K+1)ーＫMH 0(K+1)， ただし、α(0)＝1.0 最終値：α(K+1)＝α(K)＋Ｒj ×｛〔ＫH(K+1)ーＫMH 0(K+1)〕/〔1＋Ｒj・ＫM 2(K+1)〕 ｝ ×ＫM(K+1) ・・・(23) より補正係数αを算出する。ここで、Ｒjは補正係数α
を同定するための適応ゲインで、正の大きな値を持つ。
またKは、補正係数αの同定回数である。An average value K of the estimated value k M of the pouring amount correction coefficient ratio of the molten steel for the surface layer and the inner layer within the predetermined time
M and the actual pouring amount correction coefficient ratio K H of the molten steel for the surface layer and the inner layer do not generally match due to a calculation formula model error or the like. Therefore, by correcting the estimated value k M of pouring amount correction coefficient ratio of the surface layer, inner layer of molten steel, is calculated by applying the adaptive algorithm correction coefficient so as to gradually approaches the actual pouring amount correction coefficient ratio K H. Examples The correction coefficient alpha, the estimated value of the pouring amount correction coefficient ratio corrected by alpha k MH as K MH (K + 1) = α (K + 1) · K M (K + 1) ··· (22 ), The following adaptive iterative algorithm provisional value: K MH 0 (K + 1) = α (K) · K M (K + 1), e 0 (K + 1) = K H (K + 1) -K MH 0 (K + 1), where α (0) = 1.0 Final value: α (K + 1) = α (K) + Rj x {[K H (K + 1) -K MH 0 (K + 1)] / [1 + Rj · K M 2 (K + 1)]} × KM (K + 1) (23) to calculate the correction coefficient α. Where Rj is the correction coefficient α
Is an adaptive gain for identifying, and has a large positive value.
K is the number of times the correction coefficient α is identified.
【００３３】5-2) 取鍋から溶鋼貯留槽２，７のどちら
かに溶鋼が注湯されている場合、表層および内層用溶鋼
の注湯量補正係数比の推定値ｋM，溶鋼貯留槽２，７の
検出溶鋼高さ，表層および内層用各ストッパーの開度
比、及び、溶鋼貯留槽２，７の推定溶鋼ヘッドの比等の
鋳造データ、の前記所定時間内の時系列データを初期化
する。5-2) When molten steel is being poured from the ladle into one of the molten steel storage tanks 2 and 7, the estimated value k M of the molten metal pouring amount correction coefficient ratio for the surface and inner layers, molten steel storage tank 2 , 7 detected molten steel height, the opening ratio of each stopper for the surface and inner layers, and the casting data such as the estimated molten steel head ratio of the molten steel storage tanks 2 and 7 are initialized to the time series data within the predetermined time. To do.
【００３４】６） 表層および内層用溶鋼の目標注湯量
比βr，表層および内層用溶鋼の注湯量補正係数比の推
定値ｋM，前記注湯量補正係数比の推定値を補正する補
正係数α、及び、溶鋼貯留槽２，７の推定溶鋼ヘッドｈ
aおよびｈbを用いて、 β＝｛βr／〔(K+1)・ｋM(J)〕｝・｛(ｈb)1/2／(ｈa)1/2｝ ・・・(24) で表層および内層用溶鋼の目標注湯量比βrを補正し
て、今回の注湯量制御のための目標注湯量比βを決定す
る。6) Target pouring amount ratio βr of surface and inner layer molten steel, estimated pouring amount correction coefficient ratio k M of surface and inner layer molten steel, correction coefficient α for correcting the estimated pouring amount correction coefficient ratio, And the estimated molten steel head h of the molten steel storage tanks 2 and 7.
with a and h b, β = {βr / [(K + 1) · k M (J) ]} · {(h b) 1 /2 / (h a) 1/2} ··· (24 ) Is used to correct the target pouring amount ratio βr of the molten steel for the surface layer and the inner layer to determine the target pouring amount ratio β for the current pouring amount control.
【００３５】７） 鋳型内部の検出湯面レベルを目標湯
面レベルに維持する表層および内層用各ストッパー等の
開度調節手段の設定開度和(mm)Ｕを、 Ｕ(J)＝Ｒi・(ＹｒーＹ(J))ーＲp・(Ｙ(J)ーＹ(J-1))＋Ｕ(J-1) ・・・(25) に示す速度型のＰＩ(比例，積分)制御アルゴリズムを適
用して算出して決定する。ここで、Ｒiは積分ゲイン、
Ｒpは比例ゲインである。7) The set sum of opening degrees (mm) U of the opening degree adjusting means such as the stoppers for the surface layer and the inner layer for maintaining the detected molten metal level inside the mold at the target molten metal level, U (J) = R i · (Yr over Y (J)) over R p · (Y (J) over Y (J-1)) + U (J-1) ··· speed type shown in (25) PI (proportional integral) control Apply the algorithm to calculate and determine. Where R i is the integral gain,
R p is a proportional gain.
【００３６】８） 表層および内層用溶鋼の今回の注湯
量制御のための目標注湯量比β，表層および内層用スト
ッパー等の開度調節手段の設定開度和Ｕを用いて、表層
および内層用ストッパー等の開度調節手段の設定開度を Ｕa(J)＝β・Ｕ(J)／（１＋β）， Ｕb(J)＝１・Ｕ(J)／（１＋β） ・・・(26) で算出して決定して実行する。ここで、Ｕaは表層用ス
トッパー１２等の開度調節手段の設定開度(mm)、Ｕbは
内層用ストッパー１３等の開度調節手段の設定開度(mm)
である。8) Using the target pouring amount ratio β for controlling the pouring amount of the molten steel for the surface layer and the inner layer and the set opening sum U of the opening degree adjusting means such as the stoppers for the surface layer and the inner layer, for the surface layer and the inner layer Set the opening of the opening adjusting means such as a stopper as U a (J) = β · U (J) / (1 + β), U b (J) = 1 · U (J) / (1 + β) (26 ), Calculate, determine and execute. Here, U a is a set opening degree (mm) of the opening degree adjusting means such as the surface layer stopper 12, and U b is a set opening degree (mm) of the opening degree adjusting means such as the inner layer stopper 13.
Is.
