WO2021014923A1 - プロセスの制御方法、操業ガイダンス方法、高炉の操業方法、溶銑の製造方法およびプロセスの制御装置 - Google Patents
プロセスの制御方法、操業ガイダンス方法、高炉の操業方法、溶銑の製造方法およびプロセスの制御装置 Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B5/00—Making pig-iron in the blast furnace
- C21B5/006—Automatically controlling the process
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B5/00—Making pig-iron in the blast furnace
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B5/00—Making pig-iron in the blast furnace
- C21B5/007—Conditions of the cokes or characterised by the cokes used
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B5/00—Making pig-iron in the blast furnace
- C21B5/008—Composition or distribution of the charge
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B7/00—Blast furnaces
- C21B7/24—Test rods or other checking devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B1/00—Shaft or like vertical or substantially vertical furnaces
- F27B1/10—Details, accessories, or equipment peculiar to furnaces of these types
- F27B1/26—Arrangements of controlling devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D19/00—Arrangements of controlling devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B2300/00—Process aspects
- C21B2300/04—Modeling of the process, e.g. for control purposes; CII
Definitions
- the present invention relates to a process control method, an operation guidance method, a blast furnace operation method, a hot metal production method, and a process control device.
- Hot metal temperature is an important control index in the blast furnace process in the steel industry.
- the hot metal temperature is mainly controlled by adjusting the reducing agent ratio.
- blast furnace operations in recent years have been carried out under conditions of low coke ratio and high pulverized coal ratio in order to pursue rationalization of raw material and fuel costs, and the furnace condition is likely to become unstable. Therefore, there is a great need for reducing variations in hot metal temperature.
- the blast furnace process since the blast furnace process is operated in a state where it is filled with solids, it has the characteristics that the heat capacity of the entire process is large and the time constant of the response to the operation (action) is long. Furthermore, there is wasted time on the order of several hours before the raw material charged from the upper part of the blast furnace (top of the furnace) drops to the lower part of the blast furnace (lower part of the furnace). Therefore, in order to control the hot metal temperature, it is essential to optimize the manipulated variable of the manipulated variable based on the future furnace heat prediction.
- Patent Document 1 proposes a method for predicting furnace heat using a physical model.
- the gas reduction rate parameters included in the physical model are adjusted so as to match the current composition of the furnace top gas, and the furnace heat is used using the parameter-adjusted physical model. Is predicted.
- pig iron production rate pig iron production rate
- the reducing agent ratio is changed to control the hot metal temperature
- the pig iron production rate also changes. ..
- oxygen blown from the tuyere is consumed by the combustion of the pulverized coal, so that the burning rate of coke decreases, and the rate of descent of the raw material and the rate of iron forming decrease. Therefore, in the conventional process control method, there is a problem that it is difficult to control the hot metal temperature while keeping the hot metal forming speed close to the target value.
- the present invention has been made in view of the above, and is a process control method capable of controlling a control amount of a specific control variable while keeping the control amount of a specific control variable at a predetermined value. It is an object of the present invention to provide an operation guidance method, a blast furnace operation method, a hot metal production method, and a process control device.
- the process control method has a plurality of operation variables and a plurality of control variables controlled by the plurality of operation variables, and the plurality of control variables.
- the manipulated variables of all the manipulated variables are constant for a predetermined period from the current time.
- the free response calculation step for calculating the free response which is the response of the plurality of control variables in the predetermined period, and the operation amount of the first operation variable among the plurality of operation variables are set in the predetermined period.
- the first response calculation step for calculating the first response which is the response of the plurality of control variables in the predetermined period, and the first operation among the plurality of operation variables when the step is changed during the period. It is a response of the plurality of control variables in the predetermined period when the manipulated amount of the second manipulated variable other than the variable is step-changed at the same time as the manipulated amount of the first manipulated variable during the predetermined period.
- the control amounts of the plurality of control variables are set to predetermined target values. It is characterized by including an operation amount determination step for determining an operation amount of the operation variable.
- the process control method according to the present invention is one of the plurality of control variables when the second manipulated variable is step-changed at the same time as the manipulated variable of the first manipulated variable. It is characterized in that it is an instrumental variable that can determine the manipulated variable so as not to change the controlled variable of a specific control variable.
- the operation amount determination step is an operation of a linear sum of the operation in the first response calculation step and the operation in the second response calculation step.
