Converter oxygen lance lifting control method and system

Abstract

The embodiment of the invention belongs to the technical field of engineering control, and particularly relates to a converter oxygen lance lifting control method and system.The control method comprises the following steps that in response to the received oxygen lance target height, the stop interval and the deceleration interval of an oxygen lance are calculated based on the target height; the current height of the oxygen lance is obtained, the current height is compared with the stop interval and the deceleration interval, and the lifting direction and the running speed of the oxygen lance are determined according to the comparison result; when the current height of the oxygen lance is out of the stop interval, the oxygen lance is controlled to move in the target height direction; when the current height of the oxygen lance is in the deceleration interval, the oxygen lance is controlled to be switched to a low-speed state; and when the current height of the oxygen lance is in the stop interval, controlling the oxygen lance to brake and stop. The optimal manual operation experience is simulated by setting three logic sections including a high-speed section, a deceleration section and a stop section; high-speed operation is performed in a safe area to ensure the efficiency; decelerating in advance near the target to overcome inertia; and finally, precisely parking in the precise braking area.

Description

Technical Field

[0001] This invention belongs to the field of engineering control technology, specifically a method and system for controlling the lifting and lowering of oxygen lances in a converter. Background Technology

[0002] The statements in this section merely refer to the background art related to this invention and do not necessarily constitute prior art.

[0003] Converter steelmaking is a core process in modern steel production. The oxygen lance, as a crucial piece of equipment for blowing oxygen into the molten pool, directly affects the blowing effect, production safety, and operational efficiency through the precision and stability of its lifting and lowering control. The purpose of oxygen lance lifting and lowering control is to quickly and accurately position the lance to different heights required for blowing, such as the lance changing position, waiting position, and blowing position.

[0004] Currently, there is no unified standard for controlling the raising and lowering of oxygen lances in converter steelmaking. Different steel mills employ different control strategies, resulting in varying levels of control accuracy. Existing control methods fail to adequately consider the inertia of the motion system. During raising and lowering, especially after high-speed operation, if the braking point is not set properly, the enormous inertia can cause the oxygen lance to overshoot the intended target position, resulting in excessive positioning deviation. This deviation can affect the stability of the blowing process, leading to problems such as splashing and re-drying, and failing to meet the stringent requirements of modern steelmaking processes and automated blowing systems for oxygen lance positioning accuracy (typically requiring centimeter-level precision). Summary of the Invention

[0005] This invention provides a converter oxygen lance lifting and lowering control method and system, used to achieve fully automatic high-precision control of converter oxygen lance lifting and lowering, providing key technical support for the core process links of "automatic blowing" and "one-click steelmaking". Its core objective is to resolve the contradiction between "speed and accuracy" in oxygen lance positioning while ensuring safe production, stably controlling the positioning accuracy within the centimeter level, ultimately replacing manual operation, improving production efficiency, stabilizing process quality, and eliminating human error accidents.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: The first aspect of this invention discloses a method for controlling the raising and lowering of a converter oxygen lance, comprising the following steps: In response to the received oxygen lance target height, the stopping range and deceleration range of the oxygen lance are calculated based on the target height; Obtain the current height of the oxygen lance, compare the current height with the stop range and deceleration range, and determine the lifting direction and running speed of the oxygen lance based on the comparison results; Specifically, when the current height of the oxygen lance is outside the stop zone, the oxygen lance is controlled to move towards the target height; when the current height of the oxygen lance is in the deceleration zone, the oxygen lance is controlled to switch to low speed; and when the current height of the oxygen lance is in the stop zone, the oxygen lance is controlled to brake and stop.

[0007] Furthermore, based on the comparison results, the lifting direction and operating speed of the oxygen lance are determined as follows: When the current altitude exceeds the upper limit of the stop zone and the safety conditions are met, control the oxygen lance to execute the descent command; When the current height is less than the lower limit of the stop interval, control the oxygen lance to execute the ascent command.

[0008] Furthermore, the safety conditions must be met, specifically: the converter is in position 0 and no slag scraper shutdown signal or lower limit signal has been received; When the converter is not in position 0, control the oxygen lance to descend to the preset waiting position and then stop.

[0009] Furthermore, the function of "controlling the oxygen lance to switch to low speed when the current altitude of the oxygen lance is in the deceleration range" also includes speed decision-making based on preset acceleration and deceleration points, including the following steps: When the current height of the oxygen lance exceeds the acceleration / deceleration point, the oxygen lance will be controlled to run at a low speed regardless of the direction of lifting or lowering. When the current height of the oxygen lance does not exceed the acceleration / deceleration point and is in the process of ascending, if it has not entered the deceleration range of the target height, the oxygen lance is controlled to ascend at high speed. When the current height of the oxygen lance does not exceed the acceleration / deceleration point and is in the process of descending, if the current height is already below the oxygen blowing point or has entered the deceleration range of the target height, the oxygen lance should be controlled to descend at a low speed; otherwise, it should descend at a high speed.

