A servo control system for a blast furnace top gas seal

Abstract

This invention discloses a servo control system for the airtight box at the top of a blast furnace, relating to the field of blast furnace top charging control technology. The system includes: acquiring the actual angle of the rotating load axis, the original tilting target angle, the actual tilting load axis angle, and the approximation direction marker within a complete charging cycle, constructing an original cycle dataset; extracting the actual deviation center value under different approximation directions according to the rotational orientation interval, calculating the bidirectional positioning difference step amount and common bias amount; correcting the tilting original target angle accordingly, generating a corrected tilting target angle and executing closed-loop control; and updating the bidirectional positioning difference step amount and common bias amount based on the execution cycle dataset. This invention can improve the positioning consistency, trajectory repeatability, and master-slave synchronization stability during multi-track charging switching.

Description

Technical Field

[0001] This invention relates to the field of blast furnace top charging control technology, and in particular to a servo control system for a blast furnace top airtight box. Background Technology

[0002] The servo control system for the blast furnace top airtight box is widely used in bell-less charging scenarios. It requires driving a tilting shaft to adjust its posture according to a preset electronic cam relationship while the rotating shaft rotates continuously, to meet the control requirements of different tilting positions corresponding to different rotational orientations during multi-track charging. Because the blast furnace top charging process is characterized by continuous operation, cyclical repetition, frequent target angle switching, and a large azimuth coverage range, the tilting shaft will approach the target position multiple times within the same charging cycle, either in an increasing or decreasing angle direction. Therefore, in actual operation, ensuring that the tilting load shaft can stably reach the unique actual position matching the current rotational orientation under different arrival paths, and thus maintaining trajectory repeatability, positioning consistency, and master-slave synchronization accuracy during multi-track charging, has become a crucial technical problem to be solved in the field of blast furnace top airtight box servo control.

[0003] While existing blast furnace top airtight box control schemes can achieve closed-loop control of the rotation and tilting axes using servo motors, electronic cam relationships, and load shaft encoder feedback, during multi-track material distribution switching, they typically still directly drive the tilting axis to perform position control according to a preset target. This lacks a dedicated mechanism for identifying and correcting stable position differences under different arrival paths, leading to inconsistencies in the actual tilting position corresponding to the same rotational orientation due to path changes. Furthermore, existing schemes underutilize orientation data, target data, actual position data, and direction status data within a complete material distribution cycle. They struggle to extract stable offset patterns between position results in different directions from periodic operation data, making it difficult to update the target angle for subsequent material distribution cycles accordingly. Therefore, under long-term operating conditions, problems such as decreased material distribution trajectory repeatability, fluctuations in positioning accuracy, and insufficient stability of the master-slave synchronization relationship easily arise. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the prior art where the actual position of the tilting shaft is inconsistent under different arrival paths during the multi-track material feeding switching process, resulting in a decrease in the repeatability of the material feeding trajectory and insufficient master-slave synchronous control accuracy. Therefore, a servo control system for the gas-tight box at the top of the blast furnace is proposed.

[0005] To address the problems existing in the prior art, the present invention adopts the following technical solution:

[0006] A servo control method for a blast furnace top airtight box includes: S1. Obtain the actual angle of the rotating load axis, generate the original target angle of tilting according to the preset electronic cam relationship, obtain the actual angle of the tilting load axis and the approximation direction mark of the tilting axis, and integrate the actual angle of the rotating load axis, the original target angle of tilting, the actual angle of the tilting load axis and the approximation direction mark of the tilting axis within a complete fabric cycle into the original cycle dataset. S2. Based on the original periodic dataset, group the rotational azimuth intervals corresponding to the actual angle of the rotating load axis, extract the tilting actual deviation center value corresponding to the different approximation direction markers in each rotational azimuth interval, and calculate the bidirectional positioning difference step amount and common offset amount. S3. Based on the actual angle of the rotating load shaft, the approximation direction mark, the bidirectional positioning difference step amount, and the common offset amount at the current sampling time, the original tilt target angle is corrected to generate the corrected tilt target angle. S4. Send the target tilt angle to the servo driver to perform closed-loop control, and synchronously record the actual angle of the rotating load axis, the original target tilt angle, the actual angle of the tilt load axis, and the approximation direction mark during the complete fabric cycle to form an execution cycle dataset. S5. Calculate the updated bidirectional positioning step amount and the updated common bias amount based on the execution cycle dataset, for use in the next fabric cycle.

[0007] To address the aforementioned issues, a servo control system for a blast furnace top airtight box is provided. The system includes a rotary servo motor for driving a rotating shaft and a tilting servo motor for driving a tilting shaft. The actual angle of the rotating load shaft is fed back by an encoder mounted on the rotating load shaft, and the actual angle of the tilting load shaft is fed back by an encoder mounted on the tilting load shaft.

[0008] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention simultaneously acquires the actual angle of the rotating load axis, the original target angle of the tilting, the actual angle of the tilting load axis, and the approximation direction mark within a complete fabric application cycle. Based on the rotational orientation interval, it groups and statistically analyzes the actual deviations under different arrival paths, extracting the bidirectional positioning difference step amount and the common offset amount. Based on this, it corrects the direction of the original target angle of the tilting, thereby enabling the tilting axis to converge toward the same stable actual position under both increasing and decreasing angle approximation conditions. This improves the positioning consistency, trajectory repeatability, and synchronous control accuracy between the rotating axis and the tilting axis during multi-track fabric application switching.

