A method for anti-splash control of a high-temperature molten metal transfer crane

Abstract

The invention provides a high-temperature molten metal transfer crane anti-splash control method, which belongs to the technical field of molten metal transfer cranes. The anti-splash control method of a high-temperature molten metal transfer crane includes the following steps: S1: establishing a dynamic model based on an overhead crane system; S2: establishing a dynamic model based on an overhead crane system. The energy controller in the present invention realizes fast and accurate positioning of the load of the bridge crane system, and effectively restrains its swing; at the same time, considering the influence of the liquid center of gravity on the system when the load is in a high-temperature liquid state, the smooth shaping is used to The controller preprocesses the operation commands, fundamentally eliminates the load suspension oscillation induced by liquid sloshing, and has strong robustness. While better realizing the anti-swing positioning of the trolley, it can effectively improve the transient control performance of the system.

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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