[0010] Furthermore, the stopping range = oxygen lance target height ± first set value, and the deceleration range = oxygen lance target height ± second set value, where the first set value is less than the second set value.

[0011] Furthermore, during the raising and lowering of the oxygen lance, if any of the following safety interlock conditions are triggered, the oxygen lance will be stopped: The oxygen lance is currently at a stop zone. The converter is not at position 0, and the current height of the oxygen lance is lower than the waiting position height. At the same time, a descent command has been received. Received a signal to shut down the slag scraper.

[0012] Furthermore, in response to the received oxygen lance target height, specifically, in response to a preset control signal, the control signal includes at least the lance change position, the waiting position, and the blowing position.

[0013] A second aspect of the present invention discloses a converter oxygen lance lifting control system, comprising: The encoder is used to obtain the current height of the oxygen lance; Input / output devices are used to input the oxygen lance target height to the processor and to provide feedback on the current status of the oxygen lance. The processor is equipped with the following functional modules: The interval division module is configured to: in response to the received oxygen lance target height, calculate the oxygen lance's stopping interval and deceleration interval based on the target height; The current height acquisition module is configured to acquire the current height of the oxygen lance; The oxygen lance motion control module is configured to compare the current height with the stop range and deceleration range, and determine the lifting direction and running speed of the oxygen lance based on the comparison result. The oxygen lance motion control module is also configured to: control the oxygen lance to move towards the target height when the current height of the oxygen lance is outside the stop range; control the oxygen lance to switch to low speed when the current height of the oxygen lance is in the deceleration range; and control the oxygen lance to brake and stop when the current height of the oxygen lance is in the stop range.

[0014] A third aspect of the present invention discloses a computer program product including computer-readable instructions, which, when executed on an electronic device, enable the electronic device to implement the aforementioned converter oxygen lance lifting and lowering control method.

[0015] A fourth aspect of the present invention discloses an electronic device, including at least one processor and a memory connected to the processor, the memory being used to store a computer program; the processor being used to execute the computer program, enabling the electronic device to implement the above-described converter oxygen lance lifting control method.

[0016] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects: 1. By establishing independent "deceleration zones" and "stopping zones," a segmented control strategy of "deceleration before braking" is adopted. Before reaching the target, the oxygen lance smoothly switches from high speed to low speed within the deceleration zone, greatly eliminating the motion inertia before braking. When braking is performed after entering the precise stopping zone at low speed, the inertia has been significantly reduced, thus ensuring that the oxygen lance can stop accurately near the target height. This achieves high-precision positioning with deviations at the centimeter level, fundamentally meeting the process requirements of automatic blowing.

[0017] 2. This method deeply embeds key safety signals such as converter 0 position, slag scraper status, waiting position, and lower limit as necessary conditions for lifting and lowering decisions into the control logic. This enables the system to proactively identify and intercept unsafe operating commands (such as prohibiting the oxygen lance from entering the furnace when the converter is tilting), achieving comprehensive safety interlocking from the command source to the execution process, greatly improving the inherent safety level of the equipment, and effectively preventing the occurrence of serious accidents such as collisions.

[0018] 3. This method allows the oxygen lance to rise and fall at high speeds within the non-deceleration range, significantly shortening the oxygen lance's idle travel time; it only decelerates for precise positioning when approaching the target. This "high-speed approach, low-speed precision" strategy resolves the contradiction between "speed and accuracy" in traditional control, maximizing the efficiency of oxygen lance raising and lowering while ensuring extremely high positioning accuracy, thus optimizing the converter's production rhythm.

[0019] 4. By pre-setting commonly used workstation buttons such as "gun change position" and "waiting position," and combining them with fully automatic height judgment and speed control logic, this method frees operators from tedious and stressful manual operations. This not only significantly reduces labor intensity and skill requirements but also completely avoids operational accidents caused by human error or input errors, making the control process more standardized and reliable. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0021] Figure 1 A schematic diagram of the converter oxygen lance lifting and lowering control process provided in one or more embodiments of the present invention; Figure 2 This is a schematic diagram of the oxygen lance position provided for one or more embodiments of the present invention; Figure 3 A schematic diagram of the converter oxygen lance lifting control logic provided for one or more embodiments of the present invention. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0024] The converter is the most important steelmaking equipment in modern steel production. Its task is to rapidly smelt the high-carbon "molten iron" produced by the blast furnace into "molten steel" with a lower carbon content through methods such as oxygen blowing, while the oxygen lance is the nozzle that blows oxygen into the molten pool.

