KR101917449B1 - Mould oscillating apparatus and control method for the same - Google Patents

Abstract

According to an embodiment of the present invention, a mold vibration apparatus and a control method of the apparatus are disclosed. The mold vibration apparatus according to an embodiment of the present invention includes an oscillator for vibrating a mold in response to a control signal and outputting a displacement signal indicating a displacement of the mold, And a control unit for adjusting the phase and outputting the control signal in response to the displacement signal and the reference signal.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mold vibration apparatus,

The present application relates to a device for vibrating a mold in a continuous casting process and a control method of the device.

The mold equipment used in the continuous casting machine is a facility for continuously producing the cast steel by cooling the molten steel supplied from the tundish. The casting equipment consists of a mold for primarily solidifying molten steel and an oscillator for vibrating the mold vertically.

When the casting of the cast steel is performed, the mold is vertically vibrated by the operation of the oscillator, thereby controlling the inflow of the lubricant between the mold wall and the casting solidification casting. The breaking-out of molten steel due to the bursting of the solidification film due to the friction force generated between the mold wall and the solidification foil by the introduction of the lubricant can be prevented. For normal lubrication, the vibration of the mold should be adjusted appropriately to ensure that the powder, which is a lubricant, flows smoothly between the mold wall and the solidified film.

Published Japanese Patent Application No. 2008-0022541

According to one embodiment of the present invention, there is provided a mold vibration device capable of appropriately vibrating a mold.

According to one embodiment of the present invention, a control method of a mold vibration apparatus capable of appropriately vibrating a mold is provided.

The mold vibration apparatus according to an embodiment of the present invention includes an oscillator for vibrating a mold in response to a control signal and outputting a displacement signal indicating a displacement of the mold, And a control unit for adjusting the phase and outputting the control signal in response to the displacement signal and the reference signal.

The controller of the mold vibration apparatus according to an embodiment of the present invention may output the control signal such that the displacement signal follows the reference signal.

The oscillator of the mold vibrating apparatus according to an embodiment of the present invention may include an actuator for causing movement of the mold, and may output information about a displacement generated by the actuator as the displacement signal.

The controller of the mold vibration apparatus according to an embodiment of the present invention may adjust the phase of the reference signal for each sampling period for sampling the displacement signal.

을 이용하여 위상 보정량(Ф_d(k))을 계산하고, 보정 전 기준 신호의 위상을 상기 위상 보정량(Ф_d(k))만큼 변화시켜 상기 기준 신호의 위상을 조정할 수 있다. 여기서, A·y(k·Ts)는 k번째 샘플링 시점에서의 상기 목표 진동 신호의 값이고, Pm(k·Ts)는 k번째 샘플링 시점에서의 상기 변위 신호의 값이고, sgn()은 부호 함수이고, y(k·Ts)는 k번째 샘플링 시점에서의 목표 진동 신호이고, y((k-1)·Ts)는 k-1번째 샘플링 시점에서의 목표 진동 신호이고, K_pp는 위상 보상의 비례제어 이득이고, K_ip는 위상 보상의 적분제어 이득이다.The controller of the mold vibration apparatus according to an embodiment of the present invention calculates the tracking error e_t (k) using the equation e_t (k) = A · y (k · Ts) - Pm (k · Ts) And calculates a phase compensation input value? _In (k) using the equation? _In (k) = e_t (k) X sgn (y (k? Ts) -y , Equation

(K), and adjusts the phase of the reference signal by changing the phase of the reference signal before correction by the phase correction amount? _D (k). (K · Ts) is the value of the displacement signal at the k-th sampling time point, and sgn () is the value of the target vibration signal at the k-th sampling time point, (K-1) Ts) is a target oscillation signal at the (k-1) th sampling point, and K_pp is a target oscillation signal at the Proportional control gain, and K_ip is the integral control gain of the phase compensation.

The controller of the mold vibration apparatus according to an embodiment of the present invention may further adjust the amplitude of the reference signal according to the difference between the amplitude of the target vibration signal and the amplitude of the displacement signal.

The controller of the mold vibration apparatus according to an embodiment of the present invention can adjust the amplitude of the reference signal for each period of the target vibration signal.

을 이용하여 최대값 보정량(A_max(i))을 계산하고, 수학식

을 이용하여 최소값 보정량(A_min(i))을 계산하고, 상기 목표 진동 신호의 값이 0보다 이상인 시간 구간에서는 보정 전 기준 신호의 진폭에 상기 최대값 보정량(A_max(i))을 더하고, 상기 목표 진동 신호의 값이 0보다 작은 시간 구간에서는 보정 전 기준 신호의 진폭에 상기 최소값 보정량(A_min(i))을 더하여 상기 기준 신호의 진폭을 조정할 수 있다. 여기서, A는 목표 진동 신호의 진폭이고, Max(Pm(t),i)는 i번째 진동 주기 동안 샘플링된 변위 신호들 중 최대값이고, Min(Pm(t),i)는 i 번째 진동 주기 동안 샘플링된 변위 신호들 중 최소값이고, K_pmax는 최대값 보상의 비례 제어 이득이고, K_imax는 최대값 보상의 적분 제어 이득이고, K_pmin는 최소값 보상의 비례 제어 이득이고, K_imin는 최소값 보상의 적분 제어 이득이다.The controller of the mold vibration apparatus according to an embodiment of the present invention calculates the maximum value error e_max using the equation e_max (i) = A-Max (Pm (t), i) (i) = Min (Pm (t), i) - A is used to calculate the minimum value error e_min,

, Calculates a maximum value correction amount A_max (i)

(I_min) is added to the amplitude of the pre-correction reference signal in a time interval in which the value of the target vibration signal is greater than or equal to 0, and the maximum value correction amount A_max The amplitude of the reference signal can be adjusted by adding the minimum value correction amount A_min (i) to the amplitude of the pre-correction reference signal during a time interval in which the value of the vibration signal is less than zero. Here, A is the amplitude of the target vibration signal, Max (Pm (t), i) is the maximum of the displacement signals sampled during the i-th vibration period, and Min K_max is the proportional control gain of the maximum value compensation, K_imax is the integral control gain of the maximum value compensation, K_pmin is the proportional control gain of the minimum value compensation, K_imin is the integral control gain of the minimum value compensation, to be.

