A mold vibration control method and device, electronic equipment and storage medium

Abstract

The application provides a crystallizer vibration control method and device, electronic equipment and storage medium, the method comprises the following steps: obtaining a compensation period pulse, an initial vibration wave and an actual vibration wave of a crystallizer, calculating the deviation of the initial vibration wave and the actual vibration wave according to the compensation period pulse, obtaining a vibration deviation, the vibration deviation at least includes a shape deviation, determining a target compensation parameter according to the compensation period pulse, the vibration deviation and the initial vibration wave, and controlling the vibration of the crystallizer based on the target compensation parameter, the target compensation parameter at least includes a feedforward control parameter obtained based on the shape deviation and the initial curve change rate of the initial vibration wave; the application realizes the adaptive adjustment of the feedforward control parameter through the shape deviation, changes the open-loop feedforward control into a closed loop, improves the robustness and stability of the crystallizer vibration control, and improves the control accuracy and response speed of the crystallizer vibration control by controlling the vibration of the crystallizer through the target compensation parameter.

Description

Technical Field

[0001] This application relates to the field of metallurgical control technology, and in particular to a method, apparatus, electronic device and storage medium for controlling crystallizer vibration. Background Technology

[0002] The crystallizer vibration device is a core piece of equipment in continuous casting production. It is widely used due to its flexible vibration parameter adjustment, stable and reliable operation, and high billet surface quality. The crystallizer vibration device can be adapted to the production of different steel grades according to process requirements, and has the function of providing sinusoidal and non-sinusoidal vibrations. This facilitates billet removal, improves lubrication between the billet and the copper plate, reduces vibration marks, and improves billet quality. In recent years, with the development of new-generation high-efficiency continuous casting technology and continuous casting and rolling processes, there is a demand for higher billet drawing speeds, lower costs, and less consumption. Therefore, the control requirements for the crystallizer device are becoming increasingly stringent, and the quality of the crystallizer vibration device control directly affects production stability and product surface quality.

[0003] Traditional crystallizer vibration control methods often suffer from low control accuracy, slow response speed, or insufficient stability when dealing with complex operating conditions such as system nonlinearity, time-varying parameters, and external disturbances, and cannot meet the high efficiency, high precision, and stability requirements of modern industrial production. Summary of the Invention

[0004] This invention provides a crystallizer vibration control method, device, electronic device, and storage medium to solve the technical problems of low accuracy, slow response speed, and insufficient stability of traditional crystallizer vibration control.

[0005] In one embodiment of this application, a crystallizer vibration control method is provided, comprising: acquiring a compensation period pulse, an initial vibration wave, and an actual vibration wave of the crystallizer; calculating a deviation between the initial vibration wave and the actual vibration wave based on the compensation period pulse to obtain a vibration deviation, wherein the vibration deviation includes at least a shape deviation; determining a target compensation parameter based on the compensation period pulse, the vibration deviation, and the initial vibration wave, and performing vibration control on the crystallizer based on the target compensation parameter, wherein the target compensation parameter includes at least a feedforward control parameter obtained based on the shape deviation and the initial curve change rate of the initial vibration wave.

[0006] In one embodiment of this application, the vibration deviation is calculated by performing a deviation calculation on the initial vibration wave and the actual vibration wave based on the compensation periodic pulse. This includes: if the vibration deviation is a control deviation, the difference between the initial vibration wave and the actual vibration wave is used as the control deviation; if the vibration deviation is a shape deviation, the absolute value of the difference between the initial vibration wave and the initial center position is used as the first deviation, and the absolute value of the difference between the actual vibration wave and the initial center position is used as the second deviation, and the shape deviation is determined based on the compensation periodic pulse and the difference between the first deviation and the second deviation; if the vibration deviation is a center deviation, the center deviation is determined based on the compensation periodic pulse and the control deviation; wherein the initial center position is obtained based on the initial vibration wave, the pulse period of the compensation periodic pulse is an integer multiple of the vibration period of the initial vibration wave, and the vibration deviation further includes at least one of the control deviation and the center deviation.

[0007] In one embodiment of this application, the vibration deviation is obtained by calculating the deviation between the initial vibration wave and the actual vibration wave based on the compensation period pulse, including: if the compensation period pulse is a first peak value and the vibration deviation is a shape deviation, then the integral of the difference between the first deviation and the second deviation is determined as the shape deviation based on the integration interval; if the compensation period pulse is a second peak value and the vibration deviation is a shape deviation, then the shape deviation is set to zero; if the compensation period pulse is a first peak value and the vibration deviation is a center deviation, then the integral of the control deviation is determined as the center deviation based on the integration interval; if the compensation period pulse is a second peak value and the center deviation is a shape deviation, then the center deviation is set to zero; wherein, the integration interval is obtained based on the compensation period pulse and the initial vibration wave.