【００３７】以上述べた制御アルゴリズムを制御周期毎
に繰り返して実行する事により、ノズル詰まりや剥離等
の外乱による注湯ノズルの流量特性の経時的な変化に適
応して、表層および内層用溶鋼の目標注湯量比を補正し
て、表層および内層用溶鋼の注湯量和で鋳型内部の湯面
レベルを制御する事により、応答性よく制御を安定させ
ることができる。つまり、補正係数αによって補正され
た表層および内層用溶鋼の注湯量補正係数比の推定値ｋ
M、及び鋳型内部のレベル計による検出湯面レベルと目
標湯面レベルとの偏差より、各注湯ノズル３，８からの
注湯量の目標注湯量に対する偏差が認識され、この偏差
を最小にするストッパー１２，１３等の開度調節手段の
開度調整が行われることによって、鋳型内部の流動パタ
ーンが適正化され、表層と内層の界面が明瞭で、表面性
状の優れた高品質の複層鋼板を得ることができる。By repeatedly executing the control algorithm described above for each control cycle, it is possible to adapt to changes over time in the flow rate characteristics of the pouring nozzle due to disturbances such as nozzle clogging and separation, and to adjust the surface and inner layer molten steel. It is possible to stabilize the control with good responsiveness by correcting the target pouring amount ratio and controlling the level of the molten metal inside the mold by the sum of the pouring amounts of the molten steel for the surface layer and the inner layer. That is, the estimated value k of the pouring amount correction coefficient ratio of the molten steel for the surface layer and the inner layer corrected by the correction coefficient α
From the deviation between the molten metal level detected by the level meter inside M and the mold and the target molten metal level, the deviation of the pouring amount from each of the pouring nozzles 3 and 8 with respect to the target pouring amount is recognized, and this deviation is minimized. By adjusting the opening degree of the opening degree adjusting means such as the stoppers 12 and 13, the flow pattern inside the mold is optimized, the interface between the surface layer and the inner layer is clear, and the high-quality multi-layer steel sheet having excellent surface properties is obtained. Can be obtained.
【００３８】[0038]
【実施例】図１は、本発明の実施例としての構成を示す
ブロック図である。以下本発明をその実施例を示す図１
に基づいて詳述する。表層用溶鋼１は、図示しない取鍋
からタンディッシュ内部の表層用溶鋼貯留槽２に注湯さ
れた後、該溶鋼貯留槽２より注湯ノズル３を経て通り、
鋳型４の上部に注湯され、鋳型４内での溶鋼の凝固に伴
い表層凝固殻を形成し、該鋳型下方解放端より表層鋼板
５として、ピンチロール１０により内層鋼板９と共に引
き抜かれる。内層用溶鋼６は、図示しない取鍋からタン
ディッシュ内部の内層用溶鋼貯留槽７に注湯された後、
該溶鋼貯留槽７より注湯ノズル８を経て通り、鋳型４の
下部、即ち直流磁界１１の中心位置近傍に注湯され、鋳
型４内での溶鋼の凝固に伴い内層凝固殻を形成し、該鋳
型下方解放端より内層鋼板９として、ピンチロール１０
により表層鋼板５と共に引き抜かれる。この時、前記溶
鋼貯留槽２，７から鋳型４に注湯される溶鋼１，６の注
湯量は、注湯ノズル３，８の湯流入口を上下方向に開閉
するストッパー１２，１３によって調整される。1 is a block diagram showing the configuration of an embodiment of the present invention. FIG. 1 showing an embodiment of the present invention.
Based on. The molten steel 1 for the surface layer is poured from a ladle (not shown) into a molten steel storage tank 2 for the surface layer inside the tundish, and then passes through the molten steel storage tank 2 through a pouring nozzle 3.
The molten metal is poured into the upper part of the mold 4, and a solidified shell of the surface layer is formed as the molten steel solidifies in the mold 4, and the surface layer steel plate 5 is pulled out from the mold lower open end together with the inner layer steel plate 9 by the pinch roll 10. The molten steel 6 for the inner layer is poured into a molten steel storage tank 7 for the inner layer in the tundish from a ladle (not shown),
The molten steel is passed from the molten steel storage tank 7 through the pouring nozzle 8 and poured into the lower part of the mold 4, that is, near the center of the direct-current magnetic field 11, to form an inner layer solidified shell as the molten steel solidifies in the mold 4, As the inner layer steel plate 9 from the lower open end of the mold, pinch roll 10
Is pulled out together with the surface steel plate 5. At this time, the amount of molten steel 1 and 6 poured from the molten steel storage tanks 2 and 7 into the mold 4 is adjusted by stoppers 12 and 13 for vertically opening and closing the molten metal inlets of the pouring nozzles 3 and 8. It
【００３９】１４，１５は、溶鋼貯留槽２，７内部の溶
鋼高さを測定して検出する湯面レベル計で、レーザ光線
を利用するレベル計，マイクロ波を利用するレベル計，
電極を用いたレベル計，渦流式のレベル計、更には湯面
の撮像によりレベル認識を行うレベル計等、種々の形式
のものが実用されているが、これらの内から検出精度お
よび応答性等を考慮して選定する。１６は、鋳型４内部
の湯面レベルを測定して検出する湯面レベル計で、放射
線又は熱線を利用するレベル計，渦流式，電磁式又は磁
界式のレベル計，マイクロ波を利用するレベル計、更に
は湯面の撮像によりレベル認識を行うレベル計等、種々
の形式のものが実用されているが、これらの内から検出
精度および応答性等を考慮して選定する。Reference numerals 14 and 15 are molten metal level gauges for measuring and detecting the molten steel height inside the molten steel storage tanks 2 and 7, and are a level meter using a laser beam, a level meter using a microwave,
Various types of level meters such as level meters using electrodes, eddy current level meters, and level meters that recognize the level by imaging the surface of the molten metal are in practical use. Among these, detection accuracy and responsiveness are available. Select in consideration of. Reference numeral 16 is a level gauge that measures and detects the level of the molten metal inside the mold 4, and is a level meter that uses radiation or heat rays, a vortex type, an electromagnetic or magnetic field type level meter, and a level meter that uses microwaves. Further, various types such as a level meter for recognizing the level by picking up an image of the molten metal surface have been put into practical use, and the selection is made in consideration of the detection accuracy and the responsiveness.