[0025] Structurally, an oxygen lance is typically a large, three-layered concentric ring of cooling water. The central ring delivers high-pressure industrial pure oxygen, the middle ring delivers high-pressure cooling water to cool the lance body and prevent it from being melted by the high-temperature molten steel, and the outer ring drains the heated cooling water. The oxygen lance injects high-pressure oxygen at a certain flow rate into the molten iron pool inside the converter, creating intense agitation and thus completing a series of oxidation reactions (decarburization, dephosphorization, desulfurization, etc.).

[0026] The height of the oxygen lance (i.e., the lance position) is one of the most important process parameters in converter steelmaking. Its main purpose is to control the chemical reaction and ensure the quality of the molten steel. For example: When the lance is positioned high, the oxygen stream expands and thickens before reaching the liquid surface, resulting in a large impact area but weak penetration. This creates a "soft blow," which is beneficial for furnace heating, slag removal, and dephosphorization. When the lance is positioned low, the oxygen stream is concentrated, resulting in a strong impact and a deep penetration into the molten pool. This creates a "hard blow," which is beneficial for a vigorous decarburization reaction, but it can easily erode the furnace lining and cause splashing. Different smelting stages require different lance positions: for example, in the early stage of blowing, slag needs to be melted, so the lance position is higher; in the middle stage of blowing, decarburization is needed, so the lance position is lower; and in the later stage of blowing, uniform composition and temperature are needed, so the lance position will be adjusted accordingly.

[0027] At the same time, the height of the oxygen lance affects equipment and personal safety, for example: If the lance is positioned too low, with the oxygen lance head too close to the high-temperature molten steel (typically >1600°C), there is a risk of it burning out, even with cooling water. Alternatively, splashed steel slag may adhere to the lance head, accumulating to a certain extent and falling into the ladle, causing an accident. Improper gun position control (such as when it is too low and the carbon-oxygen reaction is violent) may trigger a violent "explosive" decarburization reaction, causing a large amount of molten steel and slag to spray out of the furnace mouth, resulting in serious equipment damage and personal safety accidents. During non-blowing stages, the oxygen lance needs to be raised to a sufficiently high "waiting position" or "lance changing position" to avoid operations such as converter tilting, charging, sampling, and slag splashing for furnace protection.

[0028] As described in the background section, there is no unified standard for controlling the raising and lowering of the oxygen lance in converter steelmaking. Different steel mills employ different control strategies, resulting in varying levels of control accuracy. The existing control methods mainly suffer from the following prominent problems.

[0029] Because some steel mills use automatic control algorithms with poor accuracy, excessively long lifting cycles, or insufficient reliability, operators are forced to intervene manually. This not only greatly increases the workload of operators, but also, due to factors such as experience and effort, human operation is prone to misjudgment and misoperation, becoming a major hidden danger to safe production. Historically, equipment and process accidents caused by oxygen lance operation errors have occurred frequently.

[0030] Many existing automatic control methods fail to adequately consider the inertia of the motion system. During lifting and lowering, especially after high-speed operation, if the braking point is not set properly, the enormous inertia can cause the oxygen lance to overshoot the intended target position, resulting in excessive positioning deviation. This deviation can affect the stability of the blowing process, leading to process problems such as splashing and re-drying, and failing to meet the stringent requirements of modern "one-click steelmaking" and automatic blowing systems for oxygen lance positioning accuracy (typically requiring centimeter-level precision).

[0031] In pursuit of positioning accuracy, some control strategies employ low-speed operation throughout or premature deceleration. While this improves stopping accuracy to some extent, it significantly prolongs the oxygen lance's raising and lowering time, disrupting the converter's production rhythm and impacting overall production efficiency. Conversely, prioritizing efficiency through high-speed operation throughout inevitably leads to inaccurate positioning, and may even cause severe shaking at the endpoint, threatening equipment lifespan and process safety.

[0032] Some existing control logics fail to adequately and effectively interlock with critical safety signals such as converter tilting and slag scraper status. For example, if the converter is not in the safe "zero position" or the slag scraper is not fully open, the oxygen lance may still incorrectly execute a descent command, posing a significant safety risk.