The oscillator of the mold vibrating apparatus according to an embodiment of the present invention includes a first oscillator connected to one side of the mold to vibrate one side of the mold and output a first displacement signal indicative of displacement of the one side of the mold, And a second oscillator connected to the other side of the mold to vibrate the other side of the mold and output a second displacement signal indicating the displacement of the other side of the mold.

The control unit of the mold vibration apparatus according to an embodiment of the present invention adjusts the phase of the first reference signal according to the difference between the target vibration signal and the first displacement signal and adjusts the phase of the first displacement signal and the second displacement signal And outputs a first control signal for controlling the first oscillator in response to the first reference signal and the first displacement signal, and outputs a first control signal for controlling the first oscillator in response to the first reference signal and the first displacement signal And a second control signal for controlling the second oscillator in response to the second reference signal and the second displacement signal.

The control unit of the mold vibration apparatus according to an embodiment of the present invention can output the first control signal and the second control signal such that each of the first displacement signal and the second displacement signal follows the target vibration signal have.

The controller of the mold vibration apparatus according to an embodiment of the present invention may adjust the phases of the first reference signal and the second reference signal at every sampling period for sampling the first displacement signal and the second displacement signal.

을 이용하여 위상 동기화 보정량(Ф_ms(k))을 계산하고, 상기 제1 기준 신호의 위상을 위상 동기화 보정량(Ф_ms(k))만큼 변화시켜 상기 제2 기준 신호의 위상을 조정할 수 있다. 여기서, Pm(k·Ts)는 k번째 샘플링 주기에서 제1 변위 신호의 값이고, Ps(k·Ts)는 k번째 샘플링 주기에서 제2 변위 신호의 값이고, sgn()은 부호 함수이고, y(k·Ts)는 k번째 샘플링 시점에서의 목표 진동 신호이고, y((k-1)·Ts)는 k-1번째 샘플링 시점에서의 목표 진동 신호이고, K_pms는 위상 동기화 보상의 비례제어 이득이고, K_ims는 위상 동기화 보상의 적분제어 이득이다.The controller of the mold vibration apparatus according to an embodiment of the present invention calculates the synchronization error e_sync (k) using the equation e_sync (k) = Pm (k · Ts) - Ps (k · Ts) The phase synchronization input value (PHI_in, ms (k)) is calculated by using the following equation: PHI_in, ms (k) = e_sync (k) X sgn (y (k? Ts) - y And calculates

(K) by using the phase synchronization correction amount PHI_ms (k) and adjusting the phase of the second reference signal by changing the phase of the first reference signal by the phase synchronization correction amount PHI_ms (k). Here, Pm (k · Ts) is the value of the first displacement signal in the k-th sampling period, Ps (k · Ts) is the value of the second displacement signal in the k-th sampling period, sgn () y (k-1) 占 Ts is a target vibration signal at a (k-1) th sampling point, K_pms is a proportional control of phase synchronization compensation And K_ims is an integral control gain of phase synchronization compensation.

A method of controlling a mold vibration apparatus according to an embodiment of the present invention is a method of controlling a mold vibration apparatus including an oscillator for vibrating a mold and a control unit for controlling the oscillator, And outputting a control signal for controlling the oscillator in response to the reference signal and the displacement signal.

The step of outputting the control signal of the control method of the mold vibration apparatus according to an embodiment of the present invention may generate and output the control signal so that the displacement signal follows the reference signal.

The step of adjusting the phase of the reference signal in the control method of the mold vibration apparatus according to an embodiment of the present invention may be performed every sampling period for sampling the displacement signal.

을 이용하여 위상 보정량(Ф_d(k))을 계산하는 단계, 및 보정 전 기준 신호의 위상을 상기 위상 보정량(Ф_d(k))만큼 변화시키는 단계를 포함할 수 있다. 여기서, A·y(k·Ts)는 k번째 샘플링 시점에서의 상기 목표 진동 신호의 값이고, Pm(k·Ts)는 k번째 샘플링 시점에서의 상기 변위 신호의 값이고, sgn()은 부호 함수이고, y(k·Ts)는 k번째 샘플링 시점에서의 목표 진동 신호이고, y((k-1)·Ts)는 k-1번째 샘플링 시점에서의 목표 진동 신호이고, K_pp는 위상 보상의 비례제어 이득이고, K_ip는 위상 보상의 적분제어 이득이다.The step of adjusting the phase of the reference signal in the control method of the mold vibrating apparatus according to the embodiment of the present invention may be performed by using the equation e_t (k) = A · y (k · Ts) - Pm (k · Ts) Calculating a tracking error e_t (k) by using the phase compensation (epsilon k) using the equation 陸 _in (k) = e_t (k) X sgn (y (k 揃 Ts) Calculating an input value? _In (k)

Calculating the phase correction amount? _D (k) using the phase correction amount? _D (k) and changing the phase of the pre-correction reference signal by the phase correction amount? _D (k). (K · Ts) is the value of the displacement signal at the k-th sampling time point, and sgn () is the value of the target vibration signal at the k-th sampling time point, (K-1) Ts) is a target oscillation signal at the (k-1) th sampling point, and K_pp is a target oscillation signal at the Proportional control gain, and K_ip is the integral control gain of the phase compensation.

