Anti-splashing control method for high-temperature molten metal transfer crane

Abstract

The invention provides an anti-splashing control method for a high-temperature molten metal transfer crane, and belongs to the technical field of molten metal transfer cranes. The anti-splashing control method for the high-temperature molten metal transfer crane comprises the following steps that S1, a dynamic model based on a bridge crane system is established; and S2, a dynamic model based on the bridge crane system is established. According to the anti-splashing control method, an energy controller realizes rapid and accurate positioning of a load of the bridge crane system, and swing of the load is effectively inhibited; and meanwhile, the influence of the gravity center of liquid on the system under the condition that the load is in a high-temperature liquid state is considered, a smooth shaper is used for preprocessing an operation command, so that load hanging oscillation induced by liquid shaking is fundamentally eliminated, and the robustness is relatively high. The transientcontrol performance of the system is effectively improved while the anti-swing positioning of the trolley is well realized.

Description

technical field [0001] The invention belongs to the technical field of molten metal transfer cranes, and relates to an anti-splash control method of a high-temperature molten metal transfer crane. Background technique [0002] As an underactuated system, the bridge crane has simple algorithm design, fewer controllers and lower cost. However, with the movement of the trolley, the crane will have instability problems due to the swing phenomenon of the load. The relationship between trolley and load swing is non-linear and highly coupled. In addition, the load swing caused by external disturbances (such as wind, etc.) will not only reduce the overall efficiency, affect the precise placement of the load during the lifting process, but may also cause collisions and cause safety accidents. In some special occasions, such as steel ladle handling, it is even expected to realize "swingless" transportation (the national major research and development project funded by this article i...

AI Technical Summary

Problems solved by technology

If the running time of the crane is increased due to the swing when walking, it will cause premature cooling of the molten metal, and even reduce product quality and production efficiency, or cause the molten metal to splash outside the sprue, causing safety accidents

The high-temperature molten metal transfer crane is a kind of bridge crane. It not only has the characteristics and control difficulties common to general cranes, such as nonlinearity, uncertainty, and strong external interference, but also because the load part is molten metal at high temperature. Due to the change of position, the center of the liquid will be in a fluctuating state, so there is a complex changing force inside the ladle due to the change of the center of gravity of the liquid. This force is transmitted from the ladle to the crane through the inner wall of the ladle and then to the crane. If it is very large, the impact force caused by the change of the center of gravity will have a great impact on the control of the entire system

At present, scholars at home and abroad seldom consider the case that the load is liquid in the anti-swing control research of the crane. When performing the anti-sway control, because the designed controller enables the crane to achieve fast and accurate positioning, the load of the molten metal at this time The shaking at the end is more intense, which will cause a strong interference to the system. In severe cases, when the shaking frequency of the molten metal reaches or even exceeds the natural frequency of the crane system, the system will resonate, causing the crane to fail to prevent the swing and even cause the crane to overturn, causing safety accidents

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