Control method and system for automatic rotation of converter

Abstract

The invention discloses a control method and system for automatic rotation of a converter, and the method comprises the steps: comparing a target angle with a current angle, when the target angle is greater than the current angle, enabling the converter to rotate forwards if the target angle does not pass through a prohibited interval, and enabling the converter to rotate backwards if the target angle passes through the prohibited interval; when the target angle is smaller than the current angle, the converter rotates reversely if the target angle does not pass through the prohibited interval, and the converter rotates forwards if the target angle passes through the prohibited interval; and the section where the current angle is located is judged, if the current angle is located in the stop section, the converter tilts and stops, if the current angle is located in the deceleration section, the converter rotates at a low speed, and if the current angle is located in the high-speed section, the converter rotates at a high speed. The final rotation direction of the converter is obtained by comparing the deviation between the current angle of the converter and the target angle and judging the operation interval of the converter, the deceleration interval of the converter is calculated according to the initial speed of the converter, the converter is driven to tilt at the target angle at a high speed or a low speed, and the converter is stopped when reaching the preset stop interval. And accurate positioning precision is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of steelmaking automation, and in particular relates to a control method and system for automatic rotation of a converter. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] In the traditional converter steelmaking, tapping and slag removal operations, the shaking furnace process is generally manually implemented by on-site operators based on their personal production experience. There are many uncertain factors such as uneven operator skills, poor operating accuracy, inaccurate positioning, etc. In addition, due to the harsh on-site conditions, high temperature and dust, and difficulty in observing the molten steel level, the swaying of the molten steel level and the slag rolling during tapping have always been impossible to eliminate. The tapping time is also difficult to accurately control, and some accidents caused by operating errors have occurred.

[0004] With the improvement of technology, management, and detection component equipment levels and the demand for intelligent development in the industry, the concept of one-key steelmaking has gradually been transmitted to major steel companies, and more and more companies have invested in the research and application of one-key steelmaking systems. At present, there is no unified control method for the automatic control of the converter angle in the one-key steelmaking system. Most control methods have defects such as insufficient control accuracy, control lag, or too slow rotation speed, which is difficult to satisfy users. Summary of the invention

[0005] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a control method and system for automatic rotation of a converter, which can quickly and accurately rotate the converter to a target angle to meet the requirements of automatic steel tapping and slag tapping and other functions.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] In a first aspect, the present invention provides a control method for automatic rotation of a converter, comprising:

[0008] Obtain the target angle set for the converter, the current angle of the converter and the initial speed of the converter;

[0009] The stop interval of the converter is set according to the target angle, and the deceleration interval and high-speed interval of the converter are set according to the initial speed;

[0010] The target angle is compared with the current angle. When the target angle is greater than the current angle, if it does not pass through the prohibited interval, the converter rotates forward, and if it passes through the prohibited interval, the converter rotates reversely; when the target angle is less than the current angle, if it does not pass through the prohibited interval, the converter rotates reversely, and if it passes through the prohibited interval, the converter rotates forward;

[0011] Determine the interval in which the current angle is located. If it is in the stop interval, the converter tilting stops; if it is in the deceleration interval, the converter rotates at a low speed; if it is in the high speed interval, the converter rotates at a high speed.

[0012] According to a further technical solution, the stop interval is an angle range set on both sides of the target angle.

[0013] According to a further technical solution, the deceleration interval is related to the initial speed of the converter and the deceleration ramp time of the frequency converter.

[0014] According to a further technical solution, the prohibited interval is an interval between 195° and 240°.

[0015] A further technical solution is that when the target angle is greater than the current angle and does not pass through the prohibited interval, if the current angle is in the high-speed interval, the converter rotates forward at high speed; if it is in the low-speed interval, the converter rotates forward at low speed; if it is in the stop interval, the converter stops tilting; when the target angle is greater than the current angle but passes through the prohibited interval, if the current angle is in the high-speed interval, the converter reverses at high speed; if it is in the low-speed interval, the converter reverses at low speed; if it is in the stop interval, the converter stops tilting.