【００４０】表層および内層用溶鋼の注湯量比を一定に
して、鋳型４内部の湯面レベルを目標湯面レベルに維持
する湯面レベル制御器３１は、鋳型４内部に配置された
湯面レベル計１６によって測定して検出した検出湯面レ
ベル２１，溶鋼貯留槽２，７内部に配置された湯面レベ
ル計１４，１５によって測定し検出した溶鋼貯留槽２，
７内部の検出溶鋼高さ２２，２３，表層および内層用各
ストッパーの開度２４，２５、及び、鋳造速度の設定値
３０と検出値２６を入力し、表層および内層用溶鋼の注
湯量比を一定にして、鋳型４内部の湯面レベルを目標湯
面レベルに維持するための、表層および内層用各ストッ
パー等の開度調節手段の設定開度２７，２８を算出して
決定し、表層用の設定開度２７をサーボアンプ１８に、
内層用の設定開度２８をサーボアンプ２０に出力する。A molten metal level controller 31 for maintaining a molten metal level inside the mold 4 at a target molten metal level by keeping the molten metal ratio for the surface layer and the inner layer constant is a molten metal level inside the mold 4. Molten steel level 21 detected and detected by a total of 16 molten steel storage tanks 2 and 7
7 Detected molten steel heights 22 and 23 inside, the opening 24 and 25 of each stopper for surface and inner layers, and the set value 30 and the detected value 26 of the casting speed are input, and the pouring ratio of the molten steel for surface and inner layers is entered. To maintain the level of the molten metal inside the mold 4 at the target level, the preset opening degree 27, 28 of the opening degree adjusting means such as each stopper for the surface layer and the inner layer is calculated and determined to determine the level for the surface layer. Set the opening 27 to the servo amplifier 18,
The set opening 28 for the inner layer is output to the servo amplifier 20.
【００４１】サーボアンプ１８には、ストッパー１２の
開度２４が与えられており、サーボアンプ１８はストッ
パーの開度２４と設定開度２７とを比較し、両者の偏差
を解消するように油圧シリンダ１７にその駆動指令を発
する。そしてこの駆動指令に従った油圧シリンダ１７の
動作により、ストッパー１２の開度が変更される結果、
注湯ノズル３において設定開度２７に実質上等しい開度
が実現される。The opening degree 24 of the stopper 12 is given to the servo amplifier 18, and the servo amplifier 18 compares the opening degree 24 of the stopper with the set opening degree 27 to eliminate the deviation between them. The drive command is issued to 17. The opening of the stopper 12 is changed by the operation of the hydraulic cylinder 17 according to this drive command,
An opening substantially equal to the set opening 27 is realized in the pouring nozzle 3.
【００４２】サーボアンプ２０は、サーボアンプ１８と
同様、ストッパー１３の開度２５と設定開度２８との偏
差を解消するように油圧シリンダ１９にその駆動指令を
発し、この駆動指令に従った油圧シリンダ１９の動作に
より、ストッパー１３の開度が変更される結果、注湯ノ
ズル８において設定開度２８に実質上等しい開度が実現
される。Like the servo amplifier 18, the servo amplifier 20 issues a drive command to the hydraulic cylinder 19 so as to eliminate the deviation between the opening 25 of the stopper 13 and the set opening 28, and the hydraulic pressure according to this drive command is issued. As a result of the opening of the stopper 13 being changed by the operation of the cylinder 19, an opening substantially equal to the set opening 28 is realized in the pouring nozzle 8.
【００４３】湯面レベル制御器３１は、図１のブロック
３１内に示す制御処理を行う；すなわち、 1) 表層および内層用溶鋼の目標注湯量比の算出３２で
は、目標湯面レベルや鋳造速度の設定値３０の変更に基
づいて決定される表層厚を一定とする表層および内層用
溶鋼の目標注湯量比を、前記（１）〜（３）式で算出し
て決定する。The molten metal level controller 31 performs the control process shown in the block 31 of FIG. 1; that is, 1) In the calculation 32 of the target molten metal amount ratio of the molten steel for the surface layer and the inner layer, the target molten metal level and the casting speed are set. The target pouring amount ratio of the molten steel for the surface layer and the inner layer, which is determined based on the change of the set value 30 of (3), is calculated and determined by the formulas (1) to (3).
【００４４】2) 鋳型４内部へ注湯される溶鋼注湯量の
推定３３では、鋳型４内部の湯面レベルと鋳造速度を測
定して、検出した検出湯面レベル２１と検出鋳造速度２
６より、前記（６）〜（１０）式で鋳型４内部へ注湯さ
れる溶鋼注湯量を推定する。 3) 溶鋼貯留槽２，７内部の溶鋼ヘッドの推定３４で
は、溶鋼貯留槽２，７内部の溶鋼高さを測定して、検出
した前記溶鋼貯留槽２，７内部の検出溶鋼高さ２２，２
３と鋳型内部の検出湯面レベル２１より、前記（１１）
式で溶鋼貯留槽２，７内部の溶鋼ヘッドを推定する。2) In the estimation 33 of the amount of molten steel poured into the mold 4, the level of molten metal inside the mold 4 and the casting speed are measured, and the detected level 21 of molten metal detected and the detected casting speed 2
6, the amount of molten steel poured into the mold 4 is estimated by the equations (6) to (10). 3) In the estimation 34 of the molten steel head inside the molten steel storage tanks 2 and 7, the molten steel height inside the molten steel storage tanks 2 and 7 is measured, and the detected molten steel height 22 inside the molten steel storage tanks 2 and 7 is detected. Two
3 and the level 21 of the detected molten metal inside the mold, the above (11)
The molten steel head inside the molten steel storage tanks 2 and 7 is estimated by the formula.
【００４５】4) 表層および内層用溶鋼の注湯量補正係
数比の推定および算出３５では、鋳型４内部へ注湯され
る溶鋼注湯量の推定値と貯留槽２，７内部の溶鋼ヘッド
の推定値及びストッパー１２，１３の開度より、前記
（１２）〜（１８）式で表層および内層用溶鋼の注湯量
補正係数を推定し、前記（１９）式で注湯量補正係数比
を算出する。4) In the estimation and calculation 35 of the molten metal pouring amount correction coefficient ratio of the molten steel for the surface layer and the inner layer, the estimated value of the molten steel pouring amount poured into the mold 4 and the estimated value of the molten steel head inside the storage tanks 2 and 7 are used. Further, from the opening degree of the stoppers 12 and 13, the pouring amount correction coefficient of the molten steel for the surface layer and the inner layer is estimated by the equations (12) to (18), and the pouring amount correction coefficient ratio is calculated by the equation (19).