The control method of the control method of the mold vibration apparatus according to the embodiment of the present invention may further comprise adjusting the amplitude of the reference signal in accordance with the difference between the amplitude of the target vibration signal and the amplitude of the displacement signal .

The step of adjusting the amplitude of the reference signal in the control method of the mold vibration apparatus according to an embodiment of the present invention may be performed every cycle of the target vibration signal.

을 이용하여 최대값 보정량(A_max(i))을 계산하는 단계, 수학식

을 이용하여 최소값 보정량(A_min(i))을 계산하는 단계, 및 상기 목표 진동 신호의 값이 0보다 이상인 시간 구간에서는 보정 전 기준 신호의 진폭에 상기 최대값 보정량(A_max(i))을 더하고, 상기 목표 진동 신호의 값이 0보다 작은 시간 구간에서는 보정 전 기준 신호의 진폭에 상기 최소값 보정량(A_min(i))을 더하는 단계를 포함할 수 있다. 여기서, A는 목표 진동 신호의 진폭이고, Max(Pm(t),i)는 i번째 진동 주기 동안 샘플링된 변위 신호들 중 최대값이고, Min(Pm(t),i)는 i 번째 진동 주기 동안 샘플링된 변위 신호들 중 최소값이고, K_pmax는 최대값 보상의 비례 제어 이득이고, K_imax는 최대값 보상의 적분 제어 이득이고, K_pmin는 최소값 보상의 비례 제어 이득이고, K_imin는 최소값 보상의 적분 제어 이득이다.The step of adjusting the amplitude of the reference signal in the control method of the mold oscillating apparatus according to the embodiment of the present invention may be performed by using the maximum value error (i) using the equation e_max (i) = A-Max (Pm calculating a minimum value error e_min using the equation e_min (i) = Min (Pm (t), i) - A,

Calculating a maximum value correction amount A_max (i) by using the equation

Calculating a minimum value correction amount A_min (i) by using the maximum value correction amount A_min (i), and adding the maximum value correction amount A_max (i) to the amplitude of the reference signal before correction at a time interval in which the value of the target vibration signal is greater than or equal to 0, And adding the minimum value correction amount A_min (i) to the amplitude of the pre-correction reference signal in a time interval in which the value of the target vibration signal is less than zero. Here, A is the amplitude of the target vibration signal, Max (Pm (t), i) is the maximum of the displacement signals sampled during the i-th vibration period, and Min K_max is the proportional control gain of the maximum value compensation, K_imax is the integral control gain of the maximum value compensation, K_pmin is the proportional control gain of the minimum value compensation, K_imin is the integral control gain of the minimum value compensation, to be.

The oscillator of the control method of a mold vibration apparatus according to an embodiment of the present invention includes a first oscillator connected to one side of the mold to vibrate one side of the mold and a second oscillator connected to the other side of the mold, Wherein adjusting the phase of the reference signal comprises comparing the phase of the first reference signal with the difference between the first displacement signal representative of the displacement of the mold generated by the first oscillator and the target oscillation signal, And generating a second reference signal by further adjusting a phase of the first reference signal according to a difference between the first displacement signal and the second displacement signal, and outputting the control signal Outputting a first control signal for controlling the first oscillator in response to the first displacement signal and the first reference signal And outputting a second control signal for controlling the second oscillator in response to the second displacement signal and the second reference signal.

The step of outputting the first control signal of the control method of the mold vibration apparatus according to an embodiment of the present invention may include generating and outputting the first control signal so that the first displacement signal follows the first reference signal, The outputting of the second control signal may generate and output the second control signal so that the second displacement signal follows the second reference signal.

The step of adjusting the phase of the first reference signal and the step of generating the second reference signal in the control method of the mold vibration apparatus according to an embodiment of the present invention may include sampling the first displacement signal and the second displacement signal For each sampling period.

The step of generating the second reference signal in the control method of the mold vibration apparatus according to an embodiment of the present invention may include the step of generating the second reference signal using the synchronization error e_sync (k) = Pm (k 占 -) - Ps (k-1) 占 Ts) (k-1) 占 Ts s) using the following equation (6): e_sync Calculating a phase synchronization correction amount PHI_ms (k) by using an equation, and calculating a phase of the first reference signal by a phase synchronization correction amount PHI_ms (k (k) ), And adjusting the phase of the second reference signal. Here, Pm (k · Ts) is the value of the first displacement signal at the k-th sampling period, Ps (k · Ts) is the value of the second displacement signal at the k-th sampling period, sgn () y (k-1) 占 Ts is a target vibration signal at a (k-1) th sampling point, K_pms is a proportional control of phase synchronization compensation And K_ims is an integral control gain of phase synchronization compensation.

Therefore, according to the mold vibration apparatus and the control method of the mold vibration apparatus according to the embodiment of the present invention, even if the vibration frequency of the target mold increases, the actual vibration pattern of the mold is made equal to the target vibration pattern, It is possible to control the displacement signal indicating the vibration displacement and the target vibration signal representing the target vibration pattern not only to have no phase difference but also to have the same frequency and amplitude. Further, in the case of oscillating the mold using two oscillators, even if the characteristics of the two oscillators are inconsistent, the actual oscillation patterns of the two oscillators are equal to each other, that is, the displacement of the mold by each of the two oscillators It is possible to control not only the two displacement signals representing the phase difference but also the frequency and the amplitude to be the same.