[0016] A further technical solution is that when the target angle is smaller than the current angle and does not pass through the prohibited interval, if the current angle is in the high-speed interval, the converter reverses at high speed; if it is in the low-speed interval, the converter reverses at low speed; if it is in the stop interval, the converter stops tilting; when the target angle is smaller than the current angle but passes through the prohibited interval, if the current angle is in the high-speed interval, the converter rotates forward at high speed; if it is in the low-speed interval, the converter rotates forward at low speed; if it is in the stop interval, the converter stops tilting.

[0017] A further technical solution is that when the converter is reversed at high speed, it is determined whether the tilting angle to the steel-outing side is less than the minimum steel-outing angle. If so, the converter is reversed at a protection speed, otherwise the converter maintains high-speed reversal.

[0018] In a second aspect, the present invention provides a control system for automatic rotation of a converter, comprising:

[0019] A data acquisition module is configured to: acquire a target angle set for the converter, a current angle of the converter, and an initial speed of the converter;

[0020] An interval setting module, which is configured to: set a stop interval of the converter according to the target angle, and set a deceleration interval and a high-speed interval of the converter according to the initial speed;

[0021] An angle comparison module is configured to: compare the target angle with the current angle, and when the target angle is greater than the current angle, if it does not pass through the prohibited interval, the converter rotates forward, and if it passes through the prohibited interval, the converter rotates reversely; when the target angle is less than the current angle, if it does not pass through the prohibited interval, the converter rotates reversely, and if it passes through the prohibited interval, the converter rotates forward;

[0022] The converter control module is configured to: determine the interval in which the current angle is located. If it is in the stop interval, the converter tilting stops; if it is in the deceleration interval, the converter rotates at a low speed; if it is in the high speed interval, the converter rotates at a high speed.

[0023] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a control method for automatic rotation of a converter as described in the first aspect.

[0024] In a fourth aspect, the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in a control method for automatic rotation of a converter as described in the first aspect are implemented.

[0025] One or more of the above technical solutions have the following beneficial effects:

[0026] The present invention adopts a closed-loop control system, and compares the current angle of the converter transmitted by the converter angle encoder with the target angle set by the user in real time, and corrects the rotation speed and direction of the converter in real time, while taking into account some necessary protection conditions for the converter rotation, ensuring that the converter reaches the set position quickly and accurately. It can effectively improve the work efficiency of converter production, reduce the workload of operators, and is also the technical basis for realizing the automatic steel and slag tapping function in the "one-key steelmaking" function.

[0027] The present invention obtains the final rotation direction of the converter by comparing the deviation between the current angle of the converter and the target angle and judging the operating range of the converter, calculates the deceleration range of the converter according to the initial speed of the converter (the initial operating frequency of the tilting main motor), drives the converter to tilt toward the target angle at high speed or low speed, and stops when the converter reaches a preset stop range, thereby achieving accurate positioning accuracy.

[0028] The present invention can quickly and accurately rotate the converter to a required angle to meet the requirements of automatic steel tapping and slag tapping and the like, and the overall deviation range of the converter positioning accuracy is no more than 0.5°. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0030] Figure 1 It is a logic block diagram of a control method for automatic rotation of a converter according to an embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of the stop section, deceleration section and high-speed section of the converter operation in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0035] Embodiment 1

[0036] like Figure 1 As shown, this embodiment discloses a control method for automatic rotation of a converter, the method comprising the following steps:

[0037] S1: Obtain the target angle set for the converter, the current angle of the converter and the initial speed of the converter;

[0038] In this embodiment, the target angle of the converter is the angle required to meet the requirements of the converter's automatic steel and slag discharge functions, and is set by the staff according to the actual situation of the converter; the current angle of the converter is acquired through the angle encoder. When the converter meets the conditions for tilting operation, the converter receives the target angle for automatic rotation control.