【００４６】5) 表層および内層用溶鋼の注湯量補正係
数比の推定値を、溶鋼貯留槽２，７内部の検出溶鋼高さ
２２，２３の所定時間内の減少量より算出した実際の注
湯量補正係数比に漸近させるような補正係数の算出３６
は、溶鋼貯留槽２，７内部の溶鋼高さを測定して検出す
るレベル計１４，１５の検出精度と注湯量制御に対する
要求制御精度より、溶鋼貯留槽内部の検出溶鋼高さを用
いた注湯量計算所定時間を予め決定して定めておき、 溶鋼貯留槽２，７内部の検出溶鋼高さ２２，２３の
今回値を含む過去４点の時系列データより、前記（２
０）式で差分データを求め、全ての差分データが正の値
を持つ場合、取鍋から溶鋼貯留槽２，７のどちらにも溶
鋼が注湯されていないと判定し、全ての差分データの
内、一つでも負の値を持つ差分データがある場合、取鍋
から溶鋼貯留槽２，７のどちらかに溶鋼が注湯されてい
ると判定する。5) The actual pouring amount calculated by the estimated value of the pouring amount correction coefficient ratio of the molten steel for the surface layer and the inner layer calculated from the decrease amount of the detected molten steel heights 22 and 23 in the molten steel storage tanks 2 and 7 within a predetermined time. Calculation of the correction coefficient that makes the correction coefficient ratio asymptotic 36
Based on the detection accuracy of the level gauges 14 and 15 that measure and detect the molten steel height inside the molten steel storage tanks 2 and 7 and the required control accuracy for the pouring amount control, the injection using the detected molten steel height inside the molten steel storage tank is performed. A predetermined time for calculating the amount of hot water is determined and set in advance. From the time-series data of the past four points including the current values of the detected molten steel heights 22 and 23 in the molten steel storage tanks 2 and 7, the above (2
If all the difference data have a positive value, it is determined that molten steel has not been poured from the ladle to the molten steel storage tanks 2 and 7, and all the difference data If there is any difference data having a negative value, it is determined that the molten steel is being poured from the ladle into one of the molten steel storage tanks 2 and 7.
【００４７】 取鍋から前記溶鋼貯留槽２，７のどち
らにも溶鋼が注湯されていない場合、表層および内層用
溶鋼の注湯量補正係数比の推定値，各溶鋼貯留槽内部の
検出溶鋼高さ２２，２３，各ストッパーの開度比、及
び、溶鋼貯留槽２，７内部の推定溶鋼ヘッドの比等の鋳
造データの、前記所定時間内の時系列データの更新処理
を行う。前記所定時間内での溶鋼貯留槽２，７内部の検
出溶鋼高さ２２，２３の減少量と各ストッパー１２，１
３の開度比の前記所定時間内での平均値と各貯留槽２，
７内部の推定溶鋼ヘッドの比の前記所定時間内での平均
値より、前記（２１）式で前記所定時間内での表層およ
び内層用溶鋼の実際の注湯量補正係数比を算出し、注湯
量補正係数比の推定値の前記所定時間内での平均値を前
記所定時間内での実際の注湯量補正係数比に漸近させる
ような補正係数を、前記（２３）式で算出する。When the molten steel is not poured from the ladle into either of the molten steel storage tanks 2 and 7, the estimated value of the molten metal correction coefficient ratio of the molten steel for the surface layer and the inner layer, the detected molten steel height inside each molten steel storage tank Update processing of time series data of the casting data such as the lengths 22 and 23, the opening ratio of each stopper, and the ratio of the estimated molten steel head in the molten steel storage tanks 2 and 7 within the predetermined time is performed. The amount of decrease in the detected molten steel heights 22, 23 inside the molten steel storage tanks 2, 7 and the stoppers 12, 1 within the predetermined time
The average value of the opening ratios of 3 and the respective storage tanks 2,
7. From the average value of the ratio of the estimated molten steel head inside the predetermined time, the actual pouring amount correction coefficient ratio of the molten steel for the surface layer and the inner layer within the predetermined time is calculated by the equation (21), and the pouring amount is calculated. A correction coefficient that makes the average value of the estimated value of the correction coefficient ratio within the predetermined time asymptotically approximate to the actual pouring amount correction coefficient ratio within the predetermined time is calculated by the equation (23).
【００４８】 取鍋から溶鋼貯留槽２，７のどちらか
に溶鋼が注湯されている場合、表層および内層用溶鋼の
注湯量補正係数比の推定値と、各貯留槽２，７内部の検
出溶鋼高さ２２，２３と、各ストッパー１２，１３の開
度２４，２５の開度比と、各貯留槽２，７内部の推定溶
鋼ヘッドの比等の、前記所定時間内の時系列データを
を、初期化する。When the molten steel is poured from the ladle into one of the molten steel storage tanks 2 and 7, the estimated value of the molten metal pouring amount correction coefficient ratio of the surface layer and the inner layer molten steel and the detection inside each of the storage tanks 2 and 7 are performed. The time-series data within the predetermined time, such as the molten steel heights 22 and 23, the opening ratios 24 and 25 of the stoppers 12 and 13, and the ratios of the estimated molten steel heads in the storage tanks 2 and 7, are shown. Is initialized.
【００４９】6) 表層および内層用溶鋼の目標注湯量比
の補正３７では、ノズル詰まりや剥離等の外乱による注
湯ノズル３，８の流量特性の経時的な変化に適応するた
め、注湯量補正係数比の推定値と、これを実際の注湯量
補正係数比に漸近させるような補正係数と、溶鋼貯留槽
２，７内部の溶鋼ヘッドの推定値とを用いて、表層およ
び内層用溶鋼の目標注湯量比を前記（２４）式で補正し
て、今回の注湯量制御のための目標注湯量比を算出して
決定する。6) In the correction 37 of the target pouring amount ratio of the molten steel for the surface layer and the inner layer, the pouring amount correction is performed in order to adapt to the change over time in the flow rate characteristics of the pouring nozzles 3 and 8 due to disturbances such as nozzle clogging and separation. Using the estimated value of the coefficient ratio, the correction coefficient that makes the actual molten metal correction coefficient ratio asymptotic to this, and the estimated value of the molten steel head inside the molten steel storage tanks 2 and 7, the target of the molten steel for the surface layer and the inner layer The target pouring amount ratio for the current pouring amount control is calculated and determined by correcting the pouring amount ratio by the formula (24).
