Fan-shaped packet flow stability control method and device, electronic equipment and storage medium

Abstract

The invention provides a flow stability control method and device for a fan-shaped ladle, electronic equipment and a storage medium. The liquid level height of an outlet of the fan-shaped ladle is monitored in real time through a metal liquid level measuring sensor; inputting the monitored height of the liquid level at the outlet of the fan-shaped ladle into a PID controller, comparing the height with a target tracking curve, and generating a driver control quantity; the overturning speed of the fan-shaped ladle is dynamically adjusted according to the control quantity of the driver, so that the outlet flow is stably output, the problem of liquid level oscillation caused by inertia impact in the initial casting stage is effectively solved through real-time monitoring of the metal liquid level measuring sensor and PID dynamic adjustment, and through PID control, the requirement for accurate tracking of the normal working condition can be met, and the casting efficiency is improved. And abnormal interference such as slag bonding can be quickly responded, and the casting quality and the production efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of centrifugal casting, and in particular to a fan-shaped ladle flow stability control method and device, electronic equipment and a storage medium. BACKGROUND

[0002] In the field of centrifugal casting, especially in the production process of water-cooled centrifugal cast ductile iron pipe, the fan-shaped ladle as a key casting equipment directly affects the wall thickness uniformity and product quality. At present, the fan-shaped ladle tilting system generally adopts open-loop control in industrial production, and this method has significant technical defects. First, at the initial stage of casting, the free liquid surface of molten iron will produce violent oscillation due to inertia effect when the fan-shaped ladle rapidly turns over, forming a surge effect and leading to flow fluctuation. At the same time, although the industry commonly used "fast turning-slow turning" stepwise speed switching strategy can shorten the starting time, it will further aggravate the instability of the flow. Secondly, the existing system lacks real-time feedback mechanism and cannot monitor the molten iron flow or liquid level, so that the system cannot dynamically adjust the turning speed to compensate for process disturbances such as slagging and molten iron viscosity changes. The limitations of this open-loop control make it impossible to eliminate cumulative errors, and long-term accumulation will lead to flow deviation, ultimately affecting the uniformity of the pipe wall thickness and making it difficult to meet the requirements of standards and efficient production needs. SUMMARY

[0003] The present application provides a fan-shaped ladle flow stability control method, device, electronic equipment and storage medium to solve the defects that the traditional fan-shaped ladle tilting system using open-loop control cannot monitor and dynamically adjust the molten iron flow in real time, leading to liquid surface oscillation at the initial stage of casting, slag disturbance cannot be compensated, and the steady state establishment time is too long, affecting the casting quality and production efficiency.

[0004] The present application provides a fan-shaped ladle flow stability control method, which comprises: real-time monitoring the liquid level height of the fan-shaped ladle outlet by a molten metal level measurement sensor; inputting the monitored liquid level height of the fan-shaped ladle outlet into a PID controller, comparing it with a target tracking curve, and generating a driver control amount; dynamically adjusting the turning speed of the fan-shaped ladle according to the driver control amount to stabilize the outlet flow.

[0005] According to the fan-shaped ladle flow stability control method provided by the present application, the molten metal level measurement sensor is installed obliquely above the fan-shaped ladle outlet, and the detection axis of the molten metal level measurement sensor is perpendicular to the rotating shaft of the fan-shaped ladle.

[0006] According to the fan-shaped ladle flow stability control method provided by the present application, the generation method of the target tracking curve comprises: In the non-interference working condition, the sector-shaped package is flipped at a constant speed, and a curve of the liquid level change over time is recorded as a target tracking curve.

[0007] According to the sector-shaped package flow stability control method provided by the application, the monitored outlet liquid level of the sector-shaped package is input into a PID controller, compared with a target tracking curve, and a driver control amount is generated. The deviation value of the actual liquid level from the corresponding height of the target tracking curve is calculated in real time. The deviation value is subjected to PID operation to generate a driver control amount.

[0008] According to the sector-shaped package flow stability control method provided by the application, the flipping speed of the sector-shaped package is dynamically adjusted according to the driver control amount. The driver control amount is converted into a sector-shaped package flipping speed instruction. The flipping speed instruction is executed by a driver.