- the deviation between the step of calculating the future transition of the control amount of the plurality of control variables and the calculated future transition of the control amount of the plurality of control variables and the predetermined target value is the minimum. It is characterized by including a step of calculating the weight of the manipulated variable of the manipulated variable and calculating the manipulated variable of the manipulated variable based on the calculated weight.
- the process control method according to the present invention is characterized in that, in the above invention, the free response calculation step, the first response calculation step, the second response calculation step, and the operation amount determination step are repeatedly executed. And.
- the process is a blast furnace process
- the operating variables are coke ratio, blast flow rate, enriched oxygen flow rate, blast temperature, pulverized coal flow rate, blast humidity. It contains at least one of a minute and a furnace top pressure, and the control variables are a hot metal temperature and a hot metal forming rate.
- the operation guidance method supports the operation of the blast furnace by presenting the manipulated amount of the instrumental variables determined by the control method of the above process. It is characterized by including steps.
- the operating method of the blast furnace according to the present invention is characterized by including a step of controlling the blast furnace according to the manipulated amount of the instrumental variables determined by the control method of the above process. And.
- the method for producing hot metal according to the present invention is a step of controlling the blast furnace according to the manipulated amount of the instrumental variables determined by the control method of the above process to produce hot metal. It is characterized by including.
- the control device of the process according to the present invention has a plurality of operation variables and a plurality of control variables controlled by the plurality of operation variables, and the plurality of control variables.
- the operation amounts of all the control variables are constant for a predetermined period from the current time.
- the free response calculation means for calculating the free response which is the response of the plurality of control variables in the predetermined period, and the manipulated amount of the first manipulated variable among the plurality of manipulated variables are set in the predetermined period.
- the first response calculation means for calculating the first response, which is the response of the plurality of control variables in the predetermined period, and the first operation among the plurality of operation variables when the step is changed during the period. It is a response of the plurality of control variables in the predetermined period when the manipulated amount of the second manipulated variable other than the variable is step-changed at the same time as the manipulated amount of the first manipulated variable during the predetermined period.
- a control amount of the plurality of control variables becomes a predetermined target value based on the second response calculation means for calculating the second response, the free response, the first response, and the second response. It is characterized by including an operation amount determining means for determining the operation amount of the operation variable.
- a free response of a plurality of control variables and one or two instrumental variables are provided.
- the response when the step is changed is obtained in advance.
- by determining the manipulated variable of the manipulated variable based on these responses it is possible to control the controlled variable of another control variable while keeping the controlled variable of the specific control variable at a predetermined value.
- FIG. 1 is a block diagram showing a schematic configuration of a process control device according to an embodiment of the present invention.
- FIG. 2 is a diagram showing input variables and output variables of a physical model used in the process control method according to the embodiment of the present invention.
- FIG. 3 is a diagram showing a calculation result of a predicted transition of control variables (hot metal temperature, hot metal forming speed) when the operation ⁇ U 1 is executed in the process control method according to the embodiment of the present invention.
- FIG. 4 shows changes in the manipulated variable (pulverized coal amount, blast flow rate, pulverized coal flow rate, enriched oxygen flow rate) when the operation ⁇ U 1 is executed in the process control method according to the embodiment of the present invention. It is a figure which shows.
- FIG. 1 is a block diagram showing a schematic configuration of a process control device according to an embodiment of the present invention.
- FIG. 2 is a diagram showing input variables and output variables of a physical model used in the process control method according to the embodiment of the present invention.
- FIG. 5 is a diagram showing a calculation result of a step response of control variables (hot metal temperature, hot metal forming speed) when the operation ⁇ U 1 is executed in the process control method according to the embodiment of the present invention.
- FIG. 6 is a diagram showing a calculation result of a predicted transition of control variables (hot metal temperature, hot metal forming speed) when the operation ⁇ U 2 is executed in the process control method according to the embodiment of the present invention.
- FIG. 7 shows changes in the manipulated variable (pulverized coal amount, blast flow rate, pulverized coal flow rate, enriched oxygen flow rate) when the operation ⁇ U 2 is executed in the process control method according to the embodiment of the present invention. It is a figure which shows.
- FIG. 1 is a diagram showing a calculation result of a step response of control variables (hot metal temperature, hot metal forming speed) when the operation ⁇ U 1 is executed in the process control method according to the embodiment of the present invention.