FIG. 1 is a schematic view of a mold apparatus including a mold vibration apparatus according to an embodiment of the present invention. Referring to FIG.
2 is a view schematically showing a configuration of an embodiment of an oscillator of a mold vibration apparatus according to an embodiment of the present invention.
3 and 4 are views for explaining a control method of a mold vibration apparatus according to an embodiment of the present invention.
5 is a flowchart illustrating a method of controlling a mold vibration apparatus according to an embodiment of the present invention.
FIG. 6 is a flow chart for explaining the step of correcting the phase of the reference signal in the control method of the mold vibration apparatus according to the embodiment of the present invention shown in FIG.
FIG. 7 is an operational flowchart for explaining the step of correcting the amplitude of the reference signal in the control method of the mold vibration apparatus according to the embodiment of the present invention shown in FIG.
FIG. 8 is a flowchart illustrating a method of controlling a mold vibration apparatus according to an embodiment of the present invention shown in FIG. 5, illustrating a step of synchronizing vibration patterns of two oscillators.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the embodiments of the present invention can be modified into various other forms, and the scope of the present invention is not limited to the embodiments described below. Further, the embodiments of the present invention are provided to more fully explain the present invention to those skilled in the art.

FIG. 1 is a schematic view of a mold apparatus including a mold vibration apparatus according to an embodiment of the present invention. Referring to FIG. The mold vibration apparatus according to an embodiment of the present invention includes a first oscillator 210, a second oscillator 220, and a control unit 300. 1, reference numeral 100 denotes a mold.

The mold 100 can primarily discharge and solidify the molten steel supplied from the tundish.

Each of the first oscillator 210 and the second oscillator 220 may vibrate the mold in the vertical direction in response to the first control signal Cm and the second control signal Cs. The first oscillator 210 may be installed on one side of the mold 100 and the second oscillator 220 may be installed on the other side of the mold 100.

The control unit 300 generates the first control signal Cm and the second control signal Cm in response to the first displacement signal Pm output from the first oscillator 210 and the second displacement signal Ps output from the second oscillator 220. [ 2 control signal Cs. The first displacement signal Pm may be any one of the components of the first oscillator 210 to oscillate the mold from a displacement of one side of the mold by the first oscillator 210, , The actuator (212 in Fig. 2), or the moving part 213). The second displacement signal Ps is the displacement of the other side of the mold by the second oscillator 220, that is, the position at which one of the components of the second oscillator 220 moves to oscillate the mold from an arbitrary reference position Can be expressed.

Specifically, the control unit 300 compares the first displacement signal Pm with the target displacement signal, corrects the first reference signal according to the comparison result, and outputs the first displacement signal Pm in response to the first displacement signal Pm and the first reference signal It is possible to output the first control signal Cm. At this time, the first control signal Cm may be a signal for causing the first displacement signal Pm to follow the first control signal Cm. At this time, the first reference signal before correction may be the same as the target displacement signal.

The controller 300 further compares the first displacement signal Pm with the second displacement signal Ps and further corrects the first reference signal according to the comparison result to generate a second reference signal, And can output the second control signal Cs in response to the signal Ps and the second reference signal. At this time, the second control signal may be a signal for causing the second displacement signal Ps to follow the second reference signal.

Alternatively, the control unit 300 may generate the second control signal Cs in the same manner as the method of generating the first control signal Cm.

The control unit 300 may include at least one processing unit and a memory. The processing unit may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) And may have a plurality of cores. The memory may be a volatile memory (e.g., RAM, etc.), a non-volatile memory (e.g., ROM, flash memory, etc.), or a combination thereof.

In addition, the controller 300 may include additional storage. Storage includes, but is not limited to, magnetic storage, optical storage, and the like. The storage may store computer readable instructions for implementing the control method of the mold vibration apparatus according to an embodiment of the present invention and may also store other computer readable instructions for implementing the operating system, . The computer readable instructions stored in the storage may be loaded into memory for execution by the processing unit.

Fig. 2 is a view schematically showing the configuration of an embodiment of an oscillator of a mold vibration apparatus according to an embodiment of the present invention. The oscillator 200 includes a fixed portion 201, an actuator 202, and a movable portion 203 can do.

The fixing part 201 can be fixedly installed on the upper part of the continuous casting machine.

A part of the actuator 202 is fixed to the fixed portion 201 and can generate a displacement in response to a control signal input from the control portion (300 in Fig. 1). Specifically, the actuator 202 can move the movable portion 203 in response to a control signal input from the control portion (300 in FIG. 1). The actuator 202 may include a cylinder or the like.

The movable part 203 is fixed to one end of the actuator 202 and can be vertically vibrated by the actuator 203. [ The movable part 203 can be connected to one side of the mold (100 in FIG. 1).

As shown in Figure 1, the oscillators can be placed on either side of the mold, respectively, in which case two oscillators (210 and 220 in Figure 1) disposed on either side of the mold can have the same configuration as shown in Figure 2 have.

3 is a view for explaining a method of controlling a mold vibration apparatus according to an embodiment of the present invention. Specifically, a method of controlling a mold vibration apparatus such that there is no phase difference between a target vibration pattern and an actual vibration pattern of the oscillator FIG. As shown in Fig. 3, the solid line is the target vibration signal, the dotted line is the measured displacement signal, and the one-dot chain line indicates the reference signal. In Fig. 3, Ts denotes a sampling period, and To denotes a vibration period.