[0033] In manual or semi-automatic mode, operators need to repeatedly input specific target height values, which is tedious and prone to production delays or accidents due to input errors.

[0034] Therefore, this solution provides a converter oxygen lance lifting control method and system, which designs "segmented intelligent speed regulation." By establishing three logical segments—high-speed range, deceleration range, and stop range—it simulates optimal human operating experience: high-speed operation within a safe zone to ensure efficiency; deceleration in advance near the target to overcome inertia; and finally, precise stopping within a precision braking zone. This concept is realized through real-time encoder positioning and automated program logic judgment, balancing speed, accuracy, and safety.

[0035] The oxygen lance generates inertia during its movement. To bring the lance to a stop as close to the set height as possible, it needs to be braked in advance. The deviation between the final stopping height and the set height after braking begins represents the control accuracy that this control method aims to achieve. The smaller the lifting and lowering speed of the oxygen lance before braking, the smaller the inertia and the more precise the control. Therefore, to ensure that the oxygen lance reaches the set height quickly and accurately during automatic lifting and lowering, three concepts are introduced: the stopping range, the deceleration range, and the high-speed range of the oxygen lance.

[0036] like Figure 1 As shown, a method for controlling the raising and lowering of a converter oxygen lance includes the following steps: In response to the received oxygen lance target height, the stopping range and deceleration range of the oxygen lance are calculated based on the target height; Obtain the current height of the oxygen lance, compare the current height with the stop range and deceleration range, and determine the lifting direction and running speed of the oxygen lance based on the comparison results; Specifically, when the current height of the oxygen lance is outside the stop zone, the oxygen lance is controlled to move towards the target height; when the current height of the oxygen lance is in the deceleration zone, the oxygen lance is controlled to switch to low speed; and when the current height of the oxygen lance is in the stop zone, the oxygen lance is controlled to brake and stop.

[0037] As a further implementation method, the lifting direction and operating speed of the oxygen lance are determined based on the comparison results, specifically as follows: When the current altitude exceeds the upper limit of the stop zone and the safety conditions are met, control the oxygen lance to execute the descent command; When the current height is less than the lower limit of the stop interval, control the oxygen lance to execute the ascent command.

[0038] As a further implementation method, the safety conditions are met, specifically: the converter is in position 0 and no slag scraper shutdown signal or lower limit signal is received; When the converter is not in position 0, control the oxygen lance to descend to the preset waiting position and then stop.

[0039] As a further implementation method, "when the current altitude of the oxygen lance is in the deceleration range, control the oxygen lance to switch to low speed" also includes speed decision based on preset acceleration and deceleration points, including the following steps: When the current height of the oxygen lance exceeds the acceleration / deceleration point, the oxygen lance will be controlled to run at a low speed regardless of the direction of lifting or lowering. When the current height of the oxygen lance does not exceed the acceleration / deceleration point and is in the process of ascending, if it has not entered the deceleration range of the target height, the oxygen lance is controlled to ascend at high speed. When the current height of the oxygen lance does not exceed the acceleration / deceleration point and is in the process of descending, if the current height is already below the oxygen blowing point or has entered the deceleration range of the target height, the oxygen lance should be controlled to descend at a low speed; otherwise, it should descend at a high speed.

[0040] As a further implementation method, the stop range = the target height of the lance ± the first set value, and the deceleration range = the target height of the lance ± the second set value, where the first set value is less than the second set value.

[0041] As a further implementation method, during the lifting and lowering of the lance, if any of the following safety interlock conditions is triggered, the lance is controlled to stop: The current height of the lance is already within the stop range; The converter is not in the 0 position, and the current height of the lance is lower than the waiting position height, and at the same time, a lowering command is received; A slag scraper closing signal is received.

[0042] As a further implementation method, in response to the received target height of the lance, specifically: in response to a preset control signal, the control signal at least includes the gun changing position, the waiting position, and the blowing position.

[0043] In this solution, the "0 position" of the converter refers to the state where the furnace body of the converter is upright and stationary vertically. At this time, the furnace mouth is vertically upward, and the furnace body forms a 90-degree angle with the ground. At this position, a series of key operations can be carried out on the converter, especially the lifting and lowering of the lance and blowing. Only when the furnace body is upright can the lance vertically and safely descend from the furnace mouth to the predetermined depth inside the furnace without colliding with the furnace wall. The "0 position" can be considered as the position where "the converter furnace mouth is already aligned, the channel is safe, and the lance can enter".

[0044] 1. Setting of the stop range.