[0009] According to the sector-shaped package flow stability control method provided by the application, the flipping speed of the sector-shaped package is dynamically adjusted. The flipping speed is set to 0.5° / s-3.5° / s, and the PID controller automatically adjusts the flipping speed of the sector-shaped package according to the driver control amount.

[0010] The application also provides a sector-shaped package flow stability control system, comprising: A metal liquid level measuring sensor is installed at the outlet of the sector-shaped package. A driver and a tilting mechanism, wherein the driver is used to drive the tilting mechanism to act. A PID controller is connected with the metal liquid level measuring sensor and the driver respectively, used to receive the acquisition signal of the metal liquid level measuring sensor and output a driver control amount to the driver.

[0011] According to the sector-shaped package flow stability control system provided by the application, further comprising: A man-machine interface is used to generate and display a target tracking curve.

[0012] The application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the sector-shaped package flow stability control method according to any one of the above.

[0013] The application also provides a non-transitory computer readable storage medium, wherein a computer program is stored on the non-transitory computer readable storage medium, and the computer program is executable on a processor to implement the sector-shaped package flow stability control method according to any one of the above.

[0014] The application provides a fan-shaped ladle flow stability control method and device, electronic equipment and a storage medium. The metal liquid level measuring sensor is used to monitor the liquid level height of the fan-shaped ladle outlet in real time. The monitored liquid level height of the fan-shaped ladle outlet is input into a PID controller, compared with a target tracking curve, and a driver control amount is generated. The turning speed of the fan-shaped ladle is dynamically adjusted according to the driver control amount, so that the outlet flow is stably output. Through real-time monitoring by the metal liquid level measuring sensor and PID dynamic adjustment, the liquid level oscillation problem caused by inertia impact at the initial casting stage is effectively eliminated. Through PID control, the accurate tracking demand of normal working conditions can be met, and the rapid response to abnormal interference such as slagging can be realized, so that the casting quality and production efficiency are improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 is one of the flow schematic diagrams of the fan-shaped ladle flow stability control method provided by the embodiments of the application; Figure 2 is the second flow schematic diagram of the fan-shaped ladle flow stability control method provided by the embodiments of the application; Figure 3 is the functional structure schematic diagram of the fan-shaped ladle flow stability control system provided by the embodiments of the application; Figure 4 is the open-loop dynamic response curve schematic diagram of the equivalent liquid level height (H) under the impurity-free working condition provided by the embodiments of the application; Figure 5 is the dynamic response comparison schematic diagram of the equivalent liquid level height (H) under the open-loop and closed-loop control in the simulation slagging condition provided by the embodiments of the application; Figure 6 is the dynamic response comparison schematic diagram of the equivalent liquid level height (H) under the open-loop and closed-loop control in the constant liquid level height control provided by the embodiments of the application; Figure 7 is the functional structure schematic diagram of the electronic equipment provided by the embodiments of the application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0018] Figure 1 A flow chart of the fan-shaped ladle flow stability control method provided by the embodiments of the present application is shown in Figure 1 The fan-shaped ladle flow stability control method provided by the embodiments of the present application comprises: Step 101, real-time monitoring of the liquid level height at the outlet of the fan-shaped ladle by a molten metal level measuring sensor; Step 102, inputting the monitored liquid level height at the outlet of the fan-shaped ladle into a PID controller, comparing with a target tracking curve, and generating a driver control amount; Step 103, dynamically adjusting the overturning speed of the fan-shaped ladle according to the driver control amount, so as to stably output the outlet flow.

[0019] In the initial casting stage, the traditional tilting system will cause severe oscillation of the free surface of molten iron due to inertial effect when the fan-shaped ladle is rapidly overturned, form a surge effect, and cause flow fluctuation. At the same time, although the industry commonly used "fast overturning-slow overturning" stepwise speed switching strategy can shorten the starting time, it will further aggravate the instability of the flow. Secondly, the existing system lacks real-time feedback mechanism and cannot monitor the molten iron flow or liquid level height, so that the system cannot dynamically adjust the overturning speed to compensate for process disturbances such as slagging and viscosity changes of molten iron. The limitation of this open-loop control makes it impossible to eliminate the cumulative error, and long-term accumulation will lead to flow deviation, ultimately affecting the uniformity of the casting pipe wall thickness, and it is difficult to meet the requirements of standards and efficient production needs.