As shown in FIG. 3, the target vibration signal may be any AC signal. For example, the target vibration signal may be a sine wave signal A sin (wt) having a predetermined amplitude A and a predetermined frequency w.

As described above, the pre-correction reference signal may be the same as the target vibration signal. The control unit 300 in FIG. 1 can output the control signal in response to the measured displacement signal (for example, the first displacement signal Pm in FIG. 1) and the reference signal. In an ideal case, the measured displacement signal may be the same as the reference signal, i.e., the target vibration signal. However, due to various reasons, a difference may occur in the actual motion of the mold, that is, the measured displacement signal and the target vibration signal as shown in FIG.

According to an embodiment of the present invention, the controller (300 in FIG. 1) detects the value of the displacement signal every sampling period, detects the difference between the value of the target vibration signal and the measured displacement signal, , And corrects the reference signal by using the calculated phase correction amount.

Specifically, in the k-th sampling period, the difference between the target vibration signal and the measured displacement signal, that is, the tracking error, is e_t (k) in FIG. (K) is calculated on the basis of the tracking error e_t (k) and the reference signal is corrected by adjusting the phase of the reference signal using the calculated phase correction amount ?_d (k) The reference signal can be the same as the dotted line in Fig.

Then, when the control signal is outputted in response to the reference signal and the measured displacement signal, the actual displacement signal can be made equal to the target vibration signal.

4 is a view for explaining a control method of a mold vibration apparatus according to an embodiment of the present invention. Specifically, it is assumed that there is no phase difference between actual vibration patterns of two oscillators, that is, Fig. 2 is a diagram for explaining a method of controlling a mold vibration device for synchronizing a mold. In Figure 4, the dashed line is the displacement signal (e.g., the first displacement signal Pm in Figure 1) output from one of the two oscillators (e.g., the first oscillator 210 of Figure 1) The dashed line represents a displacement signal (for example, the second displacement signal Ps in FIG. 1) output from the other one of the two oscillators (for example, the second oscillator 220 in FIG. 1).

Hereinafter, the case of synchronizing the vibration of each of the two oscillators with respect to the mold vibration apparatus of the embodiment of the present invention shown in Fig. 1 will be described as an example.

The control unit 300 of FIG. 1 detects the values of the first displacement signal Pm and the second displacement signal Ps for each sampling period and outputs the difference between the first displacement signal Pm and the second displacement signal Ps Lt; RTI ID = 0.0 > e_sync (k). ≪ / RTI > Further, the control unit 300 of FIG. 1 calculates the phase synchronization compensation amount PHI_ms (k) based on the synchronization error e_sync (k).

Then, the control unit 300 of FIG. 1 corrects the first reference signal using the calculated phase synchronization compensation amount PHI_ms (k), that is, corrects the phase of the first reference signal by the calculated phase synchronization compensation amount PHI_ms (k)) to generate the second reference signal, and output the second control signal (Cs in Fig. 1) based on the second reference signal and the second displacement signal Ps.

In FIG. 4, the case where two oscillators are used has been exemplified. However, even when there are three or more oscillators, the oscillation by the oscillators can be synchronized in a similar manner to the above-described method.

5 is a flowchart illustrating a method of controlling a mold vibration apparatus according to an embodiment of the present invention.

First, the control unit can correct the phase of the reference signal every sampling period (step S1000). Specifically, the control unit detects the value of the displacement signal for each sampling period, calculates a tracking error, which is the difference between the value of the detected displacement signal and the value of the target vibration signal in the sampling period, The compensation amount is calculated, and the phase of the reference signal before correction can be corrected using the calculated phase compensation amount.

Next, the control unit may adjust the amplitude of the reference signal every oscillation period (step S2000). Specifically, the maximum value and the minimum value of the values of the displacement signal detected during the oscillation period may be compared with the maximum and minimum values of the target oscillation signal, respectively, and the amplitude of the reference signal may be determined according to the comparison result.

Next, the control unit may perform a synchronization process (step S3000). Specifically, a synchronization error which is a difference between a plurality of displacement signals is calculated, a phase synchronization compensation amount is calculated using a synchronization error, and one of a plurality of displacement signals is calculated using the calculated phase synchronization compensation amount The synchronization process can be performed by correcting the phase of the reference signal generated based on the target vibration signal and generating the reference signal corresponding to the displacement signal. In step S3000, the amplitude of the reference signal can be additionally adjusted.

FIG. 6 is a flow chart for explaining the step of correcting the phase of the reference signal in the control method of the mold vibration apparatus according to the embodiment of the present invention shown in FIG.

First, the control unit may calculate the tracking error e_t (k) which is the difference between the target vibration signal and the displacement signal every sampling period (step S1100).

The target vibration signal can be expressed as A · y (t). Here, the function y (t) is a sinusoidal function (for example, sin (wt), w is an angular frequency of the mold vibration) as an arbitrary AC function whose frequency is the frequency of the target vibration signal, Lt; / RTI > A is the amplitude of the target vibration signal, that is, the amplitude of the mold vibration.

In the k-th sampling period, when the value of the detected displacement signal is Pm (k · Ts), the tracking error e_t (k) can be calculated by the following equation.

e? t (k) = A? y (k? Ts) - Pm (k? Ts)

Here, k is an arbitrary natural number, and Ts may be a sampling period.