- FIG. 6 is a diagram showing a calculation result of a predicted transition of
- FIG. 8 is a diagram showing a calculation result of a step response of control variables (hot metal temperature, hot metal forming speed) when the operation ⁇ U 2 is executed in the process control method according to the embodiment of the present invention.
- FIG. 9 shows the operating variables (blowing flow rate, enriched oxygen flow rate, pulverized coal flow rate,) when the control action is executed based on the determined operating amount of the operating variable in the process control method according to the embodiment of the present invention. It is a figure which shows the change of the operation amount of a blast moisture content, a blast temperature, a coke ratio).
- FIG. 10 shows the calculation of the predicted transition of the control variables (hot metal temperature, iron forming speed) when the control action is executed based on the determined manipulated variable in the process control method according to the embodiment of the present invention. It is a figure which shows the result.
- control device 100 includes an information processing device 101, an input device 102, and an output device 103.
- the information processing device 101 is composed of a general-purpose device such as a personal computer or a workstation, and includes a RAM 111, a ROM 112, and a CPU 113.
- the RAM 111 temporarily stores a processing program and processing data related to the processing executed by the CPU 113, and functions as a working area of the CPU 113.
- the ROM 112 stores a control program 112a that executes a process control method according to the embodiment of the present invention, and a processing program and processing data that control the operation of the entire information processing apparatus 101.
- the CPU 113 controls the operation of the entire information processing apparatus 101 according to the control program 112a and the processing program stored in the ROM 112.
- the CPU 113 functions as a free response calculation means, a first response calculation means, a second response calculation means, and an operation amount determination means in the process control method described later.
- the free response calculation means performs a free response calculation step
- the first response calculation means performs a first response calculation step
- the second response calculation means performs a second response calculation step
- the operation amount determining means performs an operation. Perform the quantity determination step.
- the input device 102 is composed of devices such as a keyboard, a mouse pointer, and a numeric keypad, and is operated when various information is input to the information processing device 101.
- the output device 103 is composed of a display device, a printing device, and the like, and outputs various processing information of the information processing device 101.
- the physical model used in the present invention is the same as the method described in Reference 1 (Michiharu Hanedano et al .: “Study of burning operation by blast furnace unsteady model”, Iron and Steel, vol.68, p.2369).
- the physical model used in the present invention is composed of a group of partial differential equations considering a plurality of physical phenomena such as reduction of iron ore, heat exchange between iron ore and coke, and melting of iron ore.
- the physical model used in the present invention is a physical model capable of calculating variables (output variables) indicating the state in the blast furnace in the unsteady state (hereinafter referred to as "unsteady model").
- the main things that change with time in the boundary conditions given to this unsteady model are as follows.
- the main output variables formed by the unsteady model are as follows. (1) Gas utilization rate in the furnace ( ⁇ CO): CO 2 / (CO + CO 2 ) (2) Temperature of coke and iron (3) Degree of oxidation of iron ore (4) Rate of decline of raw materials (5) Amount of solution loss carbon (amount of sol loss carbon) (6) Hot metal temperature (7) Hot metal making speed (hot metal generation speed) (8) Amount of heat loss in the furnace body: Amount of heat taken by the cooling water when the furnace body is cooled by the cooling water.
- the time step (time interval) when calculating the output variable is 30 minutes.
- the time step is variable depending on the purpose and is not limited to the value of the present embodiment.
- the output variables including the hot metal temperature and the hot metal forming rate, which change from moment to moment are calculated using the above non-stationary model.
- the process control method according to the present embodiment has a plurality of manipulated variables and a plurality of control variables controlled by the plurality of manipulated variables, and the manipulated amounts of the plurality of manipulated variables interfere with each other to control the plurality of controls. It is applied to interfering processes in which the control amount of variables is determined.
- a control method of the blast furnace process will be described as an example of the process.
- the above non-stationary model can be expressed, for example, as the following equations (1) and (2).
- x (t) is a state variable (coke or iron temperature, iron ore oxidation degree, raw material descent rate, etc.) calculated in the unsteady model
- T is a hot metal temperature and a hot metal forming speed, which are control variables.
- C is a matrix or a function for extracting a control variable from the state variables calculated in the unsteady model.
- u (t) in the above formula (1) is an input variable of the physical model, which is an blast flow rate, an enriched oxygen flow rate, a pulverized coal flow rate, a blast moisture content, a blast temperature, and a coke ratio.