【００５０】7) 表層および内層用ストッパー等の開度
調節手段の設定開度和の算出３８では、前記（２５）式
に示す速度型のＰＩ（比例，積分）制御アルゴリズムを
適用して、鋳型４内部に配置したレベル計１６によって
測定して検出した検出湯面レベル２１を、目標湯面レベ
ルに維持するための、表層および内層用ストッパー等の
開度調節手段の設定開度和を算出して決定する。7) In the calculation 38 of the set opening degree of the opening degree adjusting means such as the stoppers for the surface layer and the inner layer, the speed type PI (proportional, integral) control algorithm shown in the equation (25) is applied to the mold. 4 The sum of set opening degrees of opening degree adjusting means such as stoppers for the surface layer and the inner layer for maintaining the detected molten metal level 21 measured and detected by the level meter 16 arranged inside the target molten metal level To decide.
【００５１】8) 表層および内層用ストッパー等の開度
調節手段の設定開度を算出して決定する設定開度算出３
９では、今回の注湯量制御のための目標注湯量比と、鋳
型４内部の検出湯面レベル２１を目標湯面レベルに維持
するためのストッパー等の開度調節手段の設定開度和を
用いて、前記（２６）式でストッパー等の開度調節手段
それぞれの設定開度を算出して決定する。8) Set opening calculation 3 for calculating and setting the set opening of the opening adjusting means such as the stoppers for the surface layer and the inner layer
In 9, the target pouring amount ratio for the present pouring amount control and the set opening sum of the opening adjusting means such as a stopper for maintaining the detected molten metal level 21 inside the mold 4 at the target molten metal level are used. Then, the set opening degree of each opening adjusting means such as a stopper is calculated and determined by the equation (26).
【００５２】湯面レベル制御器３１は、以上の処理を制
御周期毎に繰り返して実行し、目標湯面レベルや鋳造速
度の設定値変更に応じて、表層および内層用溶鋼の目標
注湯量に対する変動を最小にしつつ、鋳型４内部の検出
湯面レベル２１を目標湯面レベルに維持する。The molten metal level controller 31 repeatedly executes the above-mentioned processing for each control cycle, and changes with respect to the target pouring amount of the molten steel for the surface layer and the inner layer in response to changes in the target molten metal level and the set value of the casting speed. While maintaining the minimum, the detected molten metal level 21 inside the mold 4 is maintained at the target molten metal level.
【００５３】図４は、本発明による湯面レベル制御方法
のソフト的な評価実験結果を示す図である。図の横軸は
時間(秒)であり、図の最上段は表層および内層用各スト
ッパー等の開度調節手段の設定開度と鋳造速度の設定値
を、２段目は表層および内層用溶鋼の注湯量比の目標値
と制御値(点線)を、３段目は鋳型内部の湯面レベルの目
標値と制御値(点線)を示し、最下段は鋳型内部の表層お
よび内層用溶鋼の境界位置の目標値と制御値(点線)との
比較を示す。これらはシミュレーシヨン結果である。図
４に示すように、表層および内層用溶鋼の注湯量比，鋳
型内部の湯面レベル、及び、表層および内層用溶鋼の境
界位置は、それぞれの目標値をほぼ維持して推移してお
り、本発明による湯面レベル制御方法の制御性能は高
く、応答性よく制御の安定性が高い湯面レベル制御が実
現される。FIG. 4 is a diagram showing the results of a software evaluation experiment of the molten metal level control method according to the present invention. The horizontal axis of the figure is time (seconds), the uppermost stage of the figure shows the set values of the opening degree adjusting means such as each stopper for the surface layer and the inner layer and the set value of the casting speed, and the second stage shows the molten steel for the surface layer and the inner layer The target value and control value (dotted line) of the pouring amount ratio of 3 are shown, the third step shows the target value and control value (dotted line) of the molten metal level inside the mold, and the bottom step is the boundary between the molten steel for the surface layer and the inner layer inside the mold. The comparison between the target value of the position and the control value (dotted line) is shown. These are simulation results. As shown in FIG. 4, the molten metal pouring ratio of the surface layer and the inner layer, the level of the molten metal inside the mold, and the boundary position of the surface layer and the inner layer of the molten steel have maintained their respective target values. The molten metal level control method according to the present invention has high control performance, and realizes the molten metal level control with high responsiveness and high control stability.
【００５４】[0054]
【発明の効果】本発明による湯面レベル制御方法によ
り、表層および内層用溶鋼の各注湯ノズルにおいて生じ
る注湯量の目標注湯量に対する変動を最小にすることが
でき、安定した注湯が実現される結果、鋳型への注湯が
安定して行え、表層および内層の界面が明瞭な表面性状
の優れた高品質の複層鋼板を得ることができる等、本発
明は製品鋼板の品質向上に優れた効果を奉する。According to the molten metal level control method of the present invention, it is possible to minimize fluctuations in the amount of molten metal produced in each molten metal pouring nozzle for the surface layer and the inner layer with respect to the target amount of molten metal, and to realize stable molten metal pouring. As a result, it is possible to stably pour into the mold, obtain a high-quality multi-layered steel sheet with excellent surface properties with clear interface between the surface layer and the inner layer, etc. Provide the effect.
【図１】 本発明を一態様で実施する鋳造設備の構成概
要を示す縦断面図であり、本発明を実施する電気要素は
ブロックで示す。FIG. 1 is a vertical cross-sectional view showing a schematic configuration of a casting facility for carrying out the present invention in one aspect, and electric elements for carrying out the present invention are indicated by blocks.
【図２】 図１に示す湯面レベル制御器３１の、情報処
理過程および内容を示すフロ−形式のブロック図であ
る。FIG. 2 is a flow-type block diagram showing an information processing process and contents of the molten metal level controller 31 shown in FIG.
【図３】 図１に示す鋳型４の、溶鋼注入と湯面レベル
の関係を示すブロック図である。FIG. 3 is a block diagram showing a relationship between molten steel injection and molten metal level of the mold 4 shown in FIG.
【図４】 本発明による湯面レベル制御方法の、シミュ
レ−ションによる制御応答性を示すタイムチャ−トであ
る。FIG. 4 is a time chart showing the control response by simulation of the molten metal level control method according to the present invention.