[0008] In one embodiment of this application, a target compensation parameter is determined based on the compensation period pulse, the vibration deviation, and the initial vibration wave, and vibration control of the crystallizer is performed based on the target compensation parameter. This includes: if the target compensation parameter is a gain control parameter, then the gain control parameter is determined based on a preset first control parameter and a control deviation; if the target compensation parameter is a shape compensation parameter, then a shape compensation parameter is determined based on the compensation period pulse, the shape deviation, and a preset second control parameter; if the target compensation parameter is a feedforward control parameter, then a feedforward control parameter is determined based on a preset third control parameter, the shape compensation parameter, and the initial curve change rate; if the target compensation parameter is a center compensation parameter, then a center compensation parameter is determined based on the compensation period pulse, the center deviation, and a preset fourth control parameter; the center compensation parameter, the gain control parameter, and the feedforward control parameter are combined as the target control parameter, and vibration control of the crystallizer is performed based on the target control parameter; wherein the target compensation parameter further includes at least one of the control deviation and the center deviation.

[0009] In one embodiment of this application, determining the target compensation parameter based on the compensation period pulse, the vibration deviation, and the initial vibration wave includes: if the compensation period pulse is a first peak value and the target compensation parameter is a shape compensation parameter, then the integral of the product of the second control parameter and the shape deviation is determined as the shape compensation parameter based on the integration interval; if the compensation period pulse is a second peak value and the target compensation parameter is a shape compensation parameter, then the shape compensation parameter corresponding to the final timing value in the integration interval is maintained; if the compensation period pulse is a first peak value and the target compensation parameter is a center compensation parameter, then the integral of the product of the fourth control parameter and the center deviation is determined as the center compensation parameter based on the integration interval; if the compensation period pulse is a second peak value and the target compensation parameter is a center compensation parameter, then the center compensation parameter corresponding to the final timing value in the integration interval is maintained; wherein the integration interval is obtained based on the compensation period pulse and the initial vibration wave. In one embodiment of this application, determining the center compensation parameter based on the compensation period pulse, the center deviation, and the preset fourth control parameter includes: if the compensation period pulse is a first peak value, then the integral of the product of the fourth control parameter and the shape deviation is determined as the center compensation parameter; if the compensation period pulse is a second peak value, then the center deviation is determined as the center compensation parameter.

[0010] In one embodiment of this application, determining the gain control parameter based on a preset first control parameter and a control deviation includes: determining the product of the preset first control parameter and the control deviation as the gain control parameter.

[0011] In one embodiment of this application, a crystallizer vibration control device is provided, comprising: an acquisition module for acquiring a compensation period pulse, an initial vibration wave, and an actual vibration wave of the crystallizer; a deviation determination module for calculating a deviation between the initial vibration wave and the actual vibration wave based on the compensation period pulse to obtain a vibration deviation, wherein the vibration deviation includes at least a shape deviation; and a vibration control module for determining a target compensation parameter based on the compensation period pulse, the vibration deviation, and the initial vibration wave, and performing vibration control on the crystallizer based on the target compensation parameter, wherein the target compensation parameter includes at least a feedforward control parameter obtained based on the shape deviation and the initial curve change rate of the initial vibration wave.

[0012] According to one aspect of the embodiments of this application, an electronic device is provided, the electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device enables the crystallizer vibration control method as described in any of the above embodiments.

[0013] According to one aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a computer processor, causes the computer to perform the crystallizer vibration control method described in any of the above embodiments.

[0014] The beneficial effects of the embodiments of the present invention are as follows: The present invention provides a crystallizer vibration control method, device, electronic device, and storage medium. The embodiments of the present invention calculate the vibration deviation between the initial vibration wave and the actual vibration wave by compensating the periodic pulse. The feedforward control parameters are obtained by the shape deviation in the vibration deviation and the rate of change of the initial curve of the initial vibration wave. The feedforward control parameters are corrected by the shape deviation, realizing the adaptive adjustment of the feedforward control parameters, turning the open-loop feedforward control into closed-loop control, and improving the robustness and stability of the crystallizer vibration control. By controlling the crystallizer vibration according to the target compensation parameters determined by the compensation periodic pulse, vibration deviation, and initial vibration wave, the control accuracy and response speed are improved.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 A schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of this application can be applied is shown; Figure 2 A schematic flowchart of a crystallizer vibration control method according to an embodiment of this application is shown; Figure 3 A waveform diagram of a compensated periodic pulse, an initial vibration wave, and an actual vibration wave according to an embodiment of this application is shown. Figure 4 A schematic diagram of the control logic of a crystallizer vibration control method according to an embodiment of this application is shown; Figure 5 A schematic diagram of the target compensation parameter output curve according to an embodiment of this application is shown; Figure 6 A schematic diagram showing the control components and proportions according to an embodiment of this application is provided; Figure 7 A block diagram of a crystallizer vibration control device according to an embodiment of this application is shown; Figure 8 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0017] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0018] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0019] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0020] Please see Figure 1 , Figure 1 A schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of this application can be applied is shown. For example... Figure 1 As shown, the system architecture may include a computer device 101 and a control execution device 102. The computer device 101 may be at least one of a programmable logic controller (PLC), a microcontroller, and a general-purpose computer. The control execution device 102 includes a servo valve and a vibration cylinder. The computer device 101 controls the execution device 102, thereby controlling the crystallizer vibration.