[0045] As Figure 2 shown, the stop range is the range within which the lance is given a braking command when it operates within this range. The range of the stop range is the precision control range. In this control method, this range is set to ±0.02 m. As long as the lance rises or falls to the height range of the target height ±0.02 m, braking is performed.

[0046] The "±0.02 m" in this embodiment is an assumed value. In actual production, this setting value is determined comprehensively according to the specifications, forms, and quality of the lance, the pressure of the cooling water system, the debugging strategy of the lance lifting frequency converter, etc. Usually, on-site, an initial value is set during debugging, and the stop state of the lance is observed for continuous correction. Through debugging experience, for the lances supporting 100 - 200 t converters, the stop range can usually be set within ±0.02 - ±0.05 m. Based on this, for the lances supporting converters above 200 t, the stop range is within ±0.05 - ±0.15 m, and on-site tests are carried out with this as the initial value.

[0047] Because the oxygen lance has a limited range for raising and lowering, when the target height of the oxygen lance is above the maximum allowable height (generally the height of the oxygen lance changing position) or below the minimum allowable height (generally the height of the molten steel level + 1~1.5m), the stopping range is calculated based on the maximum allowable height and the minimum allowable height.

[0048] 2. Setting the deceleration range.

[0049] like Figure 2 As shown, the deceleration zone serves two purposes: first, after entering the deceleration zone, before reaching the stop zone, the oxygen lance's lifting and lowering speed is adjusted from high to low within this zone; second, it ensures that the oxygen lance's low lifting and lowering speed is set reasonably, so that after braking within the stop zone, the oxygen lance can stop relatively accurately near the target angle, achieving precise positioning while ensuring that the oxygen lance's lifting and lowering speed is not too slow, thus affecting the blowing efficiency.

[0050] The deceleration process of the oxygen lance is related to the initial speed of the oxygen lance (high-speed operation) and the deceleration ramp time of the frequency converter. The higher the initial speed, the longer the stroke required for deceleration.

[0051] The deceleration range of the automatic raising and lowering of the oxygen lance is related not only to the target height setting but also to the control requirements of the raising and lowering process. Since the control requirements vary, we will use one of the most typical applications to illustrate this: An acceleration / deceleration point is set within the converter operating range. The height of the acceleration / deceleration point is generally set to the height of the oxygen lance scraper. When the current height of the oxygen lance reaches above the acceleration / deceleration point, it is considered that the oxygen lance has entered the deceleration range regardless of whether the oxygen lance is rising or falling, and the entire process is low-speed lifting and lowering. When the oxygen lance is currently below the acceleration / deceleration point and is ascending, it will ascend at high speed if it does not enter the deceleration zone of the target height. When the oxygen lance is currently below the acceleration / deceleration point and is descending, if the current altitude of the oxygen lance is already below the oxygen blowing point or has entered the deceleration range of the target altitude, it will descend at a low speed; otherwise, it will descend at a high speed.

[0052] 3. Determination of high-speed zones.

[0053] Once the oxygen lance begins its ascent or descent, if it has not yet reached the stop or deceleration zones, it is considered to be in the high-speed zone. High-speed ascent or descent is then performed to ensure the lance reaches the deceleration zone in the shortest possible time. The ascent or descent speed in the high-speed zone is preset based on the actual conditions of the converter, which in turn determines the range of the deceleration zone.

[0054] Based on on-site commissioning experience, a certain model of oxygen lance, with its high and low speed operating frequencies set at 25Hz and 8Hz (adjustable), along with deceleration range ±0.5m and stop range ±0.02m settings, achieved good performance.

[0055] 4. Determining the direction of oxygen lance lifting and lowering.

[0056] When the effective target height of the oxygen lance is input, the stopping and deceleration zones of the oxygen lance are generated in the area above and below the target height, such as... Figure 2 As shown. If the oxygen lance meets the necessary safety conditions for raising and lowering, the following principles shall be used to determine whether to raise or lower the oxygen lance.

[0057] When the converter is at position 0, the current height of the oxygen lance is greater than the upper limit of the stop interval, and there is no slag scraper shutdown or lower limit signal, the oxygen lance executes a descent command.

[0058] When the converter is not at position 0, and only the current height of the oxygen lance is above the stop position and the current height of the oxygen lance is greater than the upper limit of the stop interval, and there is no slag scraper shut-off signal, the oxygen lance executes a descent command, but automatically stops after descending to the waiting position.

[0059] The oxygen lance's current height is below the lower limit of the stop zone, so the oxygen lance executes an ascent command.