At this time, the value of the signal obtained by amplitude-normalizing the displacement signal with the amplitude of the target vibration signal may be used instead of the value Pm (k 占 Ts) of the displacement signal. In this case, the amplitude normalization is performed on the displacement signal using the amplitude of the displacement signal in the previous oscillation period, and the tracking error e_t (k) is calculated using the difference between the value of the amplitude normalized signal and the value of the target oscillation signal can do. In other words, if the amplitude normalized displacement signal is Pm '(t), the tracking error e_t (k) can be calculated by the following equation.

e? t (k) = A? y (k? Ts) - Pm?

Next, the control unit may calculate the phase compensation input value? _In (k) based on the tracking error e_t (k) (step S1200).

The phase compensation input value? _In (k) can be calculated by the following equation.

? _In (k) = e_t (k) X sgn (y (k? Ts) -y (k?

Here, the function sgn () is a sign function. That is, the value of the function sgn () is +1 if the value in () is positive, and -1 if negative.

Next, the controller can calculate the phase correction amount? _D (k) based on the phase compensation input value? _In (k) (S1300).

The phase correction amount? _D (k) can be calculated by the following equation.

Here, K_pp is a proportional control gain of phase compensation, K_ip is an integral control gain of phase compensation, and each of K_pp and K_ip may be a predetermined constant. For example, each of K_pp and K_ip can be experimentally determined, and the tracking error e_t (k) can finally be converted into the phase correction amount? _D (k) by appropriately setting K_pp and K_ip.

Next, the controller can correct the phase of the reference signal using the phase correction amount? _D (k) (step S1400).

As described above, the pre-correction reference signal may be the same as the target vibration signal A.multidot.y (t), so that the corrected reference signal after the k.sup.th sampling is performed can be expressed as follows.

A · y (t + Φ_d (k))

If the target vibration signal is a sinusoidal signal (A · sin (wt)), the corrected reference signal after the kth sampling is performed may be expressed as follows.

A · sin (wt + Φ_d (k))

FIG. 7 is an operational flowchart for explaining the step of correcting the amplitude of the reference signal in the control method of the mold vibration apparatus according to the embodiment of the present invention shown in FIG.

First, the control unit can calculate the maximum value error e_max (i) and the minimum value error e_min (i) at every oscillation period (S2100).

As described above, when the target vibration signal is represented by A 占 ((t), the maximum value error e_max and the minimum value error e_min can be calculated by the following equations.

e_max (i) = A - Max (Pm (t), i)

e_min (i) = Min (Pm (t), i) - A

Here, Max (Pm (t), i) denotes a maximum value among the displacement signals sampled during the i-th vibration period, and Min Means the minimum value.

Next, the control unit can calculate the maximum value correction amount A_max (i) and the minimum value correction amount A_min (i) based on the maximum value error e_max (i) and the minimum value error e_min (i) S2200).

The maximum value correction amount A_max (i) and the minimum value correction amount A_min (i) can be calculated by the following equations.

Herein, K_pmax represents the proportional control gain of the maximum value compensation, K_imax represents the integral control gain of the maximum value compensation, K_pmin represents the proportional control gain of the minimum value compensation, and K_imin represents the integral control gain of the minimum value compensation, Lt; / RTI >

Next, the amplitude of the reference signal can be corrected using the maximum value correction amount A_max (i) and the minimum value correction amount A_min (i) (step S2300).

When the target vibration signal is A · y (t), the reference signal whose amplitude is corrected at the end of the i-th vibration period can be expressed as follows.

(A + A_max (i)) y (t) (when y (t) > = 0)

(A + A_min (i)) y (t) (when y (t) <0)

If the phase correction is performed at the same time, the reference signal whose amplitude and phase are corrected at the end of the i-th oscillation period can be expressed as follows.

(I + To / Ts)) > = 0) (y + t)

(I + To / Ts) < 0) (A + A_min (i)) y (t +

Here, To is the oscillation period of the target oscillation signal, and Ts can be the sampling period.

If the target vibration signal is a sinusoidal signal (A · sin (wt)) and both phase correction and amplitude correction are performed, the reference signal whose amplitude and phase are corrected at the end of the i-th vibration period is expressed as .

(I + To / Ts)) = sin (wt +? __D (i To / Ts)

(I + To / Ts)) < / RTI &gt; (A + A_min

FIG. 8 is a flowchart illustrating a method of controlling a mold vibration apparatus according to an embodiment of the present invention shown in FIG. 5, illustrating a step of synchronizing vibration patterns of two oscillators.

Hereinafter, it is assumed that the first reference signal applied to the control of the first oscillator for outputting the first displacement signal is corrected by the method shown in FIGS. 6 and 7. FIG.

First, the control unit may calculate a synchronization error which is a difference between the first displacement signal and the second displacement signal at every sampling period (step S3100).

For example, the synchronization error e_sync (k) in the k-th sampling period can be calculated by the following equation.

e_sync (k) = Pm (k? Ts) - Ps (k? Ts)

Here, Pm (k · Ts) is the value of the first displacement signal in the k-th sampling period and Ps (k · Ts) is the value of the second displacement signal in the k-th sampling period.

Next, the control unit may calculate the phase synchronization input value using the synchronization error (S3200).

The phase synchronization input value (PHI_in, ms (k)) in the k-th sampling period can be calculated by the following equation.

(K-Ts) -y (k-1) 占) s)

Here, y (k · Ts) is the target vibration signal at the kth sampling time, y ((k-1) · Ts) is the target vibration signal at the k-1th sampling time, Function.

Next, the controller may calculate the phase synchronization correction amount using the phase synchronization input value (step S3300).

The phase synchronization correction amount PHI_ms (k) in the k-th sampling period can be calculated by the following equation.