- the pulverized coal flow rate (PCI) [kg / min] and the air flow rate (BV) [Nm 3 / min] are used as the instrumental variables. It is also possible to use the blast moisture content or the coke ratio instead of the pulverized coal flow rate. Further, in the present embodiment, it is premised that the enriched oxygen flow rate is also changed proportionally when the blower flow rate is changed (that is, the oxygen enrichment rate is constant).
- the manipulated amount of the instrumental variable here is the amount of pulverized coal (“PCI / BV tot ”) per air flow rate BV tot (air flow rate including air flow equivalent to enriched oxygen: calculated by “BV + 100/21 ⁇ BVO”).
- PCI / BV tot air flow rate including air flow equivalent to enriched oxygen: calculated by “BV + 100/21 ⁇ BVO”.
- the manipulated variable is "0.0064 [kg / Nm 3 ]”.
- ⁇ U ( ⁇ PCI / BV tot , ⁇ BV, ⁇ BVO) T "
- the above-mentioned instrumental variable " ⁇ PCI / BV tot” was introduced for the following reasons.
- the hot metal temperature is affected by the pulverized coal ratio [kg / t], which is a heat source per ton of hot metal.
- hot metal 1 t blowing intensity per [Nm 3 / t] is a substantially constant value regardless of the blast furnace (for example, 1000 ⁇ 1200 Nm 3 / about t). Therefore, the amount of pulverized coal per blast flow rate [kg / Nm 3 ] is almost proportional to the pulverized coal ratio, not the pulverized coal flow rate [kg / min], and is considered to be more appropriate as an operating variable. Is.
- FIG. 3 shows the calculation result of the predicted transition of the control variables (hot metal temperature, hot metal forming speed) when the above operation ⁇ U 1 is executed.
- the vertical axis shows the difference from the target value
- the horizontal axis shows the time
- the solid line shows the free response y 0
- the broken line shows the response y 1 .
- FIG. 4 shows the change in the operation amount of the operation variables (the amount of pulverized coal, the air flow rate, the pulverized coal flow rate, the enriched oxygen flow rate) when the above operation ⁇ U 1 is executed.
- FIG. 5 shows the calculation result of the step response S 1 (t) of the control variables (hot metal temperature, hot metal forming speed) when the above operation ⁇ U 1 is executed.
- the second instrumental variable is not limited to the air flow rate. Further, two or more instrumental variables may be changed at the same time at a predetermined ratio (for example, a combination of a blower flow rate and an enriched oxygen amount). However, when the second manipulated variable is step-changed at the same time as the manipulated variable of the first manipulated variable, the controlled variable of a specific control variable among a plurality of control variables (for example, hot metal temperature) is not changed. It is an instrumental variable that can determine the manipulated variable. Then, the manipulated variable of the second manipulated variable is set at a predetermined ratio to the manipulated variable of the first manipulated variable so that the specific controlled variable does not change due to the first manipulated variable.
- a predetermined ratio for example, a combination of a blower flow rate and an enriched oxygen amount
- no change here does not mean that it is always constant, and although there are some changes over time, it does not change on average (for example, when viewed on the order of 5 hours or more).
- the state In the following, an example in which only the iron forming speed is changed without affecting the hot metal temperature will be described.
- FIG. 6 shows the calculation result of the predicted transition of the control variables (hot metal temperature, hot metal forming speed) when the above operation ⁇ U 2 is executed.
- the vertical axis shows the difference from the target value
- the horizontal axis shows the time
- the solid line shows the free response y 0
- the broken line shows the response y 2 .
- FIG. 7 shows changes in the manipulated variables (the amount of pulverized coal, the air flow rate, the pulverized coal flow rate, the enriched oxygen flow rate) when the above operation ⁇ U 2 is executed.
- FIG. 8 shows the calculation results of the above operations .DELTA.U 2 control variables at the time of running (hot metal temperature, Zozuku speed) step response S 2 (t) of the.
- the response of a control variable when the manipulated variable of a single manipulated variable is changed is often calculated as a step response.
- the step responses S 1 (t) and S 2 (t) when the three instrumental variables (input variables) of the pulverized coal flow rate, the blast flow rate and the enriched oxygen flow rate are simultaneously moved. To calculate. The reason is as follows.
- the pulverized coal flow rate [kg / min] is increased in proportion to the air flow rate [Nm 3 / min].
- the pulverized coal ratio [kg / t] can be kept substantially constant, and only the iron forming speed can be adjusted without affecting the hot metal temperature.
- the iron forming speed changes stepwise, but the hot metal temperature hardly changes.