[0020] The fan-shaped ladle flow stability control method provided by the embodiments of the present application can real-time monitor the liquid level height at the outlet of the fan-shaped ladle by a molten metal level measuring sensor, input the monitored liquid level height at the outlet of the fan-shaped ladle into a PID controller, compare with a target tracking curve, generate a driver control amount, and dynamically adjust the overturning speed of the fan-shaped ladle according to the driver control amount, so as to stably output the outlet flow. Through real-time monitoring by the molten metal level measuring sensor and PID dynamic adjustment, the problem of liquid level oscillation caused by inertial impact in the initial casting stage is effectively eliminated. Through PID control, not only the precise tracking demand of normal working conditions can be met, but also abnormal disturbances such as slagging can be quickly responded, so that the casting quality and production efficiency are improved.

[0021] In the embodiment of the present application, the metal liquid level measuring sensor is installed obliquely above the fan-shaped ladle nozzle, and the detection axis of the metal liquid level measuring sensor is perpendicular to the rotating shaft of the fan-shaped ladle.

[0022] In the embodiment of the present application, the method for generating the target tracking curve comprises: In the non-interference working condition, the fan-shaped ladle is flipped at a constant speed, and the curve of the liquid level height changing with time is recorded, which is taken as the target tracking curve.

[0023] In the embodiment of the present application, the liquid level height open-loop measurement is as follows: the molten iron is injected into the ladle, and the liquid level is stabilized. The driving device is set to flip the fan-shaped ladle at a constant speed, and the curve of the cover plate position (equivalent liquid level height H) changing with time is recorded in real time.

[0024] Based on any of the above embodiments, the monitored liquid level height of the fan-shaped ladle outlet is input into the PID controller, compared with the target tracking curve, and the driver control amount is generated, which comprises: Step 201, the deviation value of the actual liquid level height and the corresponding height of the target tracking curve is calculated in real time; Step 202, the PID operation is performed on the deviation value to generate the driver control amount.

[0025] In the embodiment of the present application, the dynamic adjustment of the flipping speed of the fan-shaped ladle according to the driver control amount comprises: Step 301, the driver control amount is converted into the fan-shaped ladle flipping speed instruction: Step 302, the flipping speed instruction is executed by the driver.

[0026] In the embodiment of the present application, the dynamic adjustment of the flipping speed of the fan-shaped ladle comprises: The flipping speed is set to 0.5° / s~3.5° / s, and the PID controller automatically adjusts the flipping speed of the fan-shaped ladle according to the driver control amount.

[0027] As shown in Figure 2 The specific implementation process of the real-time closed-loop control method for the fan-shaped ladle flow stability is as follows: (1) Real-time monitoring of the sensor: the metal liquid level measuring sensor continuously collects the equivalent liquid level height H of the fan-shaped ladle outlet position, and converts the physical quantity into an electrical signal transmitted to the control system. The monitoring data is refreshed at a high frequency of 10-100 Hz to ensure real-time feedback.

[0028] (2) Deviation calculation and PID processing: the control system compares the real-time liquid level H with the preset target value (dynamic curve or constant value) to calculate the instantaneous deviation e=H_target-H_actual. The deviation is processed in multiple dimensions by the PID algorithm: The proportional term quickly responds to the current deviation (e.g. greatly speeds up when e>5mm); The integral term eliminates historical cumulative errors (responds to continuous low flow caused by clogging); The differential term predicts the liquid level change trend (suppresses oscillation at the initial casting stage).

[0029] (3) Output control variable u=K_p·e + K_i·∫e·dt + K_d·de / dt.