[0021] For example, after acquiring the compensation cycle pulse, initial vibration wave, and actual vibration wave of the crystallizer, the computer device 101 calculates the deviation between the initial vibration wave and the actual vibration wave based on the compensation cycle pulse to obtain the vibration deviation, which includes at least the shape deviation; it determines the target compensation parameter based on the compensation cycle pulse, vibration deviation, and initial vibration wave, and performs vibration control on the crystallizer based on the target compensation parameter, which includes at least the feedforward control parameter obtained based on the shape deviation and the initial curve change rate of the initial vibration wave.

[0022] In related technologies, traditional crystallizer vibration control methods often suffer from problems such as low control accuracy, slow response speed, or insufficient stability when dealing with complex operating conditions such as system nonlinearity, time-varying parameters, and external disturbances, and cannot meet the high efficiency, high precision, and stability requirements of modern industrial production.

[0023] To address the aforementioned technical problems, this application provides a crystallizer vibration control method, apparatus, electronic device, and storage medium. The implementation details of the technical solutions in the embodiments of this application are described in detail below.

[0024] Please see Figure 2 , Figure 2 A schematic flowchart of a crystallizer vibration control method according to an embodiment of this application is shown. Figure 2 As shown, in an exemplary embodiment, the crystallizer vibration control method includes at least steps S210 to S230, which are described in detail below: Step S210: Obtain the compensation cycle pulse, initial vibration wave, and actual vibration wave of the crystallizer.

[0025] In one embodiment of this application, the initial vibration wave is used to characterize the vibration set curve, and the actual vibration wave is used to characterize the actual vibration curve corresponding to the initial vibration wave.

[0026] In one embodiment of this application, the compensation period of the compensation period pulse is an integer multiple of the vibration period of the initial vibration wave.

[0027] In one embodiment of this application, the vibration period is also the control period of the crystallizer, and the compensation period is 1 to 5 times the control period.

[0028] In one embodiment of this application, please refer to Figure 3 , Figure 3 A waveform diagram of a compensated periodic pulse, an initial vibration wave, and an actual vibration wave according to an embodiment of this application is shown. Figure 3 As shown, the thick solid line represents the initial vibration wave, and the dashed line represents the actual vibration wave; where y is the amplitude of the initial vibration wave, and c is the initial center position of the initial vibration wave; the thin solid line represents the compensation period pulse. In this embodiment, the compensation period is equal to the vibration period, and the peak value of the compensation period pulse is 1, and the trough value is 0.

[0029] Step S220: Calculate the deviation between the initial vibration wave and the actual vibration wave based on the compensation periodic pulse to obtain the vibration deviation.

[0030] Vibration deviation includes at least shape deviation.

[0031] In one embodiment of this application, the deviation calculation between the initial vibration wave and the actual vibration wave based on the compensation period pulse to obtain the vibration deviation includes: if the vibration deviation is a control deviation, the difference between the initial vibration wave and the actual vibration wave is used as the control deviation; if the vibration deviation is a shape deviation, the absolute value of the difference between the initial vibration wave and the initial center position is used as the first deviation, the absolute value of the difference between the actual vibration wave and the initial center position is used as the second deviation, and the shape deviation is determined based on the compensation period pulse and the difference between the first deviation and the second deviation; if the vibration deviation is a center deviation, the center deviation is determined based on the compensation period pulse and the control deviation; wherein, the initial center position is obtained based on the initial vibration wave.

[0032] In one embodiment of this application, the control deviation is determined as shown in equation (1): Equation (1) in, To control deviation, The initial vibration wave, The actual vibration wave is represented by t, which is the current vibration time.

