A fault-tolerant control method and device for non-sinusoidal vibration of continuous casting mold driven by servo motor
A mold vibration and continuous casting mold technology, applied in the field of continuous casting, can solve problems such as breakout, influence on billet quality, abnormal production, etc., and achieve the effect of real-time and smooth switching
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[0019] Example: A full-arc billet continuous casting machine mold in a steel plant casts 165*165 slabs, and the non-sinusoidal vibration of the mold is used. The expected displacement given waveform S(t) and speed given waveform V( t) are:
[0020] s(t)=hsin(ωt-Asin(ωt)) (1)
[0021] V(t)=hω(1-Acos(ωt))cos(ωt-Asin(ωt)) (2)
[0022] In the formula, ω=2πf / 60 is the average angular velocity of the eccentric shaft, and the crystallizer vibration frequency f=aV L +b, process parameter a=65.5, b=14.5, unit is times / min, casting speed V L (m / min), crystallizer vibration amplitude h=4mm; parameters α is the waveform deflection rate, and its value ranges from -0.4 to +0.4. When α=0, the crystallizer vibration displacement curve is a sinusoidal curve, and the crystallizer vibrates sinusoidally.
[0023] Under the ideal condition of not considering the nonlinearity and uncertainty of the transmission mechanism such as clearance and friction, the expected rotational speed of the serv...
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