[0060] The oxygen lance will automatically switch from the raising / lowering state to the stopped state when one of the following conditions is met: (1) The oxygen lance is currently at a stop zone; (2) When the converter is not in position 0, the current height of the oxygen lance is lower than the waiting position height, and a descent command is received; (3) When the oxygen lance receives a descent command after the slag scraper is closed.

[0061] To improve convenience, three virtual buttons can be added to the control panel to indicate the commonly used height settings for the oxygen lance: lance change position, waiting position, and blasting position. When the oxygen lance is ready to be raised or lowered, the operator can simply click the corresponding button to position the lance at the desired height, reducing the possibility of operator input errors and lowering workload.

[0062] This control method translates the experience and intuition of skilled operators into a set of quantifiable and executable automated rules, improving the traditional control method from "set target point" to "set target area" to address the inertia problem of oxygen lances.

[0063] By establishing a precise "stop zone" (±0.02m) and combining it with a low-speed approach strategy, the final positioning accuracy deviation of the oxygen lance is stably controlled within ±2 cm. This level of accuracy far exceeds the inconsistent existing control methods in the industry, fundamentally meeting the stringent requirements of automatic blowing processes for precise lance position control, and providing core technical support for stabilizing molten steel quality and reducing process accidents such as splashing.

[0064] A multi-segment intelligent control model consisting of a "high-speed range - deceleration range - stop range" is adopted. This model enables the oxygen lance to operate at high speed during long-distance movement, and only decelerates smoothly within a specific range before the target point. This minimizes the single lifting and lowering cycle of the oxygen lance while ensuring accuracy, optimizes the overall production rhythm of the converter, and directly improves production efficiency.

[0065] By deeply integrating safety interlocking logic into the core control process, and through real-time interlocking with multiple safety signals such as converter zero position, slag scraper status, and upper and lower limits, intelligent judgment and safe interception of lifting commands are achieved. This completely eliminates serious equipment safety accidents such as oxygen lance collisions and lance burning caused by human error or program defects, and greatly improves the inherent safety level of the system.

[0066] The entire process of raising and lowering the oxygen lance has been automated. Operators only need to set the target height or click the preset workstation button, eliminating the need for tedious manual intervention. This not only frees operators from high-intensity, high-stress repetitive labor, but also completely avoids the possibility of human error through procedural and standardized control.

[0067] The control method has a clear logic and simple parameter adjustment. All core functions can be achieved using only one high-precision encoder, without requiring large-scale modifications or upgrades to existing hardware systems. This makes the invention low-cost, easy to implement, and convenient for widespread application in different steel plants.

[0068] In practical applications, this control method can be operated via the main control console or the control box near the oxygen lance, HMI operation (handheld mobile terminal operation), or secondary model operation, etc. The relevant control flow is as follows: Figure 3 As shown.

[0069] During operation on the main control panel or machine side box, the oxygen lance is raised or lowered by pressing the high-speed lift button, low-speed lift button, high-speed descent button or low-speed descent button. The oxygen lance stops when the high-speed lift or low-speed lift reaches the upper limit or when the corresponding button is released. During high-speed descent, if the converter is at position 0, the high-speed descent will continue until the oxygen lance stops when it reaches the lower limit or the corresponding button is released; if the converter is not at position 0, the oxygen lance will stop. When descending at low speed, if the converter is at position 0, the oxygen lance will continue to descend at low speed until it reaches the lower limit or the corresponding button is released. If the converter is not at position 0, the oxygen lance will stop.

[0070] During HMI operation, input the target height of the oxygen lance into the control equipment to determine whether the oxygen lance is in the stop range. If so, maintain the stop state. If the oxygen lance is not in the stop zone, and the target height of the oxygen lance is greater than the actual height of the oxygen lance, and the oxygen lance is not in the high-speed zone but in the deceleration zone, then the oxygen lance will decelerate and rise. If the oxygen lance is not in the stop zone, and the target height of the oxygen lance is greater than the actual height of the oxygen lance, and the oxygen lance is neither in the high-speed zone nor in the deceleration zone, then the oxygen lance will rise at a low speed. If the oxygen lance is not in the stop zone, and the target height of the oxygen lance is greater than the actual height of the oxygen lance, while the oxygen lance is in the high-speed zone, then the oxygen lance will rise at high speed. If the oxygen lance is not in the stop zone, and the target height of the oxygen lance is not greater than the actual height of the oxygen lance, and the oxygen lance is not in the high-speed zone but in the deceleration zone, then the oxygen lance will decelerate and descend. If the oxygen lance is not in the stop zone, and the target height of the oxygen lance is not greater than the actual height of the oxygen lance, and the oxygen lance is neither in the high-speed zone nor in the deceleration zone, then the oxygen lance will descend at a low speed. If the oxygen lance is not in the stop zone, and the target height of the oxygen lance is not greater than the actual height of the oxygen lance, and the oxygen lance is in the high-speed zone, then the oxygen lance will descend at high speed.