[0033] In one embodiment of this application, the vibration deviation is calculated based on the deviation between the initial vibration wave and the actual vibration wave according to the compensation period pulse, including: if the compensation period pulse is a first peak value and the vibration deviation is a shape deviation, then the integral of the difference between the first deviation and the second deviation is determined as the shape deviation according to the integration interval; if the compensation period pulse is a second peak value and the vibration deviation is a shape deviation, then the shape deviation is set to zero; if the compensation period pulse is a first peak value and the vibration deviation is a center deviation, then the integral of the control deviation is determined as the center deviation according to the integration interval; if the compensation period pulse is a second peak value and the center deviation is a shape deviation, then the center deviation is set to zero; wherein, the integration interval is obtained based on the compensation period pulse and the initial vibration wave.

[0034] In one embodiment of this application, the lower limit of the integration interval is used to characterize the initial timing value obtained based on the rising or falling edge of the compensation period pulse; the upper limit of the integration interval is the current vibration time or the final timing value, wherein the current vibration time is obtained based on the initial vibration wave or the compensation period pulse, and the final timing value is obtained based on the falling or rising edge of the compensation period pulse.

[0035] In one embodiment of this application, if the rising edge of the compensation period pulse is the initial timing value, then the falling edge of the compensation period pulse is the final timing value; if the rising edge of the compensation period pulse is the final timing value, then the falling edge of the compensation period pulse is the initial timing value.

[0036] In one embodiment of this application, if the first peak value is used to characterize the peak value of the compensation periodic pulse, then the second peak value is used to characterize the trough value of the compensation periodic pulse; if the first peak value is used to characterize the trough value of the compensation periodic pulse, then the second peak value is used to characterize the peak value of the compensation periodic pulse.

[0037] In one embodiment of this application, the peak value of the compensation period pulse is 1, and the trough value of the compensation period pulse is 0, that is, the first peak value is 1 and the second peak value is 0. The initial timing value is the rising edge of the compensation period pulse, and the final timing value is the falling edge of the compensation pulse period.

[0038] In one embodiment of this application, the shape deviation is determined as shown in equation (2): Equation (2) in, For shape deviation, The initial vibration wave, As the initial center position, For actual vibration waves, To compensate for periodic pulses, Let t be the lower bound of the integration interval, and t be the current vibration time. ( ,t).

[0039] In one embodiment of this application, the center deviation is determined as shown in equation (3): Equation (3) in, For center deviation, The initial vibration wave, For actual vibration waves, To compensate for periodic pulses, Let t be the lower bound of the integration interval, and t be the current vibration time. ( ,t).

[0040] Step S230: Determine the target compensation parameters based on the compensation cycle pulse, vibration deviation and initial vibration wave, and perform vibration control on the crystallizer based on the target compensation parameters.

[0041] The target compensation parameters include at least the feedforward control parameters obtained based on the shape deviation and the rate of change of the initial curve of the initial vibration wave.

[0042] In one embodiment of this application, a target compensation parameter is determined based on a compensation period pulse, vibration deviation, and an initial vibration wave, and vibration control of the crystallizer is performed based on the target compensation parameter. This includes: if the target compensation parameter is a gain control parameter, then a gain control parameter is determined based on a preset first control parameter and a control deviation; if the target compensation parameter is a shape compensation parameter, then a shape compensation parameter is determined based on a compensation period pulse, a shape deviation, and a preset second control parameter; if the target compensation parameter is a feedforward control parameter, then a feedforward control parameter is determined based on a preset third control parameter, the shape compensation parameter, and the initial curve change rate; if the target compensation parameter is a center compensation parameter, then a center compensation parameter is determined based on a compensation period pulse, a center deviation, and a preset fourth control parameter; the center compensation parameter, the gain control parameter, and the feedforward control parameter are combined as the target control parameter, and vibration control of the crystallizer is performed based on the target control parameter; wherein the initial curve change rate is obtained based on the initial vibration wave, and the target compensation parameter includes at least one of a control deviation, a shape deviation, and a center deviation.

[0043] In one embodiment of this application, the rate of change of the initial curve is obtained by differentiating the initial vibration wave with respect to time.

[0044] In one embodiment of this application, the target compensation parameter further includes at least one of a gain control parameter and a center compensation parameter.

[0045] In one embodiment of this application, determining the gain control parameter based on a preset first control parameter and a control deviation includes: determining the product of the preset first control parameter and the control deviation as the gain control parameter.

[0046] In one embodiment of this application, the gain control parameter is determined as shown in equation (4): Equation (4) in, These are gain control parameters. To preset the first control parameter, To control for deviation, t represents the current vibration time.