- typical steps in the conducted operational response S 1 (t) it was decided to determine the S 2 (t).
- the actual instrumental variables are the pulverized coal flow rate and the blast flow rate. Therefore, in order to obtain their change amount, as shown in the following formula (11), based on the weight w 1, w 2 of the pulverized coal per blast flow rate ( ⁇ PCI / BV tot), blowing flow rate (BV) and the amount of change in the enriched oxygen flow rate (BVO) are obtained.
- ⁇ PCI / BV tot ⁇ 0.0054 [kg / Nm 3 ]
- ⁇ BV 272 [Nm 3 / min]
- the manipulated amount ( ⁇ PCI) of the pulverized coal flow rate that can be directly operated by the operator is obtained.
- FIG. 9 shows changes in the manipulated variable (blowing flow rate, enriched oxygen flow rate, pulverized coal flow rate, blowing moisture, blowing temperature, coke ratio) of each operating variable obtained by the above equation (12).
- FIG. 10 is a diagram showing a calculation result of a predicted transition of control variables (hot metal temperature, hot metal forming speed) when a control action is executed based on the manipulated variable of the manipulated variable obtained by the above equation (12). ..
- the calculated value when the operation (action) is not performed is shown by a solid line
- the calculated value when the operation (action) is performed is shown by a broken line.
- the actual value is shown by a alternate long and short dash line.
- an appropriate control action for compensating for the deviation from the target value can be determined.
- blast furnace operation method It is also possible to apply the process control method according to the present embodiment to the operating method of the blast furnace.
- the blast furnace is controlled according to the manipulated variable of the manipulated variable determined in the manipulated variable determination step. Take steps.
- the free response of a plurality of control variables and one instrumental variable is obtained in advance. Then, by determining the manipulated variable of the manipulated variable based on these responses, it is possible to control the controlled variable of another control variable while keeping the controlled variable of the specific control variable at a predetermined value.
- the hot metal temperature is controlled while keeping the hot metal making speed close to the target value. be able to. Further, according to the process control method, the operation guidance method, the blast furnace operation method, the hot metal manufacturing method, and the process control device according to the present embodiment, it is possible to control the hot metal production speed while controlling the hot metal temperature to be constant. it can. Therefore, a highly efficient and stable blast furnace process can be realized.