Here, K_pms is a proportional control gain of phase synchronization compensation, K_ims is an integral control gain of phase synchronization compensation, and each of K_pms and K_ims may be a predetermined constant. Also, each of K_pms and K_ims can be determined experimentally.

Next, the control unit may correct the phase of the second reference signal, which is the reference signal for the second oscillator, using the phase synchronization correction amount PHI_ms (k) (step S3400).

The second reference signal before correction may be the same as the target vibration signal A.multidot.y (t), and thus the corrected second reference signal after the k.sup.th sampling is performed may be expressed as follows.

A · y (t + Φ_d (k) + Φ_ms (k))

If the target vibration signal is a sinusoidal signal (A · sin (wt)), the corrected reference signal after the kth sampling is performed may be expressed as follows.

A · sin (wt + Φ_d (k) + Φ_ms (k))

Next, the controller may correct the amplitude of the second reference signal, which is the reference signal for the second oscillator (S3500).

The step S3500 may be the same as that described in Fig.

That is, similar to the method of obtaining the maximum value correction amount A_max (i) and the minimum value correction amount A_min (i) by using the result of comparing the maximum value and the minimum value of the reference signal with the maximum value and the minimum value of the displacement signal, A maximum value synchronization correction amount and a minimum value synchronization correction amount are calculated using a result of comparing the maximum value and the minimum value of the first displacement signal with the maximum value and the minimum value of the second displacement signal, respectively, By additionally applying this, the amplitude of the second reference signal can be corrected.

Specifically, when the target vibration signal is a sinusoidal wave, the second reference signal in which both the phase correction and the amplitude correction are performed can be expressed as follows.

(ITo / Ts)) + sin (wt +? _D (iTo / Ts)) + sin? > = 0)

(ITo / Ts)) + sin (wt +? _D (iTo / Ts)) + sin? <0)

Here, A_max, ms (i) is the maximum value synchronization correction amount at the end of the i-th vibration period, and A_min, ms (i) is the minimum value synchronization correction amount at the end of the i-th vibration period.

Although the control method of the mold vibration apparatus including two oscillators has been described as an embodiment of the present invention, the control method of the mold vibration apparatus of the present invention can be applied even when the mold vibration apparatus includes three or more oscillators have.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be obvious to those of ordinary skill in the art.

100: mold 210: first oscillator
220: second oscillator 300:

Claims (24)

A first oscillator connected to one side of the mold and vibrating one side of the mold in response to a first control signal and outputting a first displacement signal indicative of a displacement of the one side of the mold;
A second oscillator connected to the other side of the mold and vibrating the other side of the mold in response to a second control signal and outputting a second displacement signal indicating a displacement of the other side of the mold; And
The phase of the first reference signal is adjusted according to the difference between the target vibration signal and the first displacement signal and the phase of the first reference signal is additionally adjusted according to the difference between the first displacement signal and the second displacement signal, 2 reference signal and outputs a first control signal for controlling the first oscillator in response to the first reference signal and the first displacement signal and for outputting a second control signal responsive to the second reference signal and the second displacement signal And a control unit for outputting a second control signal for controlling the second oscillator.
The apparatus of claim 1, wherein the control unit
And outputs the first control signal and the second control signal such that each of the first displacement signal and the second displacement signal follows the first reference signal or the second reference signal.
2. The method of claim 1, wherein each of the first oscillator and the second oscillator
And an actuator for causing movement of the mold, and outputs information about a displacement generated by the actuator as the first displacement signal or the second displacement signal.
The apparatus of claim 1, wherein the control unit
And adjusts the phase of the first reference signal for each sampling period for sampling the first displacement signal and the second displacement signal to generate the second reference signal.
5. The apparatus of claim 4, wherein the control unit
The tracking error e_t (k) is calculated using the equation e_t (k) = A 占 ((k 占)) - Pm (k 占,)
Calculates the phase compensation input value? _In (k) using the equation:? _In (k) = e_t (k) X sgn (y (k? Ts) - y (
Equation

(K) is calculated using the phase correction amount? D (k)
And adjusts the phase of the first reference signal by changing the phase of the first reference signal by the phase correction amount? _D (k) before correction.
(K · Ts) is the value of the displacement signal at the k-th sampling time point, and sgn () is the value of the target vibration signal at the k-th sampling time point, (K-1) Ts) is a target oscillation signal at the (k-1) th sampling point, and K_pp is a target oscillation signal at the Proportional control gain, and K_ip is the integral control gain of the phase compensation.
The apparatus of claim 1, wherein the control unit
And further adjusts the amplitude of the first reference signal according to a difference between the amplitude of the target vibration signal and the amplitude of the first displacement signal.
7. The apparatus of claim 6, wherein the control unit
And adjusts the amplitude of the first reference signal for each period of the target vibration signal.
8. The apparatus of claim 7, wherein the control unit
The maximum value error e_max is calculated using the equation e_max (i) = A - Max (Pm (t), i)
The minimum value error e_min is calculated using the equation e_min (i) = Min (Pm (t), i) - A,
Equation