[0030] (4) Dynamic adjustment of the inclination angle: the driver receives the control variable u and converts it into the adjustment instruction of the sector pack inclination angle θ: Increase the inclination angle speed when the control variable u>0 (e.g. from 1.0° / s→1.8° / s); Reduce the speed when u<0 to suppress the high liquid level.

[0031] The inclination angle change is executed in real time through a mechanical transmission mechanism, and the adjustment accuracy is ±0.1°.

[0032] (5) Flow closed-loop stability: the change of the inclination angle θ directly changes the cross-sectional area of the molten iron outflow, thereby adjusting the flow Q. According to Torricelli's law, Q∝√H, the system is stable by maintaining the liquid level H, and ultimately realizes the constancy of the flow Q. The closed-loop response time is less than 100ms, and the flow fluctuation can be controlled within ±2%.

[0033] The embodiment of the present application breaks through the defect that the traditional open-loop control cannot compensate in real time; through the differential control of the inclination angle θ (rather than directly adjusting the speed), the fluid dynamics characteristics are more accurately matched.

[0034] In order to verify the feasibility of the scheme, a 1:3 scale water model test bench is built according to the Froude number similarity criterion. Since the metal liquid level measurement sensor cannot directly detect the water surface fluctuation, an aluminum cover plate that can rotate axially is designed at the water outlet. When the sector pack rotates, the water flows out from below the cover plate and lifts it up, and the sensor indirectly reflects the water surface fluctuation by detecting the position change of the cover plate. The liquid level height measurement and control system of the sector pack water outlet is as shown in Figure 3 .

[0035] First, calibrate the sensor: ensure that the sector pack overturning angle is 0°, and it is in the initial position. Adjust the metal liquid level measurement sensor so that its detection axis is perpendicular to the rotation axis of the sector pack. Adjust the position of the sensor so that the detection end is 50mm away from the aluminum cover plate at the water outlet. After completing the above settings, set the reference liquid level height value H to 50mm on the metal liquid level measurement sensor instrument. Fill the sector pack with water, and wait for the liquid level to be stable. Set the drive device to overturn the sector pack at a speed of 1° / s, and the equivalent liquid level height H changes with the overturning angle as shown in Figure 4The open-loop response curve is analyzed to find that the steady-state liquid level difference is 4.7 mm, and the steady-state development angle is about 17° (the steady-state development time is about 17 s). Based on the open-loop test data, the ideal trajectory curve of the target liquid level height H changing with the angle is fitted and set for the subsequent closed-loop PID control.

[0036] Working condition 1: control effect verification under the simulation of slagging disturbance: To simulate the slagging condition of the fan-shaped ladle in actual production, a simulation impurity is placed on the side wall of the fan-shaped ladle. Under the open-loop state of the control system, the fan-shaped ladle is turned at a speed of 1° / s. The analysis of the open-loop data shows that, compared with the ideal working condition without impurities in the ladle, the instantaneous maximum deviation of the equivalent liquid level height H reaches about 41.0% when there is impurity disturbance, and the cumulative deviation is about 32%. The curve of the equivalent liquid level height H changing with the angle measured in step 3 (without impurities, open loop) is set as the target tracking curve in the PID control system. The closed-loop control system is started, and the proportional (P), integral (I), and differential (D) parameters are set and adjusted. The controller outputs the calculated real-time control quantity to the driver to dynamically adjust the inclination angle of the fan-shaped ladle. The turning speed of the fan-shaped ladle ranges from 0.5° / s to 2° / s. Finally, the real-time dynamic tracking and compensation control of the outlet equivalent liquid level height curve on the target curve is realized. After the PID closed-loop regulation, the instantaneous maximum deviation of the equivalent liquid level height H is significantly reduced to about 9% under the same impurity disturbance, and the cumulative deviation is greatly reduced to about 0.6%, as shown in Figure 5 .