- the process control method, operation guidance method, blast furnace operation method, hot metal production method, and process control device according to the present invention have been specifically described with reference to the embodiments and examples for carrying out the invention.
- the gist of the invention is not limited to these descriptions.
- the process control method, operation guidance method, blast furnace operation method, hot metal production method, and process control device according to the present invention shall be widely interpreted based on the statements of the claims. Needless to say, various changes, modifications, etc. based on these descriptions are also included in the gist of the present invention.
- Control device 101 Information processing device 102 Input device 103 Output device 111 RAM 112 ROM 112a control program 113 CPU
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Abstract
Description
まず、本発明の実施形態に係るプロセスの制御装置(以下、「制御装置」という)の構成について、図1を参照しながら説明する。制御装置100は、情報処理装置101と、入力装置102と、出力装置103と、を備えている。
次に、本発明の実施形態に係るプロセスの制御方法で用いる物理モデルについて説明する。本発明で用いる物理モデルは、参考文献1(羽田野道春ら:“高炉非定常モデルによる火入れ操業の検討”,鉄と鋼,vol.68,p.2369)記載の方法と同様である。本発明で用いる物理モデルは、鉄鉱石の還元、鉄鉱石とコークスとの間の熱交換、および鉄鉱石の融解等の複数の物理現象を考慮した偏微分方程式群から構成されている。また、本発明で用いる物理モデルは、非定常状態における高炉内の状態を示す変数(出力変数)を計算可能な物理モデルである(以下、「非定常モデル」という)。
(1)炉頂におけるコークス比(CR)[kg/t]:溶銑1トン当たりのコークスの投入量
(2)送風流量(BV)[Nm3/min]:高炉に送風される空気の流量
(3)富化酸素流量(BVO)[Nm3/min]:高炉に吹き込まれる富化酸素の流量
(4)送風温度(BT)[℃]:高炉に送風される空気の温度
(5)微粉炭流量(微粉炭吹込み量、PCI)[kg/min]:溶銑生成量1トンに対して使用される微粉炭の重量
(6)送風湿分(BM)[g/Nm3]:高炉に送風される空気の湿度
(7)炉頂圧[Pa]:高炉の炉頂の圧力
(1)炉内におけるガス利用率(ηCO):CO2/(CO+CO2)
(2)コークスや鉄の温度
(3)鉄鉱石の酸化度
(4)原料の降下速度
(5)ソルーションロスカーボン量(ソルロスカーボン量)
(6)溶銑温度
(7)造銑速度(溶銑生成速度)
(8)炉体ヒートロス量:冷却水により炉体を冷却した際に冷却水が奪う熱量
次に、上記の非定常モデルを用いた本実施形態に係るプロセスの制御方法について説明する。本実施形態に係るプロセスの制御方法は、複数の操作変数と、複数の操作変数によって制御される複数の制御変数とを有し、複数の操作変数の操作量が互いに干渉しあって複数の制御変数の制御量が決定されるような干渉系のプロセスに対して適用される。以下の説明では、プロセスの一例として高炉プロセスの制御方法について説明する。上記の非定常モデルは、例えば下記式(1)、(2)のように示すことができる。
まず、現在の全ての操作変数の操作量が一定に保たれたことを仮定して、将来の溶銑温度および造銑速度の予測計算を行う。すなわち本ステップでは、全ての操作変数の操作量が、現在時刻から予め定めた所定期間の間一定である場合の、当該所定期間における複数の制御変数の応答を算出する。本ステップでは、具体的には、現在の時間ステップをt=0と置き、下記式(3)、(4)を用いて、将来の溶銑温度および造銑速度の応答を算出する。このようにして求めた制御変数(溶銑温度および造銑速度)の応答y0のことを、本実施形態では「自由応答」と称する。
続いて、複数の操作変数のうちの特定の操作変数(第一の操作変数)の操作量(アクション量)を、前記した所定期間の間ステップ変化させた場合の、当該所定期間における複数の制御変数の応答を算出する。本ステップでは、具体的には、他の操作変数の操作量を保ったまま、微粉炭流量を単位量(例えば50kg/min)だけ増加させた際の制御変数の応答(第一の応答)y1を、下記式(5)、(6)により算出する。
続いて、複数の操作変数のうちの第一の操作変数以外の第二の操作変数の操作量を、前記した所定期間の間、第一の操作変数の操作量と同時にステップ変化させた場合の、当該所定期間における複数の制御変数の応答を算出する。本ステップでは、具体的には、微粉炭流量(第一の操作変数)と送風流量(第二の操作変数)とを同時に比例させて変化させた際の制御変数の応答(第二の応答)y2を、下記式(7)、(8)により算出する。