[0039] It should be noted that the present invention only requires an encoder that can accurately reflect the current angle of the converter in terms of hardware.

[0040] The initial rotation speed of the converter is related to the operating range in which the converter is when it starts to rotate. Once the current angle and target angle of the converter are confirmed, the current operating range of the converter can be determined. If it is in the high-speed range, the initial speed of the converter is high speed. If it is in the deceleration range, the initial speed of the converter is low speed. If it is in the stop range, the converter does not rotate.

[0041] S2: setting a stop interval of the converter according to the target angle, and setting a deceleration interval and a high-speed interval of the converter according to the initial speed;

[0042] According to the initial speed, a stop section, a deceleration section and a high speed section of the converter are set;

[0043] In this embodiment, the movement of any object will produce inertia. If you want the converter to stop near the set target angle as much as possible, you need to brake it in advance. The deviation between the final stop angle of the converter after braking and the target angle is the control accuracy that this control method strives to achieve. The smaller the tilting speed of the converter before braking, the smaller the inertia effect and the more accurate the control. Therefore, in order to make the converter reach the target angle quickly and accurately, if Figure 2 As shown, three concepts are introduced, namely the stop section, deceleration section and high-speed section of the converter.

[0044] (1) Setting of stop interval

[0045] The stop interval is the interval in which the converter is running and the brake command is given. The range of the stop interval is the precision control interval. This control method sets the range to ±0.5°. As long as the converter rotates to the angle range of ±0.5° of the target angle, the brake is applied. In other words, the stop interval is within the angle range of ±0.5° of the target angle.

[0046] (2) Setting of deceleration range

[0047] The deceleration interval has two functions. First, after the converter enters the deceleration interval and before reaching the stop interval, the converter tilting speed is adjusted from high speed to low speed in this interval; second, it ensures the reasonable setting of the converter's low-speed operation speed, so that the converter can stop more accurately near the target angle after braking in the stop interval to achieve precise positioning. The process of converter deceleration is related to the converter's initial speed (high-speed operation speed) and the inverter's deceleration ramp time. The greater the initial speed, the longer the travel required for deceleration.

[0048] According to on-site commissioning experience, it is advisable to set the low-speed operation frequency of the converter at about 3 Hz. When the initial speed of the converter is below 20 Hz, the deceleration interval range is set at ±4° (based on the stop interval setting, the same hereinafter, the parameter is adjustable). When the initial speed of the converter is between 20 Hz and 30 Hz, the deceleration interval range is set at ±6° (adjustable). When the initial speed of the converter is between 30 Hz and 40 Hz, the deceleration interval range is set at ±10° (adjustable). When the initial speed of the converter is above 40 Hz, the deceleration interval range is set at ±15° (adjustable).

[0049] Calculate the deceleration interval of the converter based on the initial speed of the converter (the initial operating frequency of the tilting main motor). The change of the converter speed is affected by multiple parameters such as the converter volume, charging amount, mechanical structure, and frequency converter settings. The specific deceleration interval needs to be determined according to on-site commissioning tests.

[0050] It should be noted that after the converter inputs the target angle, a determination of the converter deceleration interval will be made first. This interval determination is based on the shortest interval setting value. Taking the above text as an example, ±4° is applied. After the deceleration interval is determined, the deceleration interval will be corrected according to the set speed of the converter in the current interval. If the current converter is in the deceleration interval, it will rotate at the set speed of 3 Hz in the deceleration interval without revising the deceleration interval. If the current converter is in the high-speed interval and the high-speed set speed is 40 Hz or above, the revised deceleration interval becomes ±15°. Based on this, redefine the current interval where the converter is located and control the speed and steering. The entire revision process is one scan cycle of the control system and is in milliseconds, which will not affect the control of the converter.