[0037] Working condition 2: constant control of the outlet liquid level height: The steady-state development angle in the open-loop test result is about 17° (the steady-state development time is about 17 s), and in the actual production process, the pouring time of the bell is within about 4 s. The steady-state development time cannot meet the actual production requirements when turning at a constant speed. Based on the steady-state equivalent liquid level height 4.7 mm measured in step 3 (without impurities, open loop), the target tracking curve in the PID control system is set to a constant value of 5.0 mm. The closed-loop control system is started, and the proportional (P), integral (I), and differential (D) parameters are adjusted. The turning speed of the fan-shaped ladle ranges from 0.5° / s to 3.5° / s. As shown in Figure 6 , the turning speed and the change curve of the turning angle. Similar to the actual production line, the current test also implements "fast turning-slow turning" two-stage regulation, but does not induce significant liquid level fluctuation. Finally, the constant control of the outlet equivalent liquid level height is realized, and the maximum dynamic deviation from the target height is 0.57 mm. The steady-state development time of the current control strategy is shortened to about 3.7 s, which meets the pouring mode of the pipe production line with the bell first and then the straight pipe, and has the application value of the production line.

[0038] The fan-shaped ladle flow stability control method provided by the embodiment of the application realizes high-precision and high-stability control of the molten iron flow by integrating the fan-shaped ladle, the driver, the molten metal level measuring sensor and the PID control system. The self-adaptive compensation mechanism is constructed to realize real-time compensation of dynamic working conditions and dynamically eliminate working condition disturbances such as slagging; the outlet flow stability is significantly improved through the liquid level height constancy control, the uniformity of the casting wall thickness can be improved, and the compatibility is strong, the existing production line can be directly upgraded and transformed, and the transformation only needs to install the molten metal level measuring sensor and the control system. The laboratory data has shown the potential of cost reduction and efficiency improvement.

[0039] The fan-shaped ladle flow stability control system provided by the application is described below, and the fan-shaped ladle flow stability control system described below can be correspondingly referred to the fan-shaped ladle flow stability control method described above.

[0040] The fan-shaped ladle flow stability control system provided by the embodiment of the application comprises: The molten metal level measuring sensor is installed at the water outlet of the fan-shaped ladle. The driver and the tilting mechanism, wherein the driver is used to drive the tilting mechanism to act. The PID controller is connected with the molten metal level measuring sensor and the driver respectively, and is used to receive the collection signal of the molten metal level measuring sensor and output the driver control amount to the driver.

[0041] According to the fan-shaped ladle flow stability control system provided by the application, further comprises: The man-machine interface is used to generate and display the target tracking curve.

[0042] In the embodiment of the application, the molten metal level measuring sensor and the PID control system are integrated in the fan-shaped ladle device; the liquid level measuring sensor is above the ladle outlet at an angle, points to the rotation center and is used to monitor the liquid level in real time; the PID control system receives the data collected by the molten metal level measuring sensor in real time, adjusts the driver after processing, so as to realize the stability control of the flow.

[0043] Sensor calibration: ensure that the fan-shaped ladle turning angle is 0° and is in the initial position. Adjust the molten metal level measuring sensor so that the detection axis is perpendicular to the fan-shaped ladle rotating shaft. Adjust the position of the sensor so that the detection end is 50 mm away from the water outlet. After the above settings are completed, set the reference liquid level height value H on the molten metal level measuring sensor instrument to 50 mm.

[0044] The fan-shaped ladle flow stability control system provided by the embodiment of the application can realize real-time monitoring of the liquid level height of the fan-shaped ladle outlet through a metal liquid level measuring sensor; the monitored liquid level height of the fan-shaped ladle outlet is input into a PID controller, compared with a target tracking curve, and a driver control amount is generated; the turning speed of the fan-shaped ladle is dynamically adjusted according to the driver control amount, so that the outlet flow is stably output; through real-time monitoring by the metal liquid level measuring sensor and PID dynamic adjustment, the liquid level oscillation problem caused by inertia impact at the initial casting stage is effectively eliminated; through PID control, the accurate tracking requirement of normal working conditions can be met, and rapid response to abnormal interference such as slagging can be realized, so that the casting quality and production efficiency are improved.