続いて、上記のステップで算出した自由応答y0、応答y1,y2に基づいて、複数の制御変数の制御量が、所定の目標値となるような操作変数の操作量を決定する方法について説明する。操作変数の操作量を決定方法の基本的な考え方はモデル予測制御と同様であり、制御変数の将来の偏差を予測し、偏差を打ち消すための操作変数の変化量を求める。本実施形態では、操作ΔU1,ΔU2の線形和(w1×ΔU1+w2×ΔU2)の操作が行われた際の、制御変数の制御量の将来の推移を下記式(9)で近似する。なお、上記の通り、ΔU1=(0.0064,0,0)Tであり、ΔU2=(0,200,20)Tである。
本実施形態に係るプロセスの制御方法を操業ガイダンス方法に適用することも可能である。この場合、前記した自由応答算出ステップ、第一の応答算出ステップ、第二の応答算出ステップおよび操作量決定ステップに加えて、高炉の操業を支援するステップを行う。このステップでは、操作量決定ステップで決定された操作変数の操作量を、例えば出力装置103を介してオペレータに提示することにより、高炉の操業を支援する。
本実施形態に係るプロセスの制御方法を高炉の操業方法に適用することも可能である。この場合、前記した自由応答算出ステップ、第一の応答算出ステップ、第二の応答算出ステップおよび操作量決定ステップに加えて、操作量決定ステップで決定された操作変数の操作量に従って高炉を制御するステップを行う。
本実施形態に係るプロセスの制御方法を溶銑の製造方法に適用することも可能である。この場合、前記した自由応答算出ステップ、第一の応答算出ステップ、第二の応答算出ステップおよび操作量決定ステップに加えて、操作量決定ステップで決定された操作変数の操作量に従って高炉を制御し、溶銑を製造するステップを行う。
101 情報処理装置
102 入力装置
103 出力装置
111 RAM
112 ROM
112a 制御プログラム
113 CPU
Claims (9)
- 複数の操作変数と、前記複数の操作変数によって制御される複数の制御変数とを有し、前記複数の操作変数の操作量が互いに干渉しあって前記複数の制御変数の制御量が決定されるプロセスの制御方法において、
全ての操作変数の操作量が、現在時刻から予め定めた所定期間の間一定である場合の、前記所定期間における前記複数の制御変数の応答である自由応答を算出する自由応答算出ステップと、
前記複数の操作変数のうちの第一の操作変数の操作量を、前記所定期間の間ステップ変化させた場合の、前記所定期間における前記複数の制御変数の応答である第一の応答を算出する第一の応答算出ステップと、
前記複数の操作変数のうちの前記第一の操作変数以外の第二の操作変数の操作量を、前記所定期間の間、前記第一の操作変数の操作量と同時にステップ変化させた場合の、前記所定期間における前記複数の制御変数の応答である第二の応答を算出する第二の応答算出ステップと、
前記自由応答、前記第一の応答および前記第二の応答に基づいて、前記複数の制御変数の制御量が所定の目標値となるような前記操作変数の操作量を決定する操作量決定ステップと、
を含むことを特徴とするプロセスの制御方法。 - 前記第二の操作変数は、前記第一の操作変数の操作量と同時にステップ変化させた際に、前記複数の制御変数のうちの特定の制御変数の制御量を変化させないように操作量を決定できる操作変数であることを特徴とする請求項1に記載のプロセスの制御方法。
- 前記操作量決定ステップは、
前記第一の応答算出ステップにおける操作と、前記第二の応答算出ステップにおける操作との線形和の操作が行われた際の、前記複数の制御変数の制御量の将来の推移を算出するステップと、
算出した前記複数の制御変数の制御量の将来の推移と、前記所定の目標値との偏差が最小となるような前記操作変数の操作量の重みを算出し、算出した前記重みに基づいて、前記操作変数の操作量を算出するステップと、
を含むことを特徴とする請求項1または請求項2に記載のプロセスの制御方法。 - 前記自由応答算出ステップ、前記第一の応答算出ステップ、前記第二の応答算出ステップおよび前記操作量決定ステップを繰り返し実行することを特徴とする請求項1から請求項3のいずれか一項に記載のプロセスの制御方法。
- 前記プロセスは、高炉プロセスであり、
前記操作変数は、コークス比、送風流量、富化酸素流量、送風温度、微粉炭流量、送風湿分および炉頂圧のうちの少なくとも一つを含み、
前記制御変数は、溶銑温度および造銑速度であることを特徴とする請求項1から請求項4のいずれか一項に記載のプロセスの制御方法。 - 請求項5に記載のプロセスの制御方法によって決定された操作変数の操作量を提示することにより、高炉の操業を支援するステップを含むことを特徴とする操業ガイダンス方法。
- 請求項5に記載のプロセスの制御方法によって決定された操作変数の操作量に従って高炉を制御するステップを含むことを特徴とする高炉の操業方法。
- 請求項5に記載のプロセスの制御方法によって決定された操作変数の操作量に従って高炉を制御し、溶銑を製造するステップを含むことを特徴とする溶銑の製造方法。
- 複数の操作変数と、前記複数の操作変数によって制御される複数の制御変数とを有し、前記複数の操作変数の操作量が互いに干渉しあって前記複数の制御変数の制御量が決定されるプロセスの制御装置において、
全ての操作変数の操作量が、現在時刻から予め定めた所定期間の間一定である場合の、前記所定期間における前記複数の制御変数の応答である自由応答を算出する自由応答算出手段と、
前記複数の操作変数のうちの第一の操作変数の操作量を、前記所定期間の間ステップ変化させた場合の、前記所定期間における前記複数の制御変数の応答である第一の応答を算出する第一の応答算出手段と、
前記複数の操作変数のうちの前記第一の操作変数以外の第二の操作変数の操作量を、前記所定期間の間、前記第一の操作変数の操作量と同時にステップ変化させた場合の、前記所定期間における前記複数の制御変数の応答である第二の応答を算出する第二の応答算出手段と、
前記自由応答、前記第一の応答および前記第二の応答に基づいて、前記複数の制御変数の制御量が所定の目標値となるような前記操作変数の操作量を決定する操作量決定手段と、
を備えることを特徴とするプロセスの制御装置。
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