[0051] (3) Setting of the high-speed interval

[0052] After the converter starts to tilt, if it is not within the stop interval and deceleration interval ranges, it is considered to be in the high-speed interval, and high-speed tilting is performed to ensure that the converter tilts into the deceleration interval in the shortest possible time. The tilting speed in the high-speed interval is preset according to the actual situation of the converter, and the range of the deceleration interval is determined by the tilting speed in the high-speed interval. That is to say, the tilting speed in the high-speed interval determines the width of the deceleration interval. High speed is not necessarily the initial speed. When the converter is in the deceleration interval before rotation, the initial speed of the converter is low speed. As mentioned above, if the difference between the actual angle and the target angle of the converter before rotation is within ±4°, the initial rotation speed of the converter is low speed.

[0053] S3: Compare the target angle with the current angle. When the target angle is greater than the current angle, if it does not pass through the prohibited interval, the converter rotates forward; if it passes through the prohibited interval, the converter rotates backward; when the target angle is less than the current angle, if it does not pass through the prohibited interval, the converter rotates backward; if it passes through the prohibited interval, the converter rotates forward;

[0054] In this embodiment, the converter operation angle is usually recorded and operated as ±180°, that is, the converter half-circle angle range from zero position to iron-adding direction is 0 to 180°, and the converter half-circle angle range from zero position to steel-outing direction is 0 to -180°. To facilitate the calculation of this control method, the angle range is subsequently uniformly described as 0 to 360° for interval calculation, that is, the converter half-circle angle range from zero position to iron-adding direction is 0 to 360°.

[0055] During normal production of the converter, the maximum angle of rotation in the iron adding direction (hereinafter referred to as forward rotation) is the maximum allowable slag discharge angle (preferably, the program sets it to 195°, which is adjustable), and the maximum angle of rotation of the converter in the steel tapping direction (hereinafter referred to as reverse rotation) is the maximum allowable steel tapping angle (preferably, the program sets it to 240°, which is adjustable). Rotation of the converter in the range of 195° to 240° may cause blockage of the steel tapping port. The range between 195° and 240° is set as a prohibited range. Therefore, unless the target angle of the converter is set in this range or the converter is already in this range before tilting, the automatic control method will avoid tilting the converter to this range. Therefore, the tilting process of the converter does not follow the principle of the shortest operating range.

[0056] It should be noted that setting the interval between 195° and 240° as the prohibited interval is only an example, and the prohibited interval can be adjusted according to actual on-site usage conditions.

[0057] S4: Determine the interval in which the current angle is located. If it is in the stop interval, the converter stops tilting. If it is in the deceleration interval, the converter rotates at a low speed. If it is in the high speed interval, the converter rotates at a high speed.

[0058] It should be noted that the specific speed values ​​and angle ranges of the high-speed and low-speed rotation of the converter are generally related to the electrical drive design of the converter. The specific speed values ​​given in this embodiment are empirical values ​​and need to be fine-tuned according to different on-site conditions. The technicians who adjust the speed values ​​of high speed and low speed are aware of it and will not be elaborated here.

[0059] like Figure 1 As shown, in this embodiment, when the target angle is greater than the current angle and does not pass through the prohibited interval, if the current angle is in the high-speed interval, the converter rotates forward at high speed; if it is in the low-speed interval, the converter rotates forward at low speed; if it is in the stop interval, the converter stops tilting.

[0060] When the target angle is greater than the current angle but passes through the prohibited interval, if the current angle is in the high-speed interval, the converter reverses at high speed; if it is in the low-speed interval, the converter reverses at low speed; if it is in the stop interval, the converter tilting stops.

[0061] When the target angle is smaller than the current angle and does not pass through the prohibited interval, if the current angle is in the high-speed interval, the converter reverses at high speed; if it is in the low-speed interval, the converter reverses at low speed; if it is in the stop interval, the converter stops tilting.

[0062] When the target angle is smaller than the current angle but passes through the prohibited interval, if the current angle is in the high-speed interval, the converter rotates forward at high speed; if it is in the low-speed interval, the converter rotates forward at low speed; if it is in the stop interval, the converter stops tilting.