１，６：表層，内層用溶鋼 ２，７：表
層，内層用溶鋼貯留槽 ３，８：表層，内層 用注湯ノズル ４：鋳
型 ５，９：表層，内層鋼板 １０：ピ
ンチロール １１：直流磁界 １２，１３：表
層，内層用ストッパー １４，１５：表層，内層用溶鋼貯留槽内部の湯面レベル
計 １６：鋳型内部の湯面レベル計 １７，１９：表
層，内層用油圧シリンダ １８，２０：表層，内層用サーボアンプ ２１：鋳型内部の 検出湯面レベル ２２，２３：表層，内層用溶鋼貯留槽内部の検出溶鋼高
さ ２４，２５：表層，内層用ストッパー開度 ２６：検
出鋳造速度 ２７，２８：表層，内層用ストッパーの設定開度 ２９：ピンチロール駆動系 ３０：鋳
造速度の設定値 ３１：湯面レベル制御器 ３２：表層および内層用溶鋼の目標注湯量比の算出 ３３：鋳型内部へ注湯される溶鋼注湯量の推定 ３４：溶鋼貯留槽内部の溶鋼ヘッドの推定 ３５：表層および内層用溶鋼の注湯量補正係数比の推定
および算出 ３６：注湯量補正係数比の推定値を補正する補正係数の
算出 ３７：表層・内層用溶鋼の目標注湯量比の補正 ３８：表層・内層用ストッパーの設定開度和の算出 ３９：表層・内層用ストッパーの設定開度の算出1,6: Surface layer, inner layer molten steel 2,7: Surface layer, inner layer molten steel storage tank 3,8: Surface layer, inner layer pouring nozzle 4: Mold 5,9: Surface layer, inner layer steel plate 10: Pinch roll 11: DC magnetic field 12, 13: Stopper for surface layer, inner layer 14, 15: Surface level meter inside molten steel storage tank for surface layer, inner layer 16: Level surface meter inside mold 17, 19: Hydraulic cylinder for surface layer, inner layer 18, 20: Surface layer , Inner layer servo amplifier 21: Detected molten metal level inside the mold 22, 23: Surface layer, detected molten steel height inside inner layer molten steel storage tank 24, 25: Surface layer, inner layer stopper opening 26: Detected casting speed 27, 28 : Opening degree of stoppers for surface layer and inner layer 29: Pinch roll drive system 30: Set value of casting speed 31: Level controller of molten metal surface 32: Calculation of target pouring amount ratio of molten steel for surface layer and inner layer 33: Pouring into mold Hot water Of molten steel pouring amount 34: Estimation of molten steel head inside molten steel storage tank 35: Estimation and calculation of pouring amount correction coefficient ratio of molten steel for surface and inner layers 36: Correction factor for correcting pouring amount correction coefficient ratio estimated value Calculation 37: Correction of target pouring amount ratio of molten steel for surface / inner layer 38: Calculation of set opening sum of stopper for surface / inner layer 39: Calculation of set opening of stopper for surface / inner layer
───────────────────────────────────────────────────── フロントページの続き (72)発明者 竹 内 栄 一 千葉県富津市新富20−１ 新日本製鐵株式 会社技術開発本部内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Eiichi Takeuchi 20-1 Shintomi, Futtsu-shi, Chiba Nippon Steel Corporation Corporate Technology Development Division
Claims (2)
つの溶鋼貯留槽のそれぞれより開度調節手段および注湯
ノズルを介して異種溶鋼を１つの鋳型の内部に注ぎ分
け、溶鋼から直接に複層鋼板を連続鋳造するにおいて、 鋳型内部の湯面レベルと鋳造速度より溶鋼注湯量を算出
し、 溶鋼貯留槽それぞれの溶鋼高さと鋳型内部の湯面レベル
より、溶鋼貯留槽それぞれの溶鋼ヘッドを算出し、 算出した溶鋼注湯量および溶鋼ヘッド、ならびに、前記
開度調節手段の開度を用いて、表層，内層用溶鋼の第１
注湯量補正係数比を算出し、 取鍋から前記溶鋼貯留槽のどちらにも溶鋼が注湯されて
いない場合、溶鋼貯留槽それぞれの溶鋼高さ減少速度を
用いて、表層，内層用溶鋼の第２注湯量補正係数比を算
出し、 第１注湯量補正係数比の時系列平均値を、第２注湯量補
正係数比に漸近させる補正係数を算出し、 表層，内層用溶鋼の目標注湯量比，第１注湯量補正係数
比，前記補正係数、及び、溶鋼貯留槽それぞれの溶鋼ヘ
ッドの比を用いて、表層，内層用溶鋼の目標注湯量比補
正計算式モデルにより、目標注湯量比を補正して更新
し、 鋳型内部の湯面レベルを目標湯面レベルに維持するため
の開度調節手段の開度和を算出し、 該開度和および目標注湯量比を用いて、開度調節手段そ
れぞれの所要開度を算出して設定する、ことを特徴とす
る、複層鋼板の連続鋳造における湯面レベル制御方法。1. Two independent inside of one tundish.
When the different molten steels are separately poured into one mold from each of the two molten steel storage tanks through the opening adjusting means and the pouring nozzle, and the multi-layer steel plate is continuously cast directly from the molten steel, the level of the molten metal inside the mold is The molten steel pouring amount was calculated from the casting speed, and the molten steel pouring amount of each molten steel storage tank and the molten steel head of each molten steel storage tank were calculated from the molten metal level inside the mold. Of the molten steel for the surface layer and the inner layer by using the opening degree of the degree adjusting means.
When the molten metal correction coefficient ratio is calculated and molten steel is not poured from the ladle to either of the molten steel storage tanks, the molten steel height decreasing rate of each molten steel storage tank is used to determine the 2 Calculate the pouring amount correction coefficient ratio, and calculate the correction factor that makes the time-series average of the first pouring amount correction coefficient ratio asymptotic to the second pouring amount correction coefficient ratio. , The first pouring amount correction coefficient ratio, the correction coefficient, and the ratio of the molten steel heads of the molten steel storage tanks are used to correct the target pouring amount ratio by the target pouring amount ratio correction calculation model for the surface and inner layers The sum of the opening degrees of the opening degree adjusting means for maintaining the molten metal level inside the mold at the target molten metal level is calculated, and the opening degree adjusting means is calculated using the sum of the opening degrees and the target pouring amount ratio. Multi-layer, characterized in that each required opening is calculated and set Molten metal surface level control method in the continuous casting of the plate.