[0071] During HMI operation, the oxygen lance can be raised or lowered at a low speed by clicking the HMI micro-motion up or down button on the control device. The oxygen lance will stop when it reaches the upper limit, lower limit, or when the control button is released.

[0072] During the operation of the secondary model, in the smelting or slag splashing process, the oxygen lance height assigned by the model in real time is automatically read, and the subsequent judgment conditions are the same as the oxygen lance target height manually entered by the operator.

[0073] This control method employs a three-level interval control model of "high speed - deceleration - stop," simulating optimal human operating experience. This ensures operational efficiency during long-distance movement while effectively overcoming inertia through predictive deceleration, ultimately achieving a stable positioning accuracy of up to ±2 cm. The scheme deeply embeds multiple safety interlocks into the core control logic, eliminating the risk of human error and establishing inherent safety. Ultimately, with a simple hardware foundation relying solely on encoders, it achieves full-process automation, significantly improving production rhythm and process stability, providing a solid foundation for "one-click steelmaking," while greatly reducing the labor intensity of personnel.

[0074] Correspondingly, a converter oxygen lance lifting control system is provided. The core hardware of the system is a high-precision encoder that is linked with the oxygen lance lifting mechanism to detect the current height of the oxygen lance in real time and accurately. It also includes a processor and input / output devices. The input / output devices can be displays with touch functions and commonly used work position buttons are preset in the input / output devices.

[0075] The processor is equipped with the following functional modules: The interval division module is configured to: in response to the received oxygen lance target height, calculate the oxygen lance's stopping interval and deceleration interval based on the target height; The current height acquisition module is configured to acquire the current height of the oxygen lance; The oxygen lance motion control module is configured to compare the current height with the stop range and deceleration range, and determine the lifting direction and running speed of the oxygen lance based on the comparison result. The oxygen lance motion control module is also configured to: control the oxygen lance to move towards the target height when the current height of the oxygen lance is outside the stop range; control the oxygen lance to switch to low speed when the current height of the oxygen lance is in the deceleration range; and control the oxygen lance to brake and stop when the current height of the oxygen lance is in the stop range.

[0076] When the operator inputs a valid target height (H_target) or clicks a preset workstation button (gun change station, waiting station, blowing station), the processor calculates two core intervals: Stop interval: [H_target - 0.02, H_target + 0.02]; Deceleration range: [H_target - 0.5, H_target + 0.5]; If the target height exceeds the upper or lower limits allowed by the equipment, the calculation will be based on the limit value.

[0077] The processor compares the oxygen gun's current height (H_current) with the target height and the aforementioned range, making decisions based on the following logic: Descent conditions: H_current > upper limit of the stop interval, and safety conditions are met (e.g., converter is at position 0, no slag scraper shutdown signal). If the converter is not at position 0, it will automatically stop after descending to the waiting position.

[0078] Ascending condition: H_current < lower limit of the stopping interval.

[0079] Speed ​​Decision: High-speed mode: H_current has not entered any deceleration range and does not meet the following low-speed conditions; Low speed mode: Switches to low speed when any of the following conditions are met: (1) H_current has entered the deceleration range set for the target altitude; (2) H_current is higher than the preset "scraper height" acceleration / deceleration point; (3) H_current is below the oxygen blowing point and is decreasing.

[0080] The oxygen lance begins operation based on the decision-making results, and its operation is divided into three stages: High-speed range: operates at a high frequency, aiming to approach the target in the shortest possible time; Deceleration range: After entering this range, the system controls the frequency converter to smoothly transition the speed from high speed to low speed in order to overcome motion inertia; Stopping zone: Once the encoder detects that H_current has entered this zone, it immediately issues a braking command. Because the speed has dropped to a low level and the inertia is small at this time, the oxygen lance can stop precisely near the target altitude.

[0081] Throughout the entire lifting and lowering process, the system continuously monitors safety conditions. If any of the following conditions occur, the current action will be immediately terminated: The oxygen lance is now within the stop zone; mission complete. The converter is not in position 0, and the oxygen lance has descended to the waiting position and is safely hovering. Received a signal to shut down the scraper to prevent collisions; When upper or lower limit alarm signals are detected, the equipment will activate its protection mechanism.