[0047] In one embodiment of this application, determining the target compensation parameter based on the compensation period pulse, vibration deviation, and initial vibration wave includes: if the compensation period pulse is a first peak value and the target compensation parameter is a shape compensation parameter, then the integral of the product of the second control parameter and the shape deviation is determined as the shape compensation parameter based on the integration interval; if the compensation period pulse is a second peak value and the target compensation parameter is a shape compensation parameter, then the shape compensation parameter corresponding to the final timing value in the integration interval is maintained; if the compensation period pulse is a first peak value and the target compensation parameter is a center compensation parameter, then the integral of the product of the fourth control parameter and the center deviation is determined as the center compensation parameter based on the integration interval; if the compensation period pulse is a second peak value and the target compensation parameter is a center compensation parameter, then the center compensation parameter corresponding to the final timing value in the integration interval is maintained; wherein, the integration interval is obtained based on the compensation period pulse and the initial vibration wave. In one embodiment of this application, the shape compensation parameters are determined as shown in equation (5): Equation (5) in, For shape compensation parameters, To preset the second control parameter, For shape deviation, To compensate for periodic pulses, Let t be the lower limit of the integration interval, and t be the current vibration time. ( ,t), This is the final value of the timer.

[0048] In one embodiment of this application, the integration interval is [ , When, ,when The stage shape compensation parameters remain constant. This continues until the rising edge of the compensation cycle pulse arrives in the next compensation cycle.

[0049] In one embodiment of this application, determining the feedforward control parameter based on the preset third control parameter, the shape compensation parameter, and the initial curve change rate includes: using the sum of the preset third control parameter and the shape compensation parameter as the initial control parameter; and determining the feedforward control parameter based on the product of the initial control parameter and the initial curve change rate.

[0050] In one embodiment of this application, the feedforward control parameters are determined as shown in equation (6): Equation (6) in, These are the feedforward control parameters; This is a preset third control parameter; For shape compensation parameters, Let t be the initial curve rate of change, and t be the current vibration time.

[0051] In one embodiment of this application, determining the center compensation parameter based on the compensation period pulse, the center deviation, and the preset fourth control parameter includes: if the compensation period pulse is a first peak value, then the integral of the product of the fourth control parameter and the center deviation is determined as the center compensation parameter; if the compensation period pulse is a second peak value, then the center deviation is determined as the center compensation parameter.

[0052] In one embodiment of this application, the center compensation parameter is determined as shown in equation (7): Equation (7) In the formula, Centered compensation parameters; This is the preset fourth control parameter; For center deviation, To compensate for periodic pulses, Let t be the lower bound of the integration interval, and t be the current vibration time. ( ,t), This is the final value of the timer.

[0053] In one embodiment of this application, the integration interval is [ , When, ,when The center compensation parameter has always remained at This continues until the rising edge of the compensation cycle pulse arrives in the next compensation cycle.

[0054] In one embodiment of this application, the target control parameter is determined as shown in equation (8): Equation (8) in, For target control parameters, These are feedforward control parameters. These are gain control parameters. The central compensation parameter is t, where t is the current vibration time.

[0055] In one embodiment of this application, please refer to Figure 4 , Figure 4 A schematic diagram of the control logic for a crystallizer vibration control method according to an embodiment of this application is shown. Figure 4 As shown, the vibration curve generation module generates the initial vibration wave, i.e. And obtain the initial vibration center. The actual vibration wave corresponding to the vibrating cylinder is ; in the compensation period pulse Under the control of, according to Deviation calculations are performed to obtain the control deviation e and the shape deviation. Central deviation According to the preset first control parameter The gain control parameter is obtained by multiplying the gain control parameter by the control deviation e. ; in the compensation period pulse Under the control of [the system], according to the preset second control parameter [the system]... and shape deviation The integral of the product yields the shape compensation parameters. For the initial vibration wave The rate of change of the initial curve is obtained by differentiation, and the shape compensation parameters are then used. With preset third control parameters The sum of these two factors is used to determine the initial control parameters, and the product of the initial control parameters and the rate of change of the initial curve is used to determine the feedforward control parameters. ; in the compensation period pulse Under the control of, according to With the preset fourth control parameter The integral of the product yields the central compensation parameter. ; center compensation parameters Feedforward control parameters and gain control parameters The sum is determined as the target control parameter. To achieve the target control parameters The servo valve is controlled, thereby controlling the vibrating cylinder.