た溶鋼貯留槽に区分けし、該両者の溶鋼貯留槽より異種
溶鋼を各別の注湯ノズルを用いて鋳型内部に注ぎ分け、
前記両者の溶鋼貯留槽の注湯羽口にストッパー等の開度
調節手段と、前記両者の溶鋼貯留槽内部の溶鋼高さを測
定して検出する各別のレベル計、及び鋳型内部の湯面レ
ベルを測定して検出するレベル計を設け、さらに鋳型内
部に注湯された異種溶鋼の混合抑制のため直流磁界を作
用させ、溶鋼から直接、表層，内層の界面が明瞭で表面
性状の優れた複層鋼板を連続鋳造するにおいて、 １） 目標湯面レベルや鋳造速度の設定値変更に基づい
て決定される、表層厚を一定とする表層，内層用溶鋼の
目標注湯量比計算式モデルにより、表層，内層用溶鋼の
目標注湯量比を算出し、 ２） 鋳型内部の湯面レベルと鋳造速度を測定して検出
した検出湯面レベルと検出鋳造速度より、鋳型内部へ注
湯される溶鋼注湯量推定計算式モデルにより、鋳型内部
へ注湯される溶鋼注湯量を推定し、 ３） 前記両者の溶鋼貯留槽内部の溶鋼高さを測定して
検出した溶鋼貯留槽内部の検出溶鋼高さと前記鋳型内部
の検出湯面レベルより、前記両者の溶鋼貯留槽内部の溶
鋼ヘッドを推定し、 ４） 前記鋳型内部へ注湯される溶鋼注湯量の推定値，
前記両者の溶鋼貯留槽内部の溶鋼ヘッドの推定値、及
び、表層，内層用ストッパーの開度を用いて、指数重み
付き最小２乗同定逐次型アルゴリズムを応用した表層，
内層用溶鋼の注湯量補正係数推定計算式モデルにより、
表層，内層用溶鋼の注湯量補正係数を推定して注湯量補
正係数比ＫMを算出し、 ５） 前記溶鋼貯留槽内部の溶鋼高さを測定して検出す
るレベル計の検出精度と注湯量制御に対する要求制御精
度より、溶鋼貯留槽内部の検出溶鋼高さを用いた注湯量
計算所定時間を予め決定して定めておき、前記両者の溶
鋼貯留槽内部の検出溶鋼高さの今回値を含む過去4点の
時系列データの変動より、取鍋から前記両者の溶鋼貯留
槽への溶鋼の注湯状況を判定し、 5-1) 取鍋から前記両者の溶鋼貯留槽のどちらにも溶鋼
が注湯されていない場合、 前記表層，内層用溶鋼の注湯量補正係数比の推定
値，前記両者の溶鋼貯留槽内部の検出溶鋼高さ，表層，
内層用ストッパーの開度比、及び、前記両者の溶鋼貯留
槽内部の推定溶鋼ヘッドの比等の鋳造データの前記所定
時間内の時系列データの更新処理を行い、 前記所定時間内の前記両者の溶鋼貯留槽内部の検出
溶鋼高さの減少量を用いて、表層，内層用溶鋼の注湯量
補正係数比計算式モデルにより、前記所定時間内での実
際の表層，内層用溶鋼の注湯量補正係数比を算出し、 適応アルゴリズムを応用して、前記表層，内層用溶
鋼の注湯量補正係数比の推定値の前記所定時間内での平
均値を、前記表層，内層用溶鋼の実際の注湯量補正係数
比に漸近させるような補正係数を算出し、 5-2) 取鍋から前記両者の溶鋼貯留槽のどちらかに溶鋼
が注湯されている場合前記表層，内層用溶鋼の注湯量補
正係数比の推定値，前記両者の溶鋼貯留槽内部の検出溶
鋼高さ，表層，内層用ストッパーの開度比、及び、前記
溶鋼貯留槽内部の推定溶鋼ヘッドの比等の鋳造データの
前記所定時間内の時系列データを初期化し、 ６） 前記表層，内層用溶鋼の目標注湯量比，前記表
層，内層用溶鋼の注湯量補正係数比の推定値，前記注湯
量補正係数比の推定値を補正する補正係数、及び、前記
両者の溶鋼貯留槽内部の推定溶鋼ヘッドの比を用いて、
表層，内層用溶鋼の目標注湯量比補正計算式モデルによ
り、前記表層，内層用溶鋼の目標注湯量比を補正して、
今回の注湯量制御のための目標注湯量比を決定し、 ７） 前記鋳型内部の検出湯面レベルを目標湯面レベル
に維持する表層，内層用ストッパー等の開度調節手段の
設定開度和を比例および積分制御アルゴリズムを適用し
て算出して決定し、 ８） 前記表層，内層用溶鋼の今回の注湯量制御のため
の目標注湯量比，前記表層，内層用ストッパー等の開度
調節手段の設定開度和を用いて、表層，内層用ストッパ
ー等の開度調節手段の設定開度計算式モデルにより、表
層，内層用ストッパー等の開度調節手段の設定開度を算
出して決定して実行する、ことを特徴とする、複層鋼板
の連続鋳造における湯面レベル制御方法。2. The inside of one tundish is divided into two independent molten steel storage tanks, and different molten steels are poured from the both molten steel storage tanks into the mold using separate pouring nozzles.