Calculates a maximum value correction amount A_max (i)
Equation

The minimum value correction amount A_min (i) is calculated,
(I_max (i)) to the amplitude of the first reference signal before correction in a time interval in which the value of the target vibration signal is greater than or equal to 0, and when the value of the target vibration signal is less than 0 Wherein the amplitude of the first reference signal is adjusted by adding the minimum value correction amount A_min (i) to the amplitude of the first reference signal.
Here, A is the amplitude of the target vibration signal, Max (Pm (t), i) is the maximum of the displacement signals sampled during the i-th vibration period, and Min K_max is the proportional control gain of the maximum value compensation, K_imax is the integral control gain of the maximum value compensation, K_pmin is the proportional control gain of the minimum value compensation, K_imin is the integral control gain of the minimum value compensation, to be.
delete delete delete delete 5. The apparatus of claim 4, wherein the control unit
The synchronization error e_sync (k) is calculated using the equation e_sync (k) = Pm (k · Ts) - Ps (k · Ts)
The phase synchronization input value (PHI_in, ms (k)) is calculated by using the following equation: PHI_in, ms (k) = e_sync (k) X sgn (y (k? Ts) - y Calculating,
Equation

(K) to calculate the phase synchronization correction amount PHI_ms (k)
And adjusts the phase of the second reference signal by changing the phase of the first reference signal by a phase synchronization correction amount PHI_ms (k).
Here, Pm (k · Ts) is the value of the first displacement signal in the k-th sampling period, Ps (k · Ts) is the value of the second displacement signal in the k-th sampling period, sgn () y (k-1) 占 Ts is a target vibration signal at a (k-1) th sampling point, K_pms is a proportional control of phase synchronization compensation And K_ims is an integral control gain of phase synchronization compensation.
A first oscillator connected to one side of the mold for vibrating one side of the mold, a second oscillator connected to the other side of the mold to vibrate the mold for vibrating the other side of the mold, and a second oscillator for vibrating the first oscillator and the second oscillator, A method for controlling a mold vibration apparatus including a control section for controlling a mold vibration apparatus,
Adjusting a phase of a first reference signal according to a difference between a first displacement signal representing a displacement of the mold generated by the first oscillator and a target vibration signal;
Generating a second reference signal by additionally adjusting a phase of the first reference signal according to a difference between the first displacement signal and a second displacement signal representing a displacement of a mold generated by the second oscillator;
Outputting a first control signal for controlling the first oscillator in response to the first displacement signal and the first reference signal; And
And outputting a second control signal for controlling the second oscillator in response to the second displacement signal and the second reference signal.
15. The method of claim 14,
The step of outputting the first control signal
Generating and outputting the first control signal such that the first displacement signal follows the first reference signal,
The step of outputting the second control signal
And generating and outputting the second control signal such that the second displacement signal follows the second reference signal.
15. The method of claim 14, wherein adjusting the phase of the first reference signal and generating the second reference signal
Wherein the first displacement signal and the second displacement signal are sampled every sampling period.
17. The method of claim 16, wherein adjusting the phase of the first reference signal comprises:
Calculating a tracking error e_t (k) using the equation e_t (k) = A 占 ((k 占)) - Pm (k 占;);
Calculating a phase compensation input value? _In (k) using the equation:? _In (k) = e_t (k) X sgn (y (k? Ts) -y ((k?
Equation

Calculating a phase correction amount? _D (k) using the phase correction amount? D (k); And
And changing the phase of the first reference signal by the phase correction amount? _D (k) before correction.
(K · Ts) is the value of the displacement signal at the k-th sampling time point, and sgn () is the value of the target vibration signal at the k-th sampling time point, (K-1) Ts) is a target oscillation signal at the (k-1) th sampling point, and K_pp is a target oscillation signal at the Proportional control gain, and K_ip is the integral control gain of the phase compensation.
15. The method of claim 14,
And adjusting the amplitude of the first reference signal according to a difference between the amplitude of the target vibration signal and the amplitude of the first displacement signal.
19. The method of claim 18, wherein adjusting the amplitude of the first reference signal comprises:
Wherein the control is performed every period of the target vibration signal.
20. The method of claim 19, wherein adjusting the amplitude of the first reference signal comprises:
Calculating a maximum value error e_max using an equation e_max (i) = A - Max (Pm (t), i);
Calculating a minimum value error e_min using the equation e_min (i) = Min (Pm (t), i) - A;
Equation

Calculating a maximum value correction amount A_max (i) using the maximum value correction amount A_max (i);
Equation

Calculating a minimum value correction amount A_min (i); And
(I_max (i)) to the amplitude of the first reference signal before correction in a time interval in which the value of the target vibration signal is greater than or equal to 0, and when the value of the target vibration signal is less than 0 And adding the minimum value correction amount A_min (i) to the amplitude of the first reference signal.
Here, A is the amplitude of the target vibration signal, Max (Pm (t), i) is the maximum of the displacement signals sampled during the i-th vibration period, and Min K_max is the proportional control gain of the maximum value compensation, K_imax is the integral control gain of the maximum value compensation, K_pmin is the proportional control gain of the minimum value compensation, K_imin is the integral control gain of the minimum value compensation, to be.
delete delete delete 17. The method of claim 16, wherein generating the second reference signal comprises:
Calculating a synchronization error e_sync (k) using the equation e_sync (k) = Pm (k 占)) - Ps (k 占;);
The phase synchronization input value (PHI_in, ms (k)) is calculated by using the following equation: PHI_in, ms (k) = e_sync (k) X sgn (y (k? Ts) - y Calculating;
Equation

(K) by using the phase synchronization correction amount? And
And adjusting the phase of the second reference signal by changing the phase of the first reference signal by the phase synchronization correction amount PHI_ms (k).
Here, Pm (k · Ts) is the value of the first displacement signal at the k-th sampling period, Ps (k · Ts) is the value of the second displacement signal at the k-th sampling period, sgn () y (k-1) 占 Ts is a target vibration signal at a (k-1) th sampling point, K_pms is a proportional control of phase synchronization compensation And K_ims is an integral control gain of phase synchronization compensation.

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