[0045] Figure 7 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 7 The electronic device can include a processor 710, a communications interface 720, a memory 730, and a communications bus 740, wherein the processor 710, the communications interface 720, and the memory 730 can communicate with each other through the communications bus 740. The memory 730 includes a computer program, an operating system, and acquired data, and the processor 710 can call the logical instructions in the memory 730 to execute the fan-shaped ladle flow stability control method, which includes the following steps: real-time monitoring of the liquid level height of the fan-shaped ladle outlet through a metal liquid level measuring sensor; inputting the monitored liquid level height of the fan-shaped ladle outlet into a PID controller, comparing it with a target tracking curve, and generating a driver control amount; and dynamically adjusting the turning speed of the fan-shaped ladle according to the driver control amount, so that the outlet flow is stably output.

[0046] In addition, the logical instructions in the memory 730 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the application or the part that contributes to the related art or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various storage medium that can store program codes.

[0047] In another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the fan-shaped package flow stability control method provided by the above method, and the method comprises: monitoring the liquid level height of the fan-shaped package outlet in real time through a molten metal level measuring sensor; inputting the monitored liquid level height of the fan-shaped package outlet into a PID controller, comparing it with a target tracking curve, and generating a driver control amount; and dynamically adjusting the overturning speed of the fan-shaped package according to the driver control amount, so as to stabilize the outlet flow.

[0048] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0049] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions or the part that contributes to the related art can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some part of the embodiment.

[0050] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling the stability of flow rate in a sector-shaped package, characterized in that, include: The liquid level height at the outlet of the fan-shaped package is monitored in real time using a metal liquid level measurement sensor. The monitored liquid level height at the outlet of the fan-shaped package is input into the PID controller and compared with the target tracking curve to generate the drive control quantity; The flipping speed of the fan-shaped package is dynamically adjusted according to the driver control value to ensure stable output of the outlet flow.

2. The method for controlling the flow stability of a sector-shaped package according to claim 1, characterized in that, The metal liquid level measuring sensor is installed diagonally above the outlet of the fan-shaped package, and the detection axis of the metal liquid level measuring sensor is perpendicular to the rotation axis of the fan-shaped package.

3. The method for controlling the stability of the flow rate of a sector-shaped package according to claim 1, characterized in that, The method for generating the target tracking curve includes: Under undisturbed operating conditions, the fan-shaped package is flipped at a constant speed and the curve of liquid level change over time is recorded. This curve is used as the target tracking curve.

4. The method for controlling the flow stability of a sector-shaped package according to claim 1 or 3, characterized in that, The process of inputting the monitored liquid level height at the outlet of the fan-shaped package into the PID controller, comparing it with the target tracking curve, and generating the drive control quantity includes: The deviation between the actual liquid level height and the height corresponding to the target tracking curve is calculated in real time. The deviation value is used to perform PID calculations to generate the driver control quantity.

5. The method for controlling the stability of the flow rate of a sector-shaped package according to claim 4, characterized in that, The step of dynamically adjusting the flipping speed of the fan-shaped package according to the driver control quantity includes: The driver control input is converted into a sector pack flipping speed command: The flip speed command is executed by the driver.

6. The method for controlling the flow stability of a sector-shaped package according to claim 5, characterized in that, The dynamically adjusted fan-shaped package flipping speed includes: The flipping speed is set to a range of 0.5° / s to 3.5° / s, and the PID controller automatically adjusts the flipping speed of the fan-shaped package according to the control input of the driver.

7. A fan-shaped package flow rate stability control system, characterized in that, include: A metal liquid level measuring sensor is installed at the outlet of a fan-shaped package. A drive and a tilting mechanism, wherein the drive is used to drive the tilting mechanism to move; A PID controller is connected to both the metal liquid level measurement sensor and the driver, and is used to receive the acquisition signal from the metal liquid level measurement sensor and output the driver control quantity to the driver.

8. The sector-shaped package flow stability control system according to claim 7, characterized in that, Also includes: The human-machine interface is used to generate and display the target tracking curve.

9. An electronic 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, it implements the sector packet flow stability control method as described in any one of claims 1 to 7.

10. A non-transitory readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the sector packet flow stability control method as described in any one of claims 1 to 7.

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