[0056] In one embodiment of this application, please refer to Figure 5 , Figure 5 A schematic diagram of the target compensation parameter output curve according to one embodiment of this application is shown. Figure 5As shown, the horizontal axis represents the current vibration time of the output curve, and the vertical axis represents the vibration count (cnt) of the output curve; output curve 1 represents the gain control parameter. The output curve 2 is the center compensation parameter. The output curve 3 represents the feedforward control parameters. The output curve 4 represents the target control parameter. The output curve 1 exhibits periodic changes with irregular waveform fluctuations, and its maximum value is approximately ±200 cnt, where cnt is the unit of measurement for crystallizer vibration. The center compensation parameter is controlled by the actual center position of the vibration wave, primarily depending on the cylinder misalignment and servo valve zero drift. After tuning, the output curve 2 gradually stabilizes, with a maximum value of approximately 1200 cnt. The feedforward control parameter (including shape compensation parameter) is controlled based on the changes in the vibration setting curve. Shape compensation compensates for the shape deviation between the vibration setting curve and the actual vibration curve. The output curve 3 exhibits periodic changes and is relatively regular, with a maximum value of approximately ±4000 cnt. It is important to note that the feedforward control parameter primarily depends on the changes in the vibration setting curve, i.e., the rate of change of the initial curve.

[0057] In one embodiment of this application, please refer to Figure 6 , Figure 6 A schematic diagram illustrating the control components and their proportions according to an embodiment of this application is shown. Figure 6 As shown, feedforward control parameters (including shape compensation parameters) account for approximately 74.1%, center compensation parameters account for approximately 22.2%, and gain control parameters account for approximately 3.7%. Feedforward control parameters (including shape compensation parameters) account for the largest proportion, playing a decisive role in control accuracy and response speed in crystallizer vibration control; center compensation parameters account for the second largest proportion, indicating that the actual center offset phenomenon caused by cylinder asymmetry and servo valve zero drift cannot be ignored; while gain control accounts for the smallest proportion, performing feedback control when the vibration set curve deviates from the vibration realization curve, and its value is relatively small. On the one hand, this indicates that the control deviation is small after feedforward control and center compensation, and on the other hand, it also enhances the anti-disturbance capability and system robustness of this application.

[0058] In one embodiment of this application, a combination of feedforward control parameters and gain control parameters is used to achieve rapid response and precise control of crystallizer vibration. Feedforward control parameters directly control based on changes in the vibration setpoint curve, offering the advantage of improved system response rate, but requiring a relatively accurate understanding of the controlled vibration process model and the characteristics of the control execution equipment. Gain control parameters are a typical feedback control method, achieving high-precision control without needing knowledge of the controlled vibration process model, but adjustment is only possible after a deviation occurs, resulting in lag. This application, by combining feedforward control parameters and gain control parameters, achieves both high control precision and improved response speed. Adaptive compensation using shape compensation parameters and center compensation parameters enhances the robustness and stability of the embodiments in this application; correcting the feedforward control parameters using shape compensation parameters enables adaptive adjustment of the feedforward control parameters, transforming open-loop feedforward control into closed-loop control, thus improving system robustness and stability. Furthermore, vibration center compensation control is performed using center compensation parameters, further improving the system's tracking accuracy and robustness. This application exhibits good vibration control performance, is suitable for various complex working conditions, and can be widely applied in continuous casting production.

[0059] Please see Figure 7 , Figure 7 A block diagram of a crystallizer vibration control device according to an embodiment of this application is shown. This device can be applied to… Figure 1 The implementation environment shown is specifically configured in computer device 101. This device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0060] like Figure 7 As shown, a crystallizer vibration control device 700 according to an embodiment of this application includes: an acquisition module 701, a deviation calculation module 702, and a vibration control module 703.

[0061] The acquisition module 701 is used to acquire the compensation cycle pulse, initial vibration wave and actual vibration wave of the crystallizer; The deviation determination module 702 is used to calculate the deviation between the initial vibration wave and the actual vibration wave based on the compensation period pulse to obtain the vibration deviation, which includes at least the shape deviation. The vibration control module 703 is used to determine the target compensation parameters based on the compensation period pulse, vibration deviation and initial vibration wave, and to perform vibration control on the crystallizer based on the target compensation parameters. The target compensation parameters include at least the feedforward control parameters obtained based on the shape deviation and the initial curve change rate of the initial vibration wave.

[0062] It should be noted that the crystallizer vibration control device and the crystallizer vibration control method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the crystallizer vibration control device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0063] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the crystallizer vibration control method provided in the above embodiments.

[0064] Please see Figure 8 , Figure 8 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 8 The computer system 800 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0065] like Figure 8 As shown, the computer system 800 includes a Central Processing Unit (CPU) 801, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on a program stored in Read-Only Memory (ROM) 802 or a program loaded from storage portion 808 into Random Access Memory (RAM) 803. The RAM 803 also stores various programs and data required for system operation. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An Input / Output (I / O) interface 805 is also connected to the bus 804.

[0066] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.

[0067] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by central processing unit (CPU) 801, it performs various functions defined in the system of this application.

[0068] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0069] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0070] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the methods according to the embodiments of this application.

[0071] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the crystallizer vibration control method provided in the various embodiments described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into that electronic device.