[0082] The operation screen has virtual buttons such as "Gun Change Position", "Waiting Position", and "Blowing Position". Clicking them will automatically call the preset height value, simplifying the operation and preventing input errors.

[0083] Correspondingly, a computer program product includes computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the aforementioned converter oxygen lance lifting control method.

[0084] Correspondingly, an electronic device includes at least one processor and a memory connected to the processor, the memory being used to store computer programs; the processor is used to execute the computer programs, enabling the electronic device to implement the aforementioned converter oxygen lance lifting control method.

[0085] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of controlling the oxygen lance lift in a converter, characterized in that The method comprises the following steps: in response to the received target height of the lance, calculating a stop interval and a deceleration interval of the lance based on the target height; acquiring the current height of the lance, comparing the current height with the stop interval and the deceleration interval, and determining the lifting direction and running speed of the lance according to the comparison result; wherein when the current height of the lance is outside the stop interval, the lance is controlled to move towards the target height; when the current height of the lance is in the deceleration interval, the lance is controlled to switch to a low-speed state; and when the current height of the lance is in the stop interval, the lance is controlled to brake and stop.

2. A method of controlling the lift of a lance in a vessel as claimed in claim 1, characterized in that The determination of the lifting direction and running speed of the lance according to the comparison result comprises: when the current height exceeds the upper limit of the stop interval and the safety condition is met, the lance is controlled to execute a descending command; when the current height is less than the lower limit of the stop interval, the lance is controlled to execute an ascending command.

3. A method of controlling the lift of a lance in a vessel as claimed in claim 1, wherein, The safety condition is that the converter is at 0 position and no slag scraper closing signal and lower limit signal are received. When the converter is not at 0 position, the lance is controlled to stop after descending to a preset waiting position.

4. A method of controlling the lift of a lance in a vessel as claimed in claim 1, characterized in that In the step of controlling the lance to switch to a low-speed state when the current height of the lance is in the deceleration interval, the speed decision is further based on a preset acceleration-deceleration point, and the method comprises the following steps: when the current height of the lance exceeds the acceleration-deceleration point, the lance is controlled to run at a low speed regardless of the lifting direction; when the current height of the lance does not exceed the acceleration-deceleration point and the lance is ascending, if the lance has not entered the deceleration interval of the target height, the lance is controlled to ascend at a high speed; when the current height of the lance does not exceed the acceleration-deceleration point and the lance is descending, if the current height has been lower than the oxygen blowing point or has entered the deceleration interval of the target height, the lance is controlled to descend at a low speed, otherwise, the lance is controlled to descend at a high speed.

5. A method of controlling the lift of a lance in a converter as defined in claim 1, wherein The stop interval is equal to the target height of the lance ± a first set value, and the deceleration interval is equal to the target height of the lance ± a second set value, wherein the first set value is less than the second set value.

6. A method of controlling the lift of a lance in a converter as defined in claim 1, wherein During the lifting of the lance, if any one of the following safety interlocking conditions is triggered, the lance is controlled to stop: the current height of the lance has been in the stop interval; the converter is not at 0 position, and the current height of the lance has been lower than the height of the waiting position while a descending command is received; a slag scraper closing signal is received.

7. A method of controlling the lift of a lance in a converter as defined in claim 1, wherein In response to the received target height of the lance, the control signal at least comprises a gun changing position, a waiting position and a blowing position.

8. A converter oxygen lance lift control system for implementing the control method according to any one of claims 1 to 7, characterized in that The method comprises: an encoder for acquiring the current height of the lance; an input / output device for inputting the target height of the lance to the processor and feeding back the current state of the lance; the processor is provided with the following functional modules: an interval division module configured to calculate a stop interval and a deceleration interval of the lance based on the target height of the lance in response to the received target height of the lance; a current height acquisition module configured to acquire the current height of the lance; a lance action control module configured to compare the current height with the stop interval and the deceleration interval, and determine the lifting direction and running speed of the lance according to the comparison result. The oxygen lance action control module is further configured to: when the current height of the oxygen lance is outside the stop interval, control the oxygen lance to move towards the target height; when the current height of the oxygen lance is in the deceleration interval, control the oxygen lance to switch to the low-speed state; and when the current height of the oxygen lance is in the stop interval, control the oxygen lance to brake and stop.

9. A computer program product, characterised in that, The computer readable instructions, when run on an electronic device, cause the electronic device to implement the steps of the converter oxygen lance lifting control method of any one of claims 1-7.

10. An electronic device, comprising: The computer readable instructions, when run on an electronic device, cause the electronic device to implement the steps of the converter oxygen lance lifting control method of any one of claims 1-7.

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