[0063] Among them, when the converter is reversed at high speed, it is determined whether the tilting angle to the steel-outing side is less than the minimum steel-outing angle. If so, the converter is reversed at a protection speed, otherwise the converter maintains high-speed reversal.

[0064] Specifically, the target angle of the converter can be set at any position between 0 and 360 degrees. The conditions for determining the tilting direction of the converter are as follows:

[0065] 1) When the converter target angle is set between 0 and 195 degrees and the converter current angle is also between 0 and 195 degrees, the converter target angle > converter current angle, and the converter rotates forward.

[0066] 2) When the converter target angle is set between 0 and 195 degrees and the converter current angle is also between 0 and 195 degrees, the converter target angle < the converter current angle, and the converter is reversed.

[0067] 3) When the converter target angle is set between 0 and 195 degrees and the converter current angle is between 195 and 360 degrees, the converter rotates forward.

[0068] 4) When the converter target angle is set between 195° and 360° and the converter current angle is between 0° and 195°, the converter is reversed.

[0069] 5) When the converter target angle is set between 195 and 360 degrees and the converter current angle is also between 195 and 360 degrees, the converter target angle > the converter current angle, and the converter rotates forward.

[0070] 6) When the converter target angle is set between 195 and 360 degrees and the converter current angle is also between 195 and 360 degrees, the converter target angle < the converter current angle, and the converter is reversed.

[0071] When the converter is in reverse rotation, after reaching the initial steel tapping angle (preferably 290°, adjustable), if it does not enter the deceleration zone or the stop zone, a protection speed needs to be set. This protection speed can be equal to or slightly greater than the converter's low-speed operation speed to prevent the converter from overspeeding during steel tapping, causing molten steel to overflow from the furnace mouth. There is no need to set a protection speed when the converter is in forward rotation.

[0072] As the converter rotates automatically, the current angle is constantly changing. The current angle of the converter is received in real time. When the converter starts to rotate, the high-speed, low-speed and stop intervals of the converter are all determined. The core of this control method is to confirm the current operating interval of the converter by comparing the current angle, thereby changing the rotation speed of the converter.

[0073] The present invention completely avoids various errors that may occur in manual operation. After on-site debugging, it perfectly meets the control requirements of the automatic steel and slag tapping system. The closed-loop control system improves the stability and accuracy of the converter production process and greatly reduces the workload of operators. Closed-loop control refers to real-time adjustment of the control strategy according to changes in the target state, while open-loop control refers to no real-time adjustment of the control strategy according to the target state after a control command is given.

[0074] Embodiment 2

[0075] This embodiment discloses a control system for automatic rotation of a converter, comprising:

[0076] A data acquisition module is configured to: acquire a target angle set for the converter, a current angle of the converter, and an initial speed of the converter;

[0077] An interval setting module, which is configured to: set a stop interval of the converter according to the target angle, and set a deceleration interval and a high-speed interval of the converter according to the initial speed;

[0078] An angle comparison module is configured to: compare the target angle with the current angle, and when the target angle is greater than the current angle, if it does not pass through the prohibited interval, the converter rotates forward, and if it passes through the prohibited interval, the converter rotates reversely; when the target angle is less than the current angle, if it does not pass through the prohibited interval, the converter rotates reversely, and if it passes through the prohibited interval, the converter rotates forward;

[0079] The converter control module is configured to: determine the interval in which the current angle is located. If it is in the stop interval, the converter tilting stops; if it is in the deceleration interval, the converter rotates at a low speed; if it is in the high speed interval, the converter rotates at a high speed.

[0080] Embodiment 3

[0081] The purpose of this embodiment is to provide a computing device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of embodiment 1 when executing the program.

[0082] Embodiment 4

[0083] The purpose of this embodiment is to provide a computer-readable storage medium, a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the method of embodiment 1 are performed.