[0072] In the above embodiments, unless otherwise specified, the use of ordinal numbers such as "first" and "second" to describe common objects only indicates that they refer to different instances of the same object, rather than indicating that the objects being described must be in a given order, whether temporally, spatially, sequentially, or in any other way.

[0073] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for controlling crystallizer vibration, characterized in that, The method includes: Obtain the compensation cycle pulse, initial vibration wave, and actual vibration wave of the crystallizer; The vibration deviation is calculated by performing a deviation calculation on the initial vibration wave and the actual vibration wave based on the compensation periodic pulse. The vibration deviation includes at least a shape deviation. If the vibration deviation is a control deviation, the difference between the initial vibration wave and the actual vibration wave is used as the control deviation. If the vibration deviation is a shape deviation, the absolute value of the difference between the initial vibration wave and the initial center position is used as the first deviation, and the absolute value of the difference between the actual vibration wave and the initial center position is used as the second deviation. The shape deviation is determined based on the compensation periodic pulse and the difference between the first and second deviations. If the vibration deviation is a center deviation, the center deviation is determined based on the compensation periodic pulse and the control deviation. The initial center position is obtained based on the initial vibration wave, the pulse period of the compensation periodic pulse is an integer multiple of the vibration period of the initial vibration wave, and the vibration deviation also includes at least one of the control deviation and the center deviation. The vibration deviation is calculated based on the compensation periodic pulse to determine the deviation between the initial vibration wave and the actual vibration wave. This includes: if the compensation periodic pulse is a first peak value and the vibration deviation is a shape deviation, then the integral of the difference between the first deviation and the second deviation is determined as the shape deviation based on the integration interval; if the compensation periodic pulse is a second peak value and the vibration deviation is a shape deviation, then the shape deviation is set to zero; if the compensation periodic pulse is a first peak value and the vibration deviation is a center deviation, then the integral of the control deviation is determined as the center deviation based on the integration interval; if the compensation periodic pulse is a second peak value and the vibration deviation is a center deviation, then the center deviation is set to zero; wherein the integration interval is obtained based on the compensation periodic pulse and the initial vibration wave. The target compensation parameters are determined based on the compensation period pulse, the vibration deviation, and the initial vibration wave, and the crystallizer is subjected to vibration control based on the target compensation parameters. The target compensation parameters include at least the feedforward control parameters obtained based on the shape deviation and the initial curve change rate of the initial vibration wave. The process includes determining target compensation parameters based on the compensation cycle pulse, the vibration deviation, and the initial vibration wave, and then controlling the vibration of the crystallizer based on the target compensation parameters, including: If the target compensation parameter is a gain control parameter, the gain control parameter is determined based on a preset first control parameter and a control deviation; if the target compensation parameter is a shape compensation parameter, the shape compensation parameter is determined based on the compensation period pulse, the shape deviation, and a preset second control parameter; if the target compensation parameter is a feedforward control parameter, the feedforward control parameter is determined based on a preset third control parameter, the shape compensation parameter, and the initial curve change rate; if the target compensation parameter is a center compensation parameter, the center compensation parameter is determined based on the compensation period pulse, the center deviation, and a preset fourth control parameter; the sum of the center compensation parameter, the gain control parameter, and the feedforward control parameter is used as the target control parameter, and the crystallizer is vibrated according to the target control parameter; wherein, the target compensation parameter further includes at least one of the control deviation and the center deviation; The determination of the target compensation parameter based on the compensation period pulse, the vibration deviation, and the initial vibration wave includes: if the compensation period pulse is a first peak value and the target compensation parameter is a shape compensation parameter, then the integral of the product of the second control parameter and the shape deviation is determined as the shape compensation parameter based on the integration interval; if the compensation period pulse is a second peak value and the target compensation parameter is a shape compensation parameter, then the shape compensation parameter corresponding to the final timing value in the integration interval is maintained; if the compensation period pulse is a first peak value and the target compensation parameter is a center compensation parameter, then the integral of the product of the fourth control parameter and the center deviation is determined as the center compensation parameter based on the integration interval; if the compensation period pulse is a second peak value and the target compensation parameter is a center compensation parameter, then the center compensation parameter corresponding to the final timing value in the integration interval is maintained; wherein the integration interval is obtained based on the compensation period pulse and the initial vibration wave. The step of determining the feedforward control parameter based on the preset third control parameter, the shape compensation parameter, and the initial curve change rate includes: using the sum of the preset third control parameter and the shape compensation parameter as the initial control parameter; and determining the feedforward control parameter based on the product of the initial control parameter and the initial curve change rate.