An opening adjusting means such as a stopper at the pouring tuyere of the molten steel storage tanks of the both, each level gauge for measuring and detecting the molten steel height inside the molten steel storage tanks of the both, and the molten metal inside the mold A level meter that measures and detects the level is provided, and a direct current magnetic field is applied to suppress the mixing of different molten steel poured inside the mold, and the interface between the surface layer and the inner layer is clear from the molten steel and the surface properties are excellent. In continuous casting of multi-layer steel sheet, 1) By the target pouring amount ratio calculation formula model of the surface layer and the inner layer molten steel, which is determined based on the change of the target melt level and the set value of the casting speed, The target pouring amount ratio of the molten steel for the surface layer and the inner layer is calculated, and 2) the molten steel pouring into the mold from the detected molten metal level and the detected casting speed detected by measuring the molten metal level inside the mold and the casting speed. Into the mold by the calculation model 3) Estimating the molten steel pouring amount to be poured, 3) From the detected molten steel height inside the molten steel storage tank detected by measuring the molten steel height inside both molten steel storage tanks and the detected molten metal surface level inside the mold, Estimating the molten steel head inside both molten steel storage tanks, 4) Estimated value of the molten steel pouring amount poured into the mold,
A surface layer applying an exponentially weighted least squares identification recursive algorithm using the estimated values of the molten steel heads in the molten steel storage tanks of the both and the opening degrees of the stoppers for the surface layer and the inner layer,
Based on the calculation formula model for estimating the pouring amount correction coefficient for molten steel for the inner layer,
The molten metal correction coefficient for the surface and inner layers is estimated to calculate the molten metal amount correction coefficient ratio K M , and 5) the detection accuracy of the level gauge and the molten metal amount measured by measuring the molten steel height inside the molten steel storage tank. Based on the required control accuracy for control, a predetermined time for pouring the molten metal using the detected molten steel height inside the molten steel storage tank is determined and set in advance, and the current value of the detected molten steel height inside both molten steel storage tanks is included. Based on the changes in the time-series data of the past four points, the pouring status of molten steel from the ladle to the molten steel storage tanks of both of the above was judged, and 5-1) molten steel was stored in both of the molten steel storage tanks of the ladle and of the above. When the molten steel is not poured, the estimated value of the pouring amount correction coefficient ratio of the molten steel for the surface layer and the inner layer, the detected molten steel height inside the molten steel storage tanks of the both, the surface layer,
The opening ratio of the stopper for the inner layer, and update processing of the time-series data within the predetermined time of the casting data such as the ratio of the estimated molten steel head inside the molten steel storage tank of the both, and the both within the predetermined time Using the reduction amount of the detected molten steel height in the molten steel storage tank, the molten metal pouring amount correction coefficient for the surface layer and the inner layer is calculated by the ratio calculation model, and the actual molten metal pouring amount correction coefficient for the surface layer and the inner layer within the specified time is calculated. The ratio is calculated and the adaptive algorithm is applied to calculate the average pouring amount correction coefficient of the molten steel for the surface layer and the inner layer within the predetermined time, and the actual pouring amount correction for the surface layer and the inner layer is corrected. 5-2) When a molten steel is being poured from the ladle into one of the molten steel storage tanks of the two, a correction coefficient is calculated so as to be asymptotic to the coefficient ratio. The estimated value of the 6) Initialize time series data of casting data such as height, surface layer, opening ratio of stoppers for inner layer, and ratio of estimated molten steel head in the molten steel storage tank within the predetermined time, 6) Target molten metal pouring amount ratio, estimated value of pouring amount correction coefficient ratio of the surface layer and inner layer molten steel, correction coefficient for correcting estimated value of pouring amount correction coefficient ratio, and estimated molten steel inside the molten steel storage tanks of both Using the head ratio,
The target pouring amount ratio correction calculation model of the surface layer and inner layer molten steel is used to correct the target pouring amount ratio of the surface layer and inner layer molten steel.
The target pouring amount ratio for the current pouring amount control is determined, and 7) the sum of the set opening amounts of the opening adjustment means such as the surface layer and the inner layer stopper that maintains the detected molten metal surface level inside the mold at the target molten metal level. Is calculated by applying a proportional and integral control algorithm, and 8) a target pouring amount ratio for controlling the pouring amount of the molten steel for the surface layer and the inner layer at this time, and opening degree adjusting means such as the surface layer and the stopper for the inner layer. Using the sum of the set opening degrees of the above, the set opening degree of the opening adjustment means for the surface layer, the inner layer stopper, etc. is calculated and determined by the set opening degree calculation model of the opening degree adjustment means for the surface layer, the inner layer stopper, etc. A molten metal level control method in continuous casting of multi-layer steel sheet, which is characterized by being performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5013594A JP2771946B2 (en) | 1994-03-22 | 1994-03-22 | Metal surface level control method in continuous casting of multi-layer steel sheet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5013594A JP2771946B2 (en) | 1994-03-22 | 1994-03-22 | Metal surface level control method in continuous casting of multi-layer steel sheet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07256419A true JPH07256419A (en) | 1995-10-09 |
| JP2771946B2 JP2771946B2 (en) | 1998-07-02 |
Family
ID=12850709
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5013594A Expired - Lifetime JP2771946B2 (en) | 1994-03-22 | 1994-03-22 | Metal surface level control method in continuous casting of multi-layer steel sheet |
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| Country | Link |
|---|---|
| JP (1) | JP2771946B2 (en) |
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| JP2017030012A (en) * | 2015-07-31 | 2017-02-09 | 新日鐵住金株式会社 | Continuous casting method of double-layered cast slab and continuous casting apparatus |
| WO2017073784A1 (en) * | 2015-10-30 | 2017-05-04 | 新日鐵住金株式会社 | Continuous manufacturing device and continuous manufacturing method for multilayer slab |
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1994
- 1994-03-22 JP JP5013594A patent/JP2771946B2/en not_active Expired - Lifetime
Cited By (8)
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|---|---|---|---|---|
| JP2017030012A (en) * | 2015-07-31 | 2017-02-09 | 新日鐵住金株式会社 | Continuous casting method of double-layered cast slab and continuous casting apparatus |
| WO2017073784A1 (en) * | 2015-10-30 | 2017-05-04 | 新日鐵住金株式会社 | Continuous manufacturing device and continuous manufacturing method for multilayer slab |
| US10987730B2 (en) | 2015-10-30 | 2021-04-27 | Nippon Steel Corporation | Continuous casting apparatus and continuous casting method for multilayered slab |
| CN107092239A (en) * | 2016-02-17 | 2017-08-25 | 宝山钢铁股份有限公司 | Blast furnace casting amount estimating device and method |
| CN107092239B (en) * | 2016-02-17 | 2020-03-06 | 宝山钢铁股份有限公司 | Blast furnace iron output estimation device and method |
| CN112188940A (en) * | 2018-06-08 | 2021-01-05 | 日本制铁株式会社 | Method, device and program for controlling continuous casting process of multilayer cast slab |
| CN112188940B (en) * | 2018-06-08 | 2022-04-29 | 日本制铁株式会社 | Method and apparatus for controlling continuous casting process of multilayer cast plate, and recording medium |
| JP2020075286A (en) * | 2018-11-06 | 2020-05-21 | 日本製鉄株式会社 | Apparatus, method, and program for estimating flow characteristics in bilayer-bullet continuous-casting process, and method for controlling bilayer-billet continuous-casting process |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2771946B2 (en) | 1998-07-02 |
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