[0084] The steps involved in the apparatus of the above embodiments 3 and 4 correspond to the method embodiment 1, and the specific implementation method can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0085] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0087] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A control method for automatic rotation of a converter, characterized in that: include: Obtain the target angle set for the converter, the current angle of the converter and the initial speed of the converter; The stop interval of the converter is set according to the target angle, and the deceleration interval and high-speed interval of the converter are set according to the initial speed; The target angle is compared with the current angle. When the target angle is greater than the current angle, if it does not pass through the prohibited interval, the converter rotates forward, and if it passes through the prohibited interval, the converter rotates reversely; when the target angle is less than the current angle, if it does not pass through the prohibited interval, the converter rotates reversely, and if it passes through the prohibited interval, the converter rotates forward; Determine the interval in which the current angle is located. If it is in the stop interval, the converter tilting stops; if it is in the deceleration interval, the converter rotates at a low speed; if it is in the high speed interval, the converter rotates at a high speed.

2. A control method for automatic rotation of a converter as claimed in claim 1, characterized in that: The stop interval is an angle range set on both sides of the target angle.

3. A control method for automatic rotation of a converter as claimed in claim 1, characterized in that: The deceleration interval range is related to the initial speed of the converter and the deceleration ramp time of the frequency converter.

4. A control method for automatic rotation of a converter as claimed in claim 1, characterized in that: The prohibited interval is an interval between 195° and 240°.

5. A control method for automatic rotation of a converter as claimed in claim 1, characterized in that: When the target angle is greater than the current angle and does not pass through the prohibited interval, if the current angle is in the high-speed interval, the converter rotates forward at high speed; if it is in the low-speed interval, the converter rotates forward at low speed; if it is in the stop interval, the converter stops tilting; when the target angle is greater than the current angle but passes through the prohibited interval, if the current angle is in the high-speed interval, the converter reverses at high speed; if it is in the low-speed interval, the converter reverses at low speed; if it is in the stop interval, the converter stops tilting.

6. A control method for automatic rotation of a converter as claimed in claim 5, characterized in that: When the target angle is smaller than the current angle and does not pass through the prohibited interval, if the current angle is in the high-speed interval, the converter reverses at high speed; if it is in the low-speed interval, the converter reverses at low speed; if it is in the stop interval, the converter stops tilting; when the target angle is smaller than the current angle but passes through the prohibited interval, if the current angle is in the high-speed interval, the converter rotates forward at high speed; if it is in the low-speed interval, the converter rotates forward at low speed; if it is in the stop interval, the converter stops tilting.

7. A control method for automatic rotation of a converter as claimed in claim 6, characterized in that: When the converter is reversed at high speed, it is determined whether the tilting angle to the steel-outing side is less than the minimum steel-outing angle. If so, the converter is reversed at a protection speed, otherwise the converter maintains high-speed reversal.

8. A control system for automatic rotation of a converter, characterized in that: include: A data acquisition module is configured to: acquire a target angle set for the converter, a current angle of the converter, and an initial speed of the converter; An interval setting module, which is configured to: set a stop interval of the converter according to the target angle, and set a deceleration interval and a high-speed interval of the converter according to the initial speed; An angle comparison module is configured to: compare the target angle with the current angle, and when the target angle is greater than the current angle, if it does not pass through the prohibited interval, the converter rotates forward, and if it passes through the prohibited interval, the converter rotates reversely; when the target angle is less than the current angle, if it does not pass through the prohibited interval, the converter rotates reversely, and if it passes through the prohibited interval, the converter rotates forward; The converter control module is configured to: determine the interval in which the current angle is located. If it is in the stop interval, the converter tilting stops; if it is in the deceleration interval, the converter rotates at a low speed; if it is in the high speed interval, the converter rotates at a high speed.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in a control method for automatic rotation of a converter as described in any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of a control method for automatic rotation of a converter as described in any one of claims 1 to 7 are implemented.

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