2. The crystallizer vibration control method according to claim 1, characterized in that, Determining the gain control parameter based on a preset first control parameter and a control deviation includes: determining the gain control parameter as the product of the preset first control parameter and the control deviation.

3. A crystallizer vibration control device, characterized in that, The device includes: The acquisition module is used to acquire the compensation cycle pulse, initial vibration wave, and actual vibration wave of the crystallizer; A deviation determination module is used to calculate the deviation between the initial vibration wave and the actual vibration wave based on the compensation periodic pulse to obtain a vibration deviation, wherein the vibration deviation includes at least a shape deviation; wherein, if the vibration deviation is a control deviation, the difference between the initial vibration wave and the actual vibration wave is used as the control deviation; if the vibration deviation is a shape deviation, the absolute value of the difference between the initial vibration wave and the initial center position is used as the first deviation, the absolute value of the difference between the actual vibration wave and the initial center position is used as the second deviation, and the shape deviation is determined based on the compensation periodic pulse and the difference between the first deviation and the second deviation; if the vibration deviation is a center deviation, the center deviation is determined based on the compensation periodic pulse and the control deviation; wherein, the initial center position is obtained based on the initial vibration wave, the pulse period of the compensation periodic pulse is an integer multiple of the vibration period of the initial vibration wave, and the vibration deviation also includes at least one of the control deviation and the center deviation; The vibration deviation is calculated based on the compensation periodic pulse to determine the deviation between the initial vibration wave and the actual vibration wave. This includes: if the compensation periodic pulse is a first peak value and the vibration deviation is a shape deviation, then the integral of the difference between the first deviation and the second deviation is determined as the shape deviation based on the integration interval; if the compensation periodic pulse is a second peak value and the vibration deviation is a shape deviation, then the shape deviation is set to zero; if the compensation periodic pulse is a first peak value and the vibration deviation is a center deviation, then the integral of the control deviation is determined as the center deviation based on the integration interval; if the compensation periodic pulse is a second peak value and the vibration deviation is a center deviation, then the center deviation is set to zero; wherein the integration interval is obtained based on the compensation periodic pulse and the initial vibration wave. A vibration control module is used to determine target compensation parameters based on the compensation period pulse, the vibration deviation, and the initial vibration wave, and to perform vibration control on the crystallizer based on the target compensation parameters. The target compensation parameters include at least feedforward control parameters obtained based on the shape deviation and the initial curve change rate of the initial vibration wave. The process includes determining target compensation parameters based on the compensation cycle pulse, the vibration deviation, and the initial vibration wave, and then controlling the vibration of the crystallizer based on the target compensation parameters, including: If the target compensation parameter is a gain control parameter, the gain control parameter is determined based on a preset first control parameter and a control deviation; if the target compensation parameter is a shape compensation parameter, the shape compensation parameter is determined based on the compensation period pulse, the shape deviation, and a preset second control parameter; if the target compensation parameter is a feedforward control parameter, the feedforward control parameter is determined based on a preset third control parameter, the shape compensation parameter, and the initial curve change rate; if the target compensation parameter is a center compensation parameter, the center compensation parameter is determined based on the compensation period pulse, the center deviation, and a preset fourth control parameter; the sum of the center compensation parameter, the gain control parameter, and the feedforward control parameter is used as the target control parameter, and the crystallizer is vibrated according to the target control parameter; wherein, the target compensation parameter further includes at least one of the control deviation and the center deviation; The determination of the target compensation parameter based on the compensation period pulse, the vibration deviation, and the initial vibration wave includes: if the compensation period pulse is a first peak value and the target compensation parameter is a shape compensation parameter, then the integral of the product of the second control parameter and the shape deviation is determined as the shape compensation parameter based on the integration interval; if the compensation period pulse is a second peak value and the target compensation parameter is a shape compensation parameter, then the shape compensation parameter corresponding to the final timing value in the integration interval is maintained; if the compensation period pulse is a first peak value and the target compensation parameter is a center compensation parameter, then the integral of the product of the fourth control parameter and the center deviation is determined as the center compensation parameter based on the integration interval; if the compensation period pulse is a second peak value and the target compensation parameter is a center compensation parameter, then the center compensation parameter corresponding to the final timing value in the integration interval is maintained; wherein the integration interval is obtained based on the compensation period pulse and the initial vibration wave. The step of determining the feedforward control parameter based on the preset third control parameter, the shape compensation parameter, and the initial curve change rate includes: using the sum of the preset third control parameter and the shape compensation parameter as the initial control parameter; and determining the feedforward control parameter based on the product of the initial control parameter and the initial curve change rate.

4. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the crystallizer vibration control method as described in any one of claims 1 to 2.

5. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the crystallizer vibration control method according to any one of claims 1 to 2.

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