[0009] 2. This invention further generates an execution cycle dataset during the execution of the closed-loop control correction, and periodically updates the bidirectional position difference step amount and common bias amount based on the execution cycle dataset. This allows the correction parameters to be continuously corrected according to the actual operating state within the complete material feeding cycle, thereby improving the adaptability to the actual position offset law of tilting. This ensures that the generation of the correction tilting target angle in subsequent material feeding cycles is more in line with the real operating state, thereby enhancing the long-term stability and control reliability of the servo control process of the blast furnace top airtight box and reducing the adverse effects of attitude fluctuations caused by path changes on the material feeding quality. Attached Figure Description

[0010] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating a servo control method for a blast furnace top airtight box according to an embodiment of the present invention. Detailed Implementation

[0011] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0012] Example: This example provides a servo control method for the gas-tight box at the top of a blast furnace. See [link to relevant documentation]. Figure 1 Specifically, including: S1. Obtain the actual angle of the rotating load axis, generate the original target angle of tilting according to the preset electronic cam relationship, obtain the actual angle of the tilting load axis and the approximation direction mark of the tilting axis, and integrate the actual angle of the rotating load axis, the original target angle of tilting, the actual angle of the tilting load axis and the approximation direction mark of the tilting axis within a complete fabric cycle into the original cycle dataset. S2. Based on the original periodic dataset, group the rotational azimuth intervals corresponding to the actual angle of the rotating load axis, extract the tilting actual deviation center value corresponding to the different approximation direction markers in each rotational azimuth interval, and calculate the bidirectional positioning difference step amount and common offset amount. S3. Based on the actual angle of the rotating load shaft, the approximation direction mark, the bidirectional positioning difference step amount, and the common offset amount at the current sampling time, the original tilt target angle is corrected to generate the corrected tilt target angle. S4. Send the target tilt angle to the servo driver to perform closed-loop control, and synchronously record the actual angle of the rotating load axis, the original target tilt angle, the actual angle of the tilt load axis, and the approximation direction mark during the complete fabric cycle to form an execution cycle dataset. S5. Calculate the updated bidirectional positioning step amount and the updated common bias amount based on the execution cycle dataset, for use in the next fabric cycle.

[0013] In an embodiment of the present invention, the actual angle of the rotating load shaft is obtained, the original target angle of tilting is generated according to a preset electronic cam relationship, the actual angle of the tilting load shaft and the approximation direction mark of the tilting shaft are obtained, and the above data within a complete fabric cycle are integrated into an original cycle dataset, specifically including: During the real-time operation of the servo control of the blast furnace top airtight box, the control unit is set to a fixed sampling period of ten milliseconds to synchronously drive the rotary load shaft encoder and the tilting load shaft encoder to acquire data using a unified hardware trigger signal. At the k-th sampling moment, the actual angle of the rotary load shaft is acquired in real time through the rotary load shaft encoder. The control unit calculates the original target tilt angle at the current sampling time based on the preset piecewise linear electronic cam curve function. The calculation formula is as follows: in, Let the original target tilt angle be the angle at the k-th sampling time. A pre-defined piecewise linear electronic cam curve is used between the rotation axis angle and the tilt axis angle. The specific mapping rule is as follows: when the actual angle of the rotation load axis... Within the range of 0° to 180°, the tilting of the original target angle increases linearly with the rotation angle; when the actual angle of the rotating load shaft... Within the range of 180° to 360°, the tilt angle of the original target decreases linearly with the rotation angle. The actual angle of the rotating load shaft at the k-th sampling time is denoted by 0° to 360°, and the output range of the tilting original target angle is 0° to 60°.

[0014] The actual angle of the tilt load shaft at the k-th sampling moment is obtained by synchronously acquiring data from the tilt load shaft encoder and the rotary load shaft encoder. The control unit further calculates the increment of the original target tilt angle at the current sampling moment, using the following formula: in, This represents the increment of the original target tilt angle at the k-th sampling time. For the first The tilt angle of the original target at each sampling time. This is the first sampling time. Set to 0°, initial approximation direction marker Set to 1. The increment is calculated by subtracting the tilt angle of the original target from adjacent sampling times. This method accurately quantifies the real-time change trend of the tilt angle, providing a reliable quantitative basis for accurate determination of the approximation direction. After completing the increment calculation, the control unit performs a numerical determination of the approximation direction marker. At that time, mark the approximation direction at the current sampling moment. A value of 1 indicates that the tilting axial angle increases in the direction of approaching the target; when At that time, mark the approximation direction at the current sampling moment. A value of -1 indicates that the tilting axial angle decreases as the tilting direction approaches the target; when At that time, the approximation direction marker at the current sampling moment Maintain consistency with the approximation direction marker value from the previous sampling time. This numerical determination rule adapts to the control system program execution logic, ensuring the continuity and stability of direction recognition, and can be adapted to the actual working condition where the tilting target angle remains unchanged during the multi-track charging process at the top of the blast furnace.

[0015] It should be noted that the actual angle of the rotating load shaft refers to the current true rotation angle directly represented by the position feedback element on the rotating load shaft. It is used to reflect the actual orientation position that the material distribution mechanism has reached around the central axis of the furnace top. This quantity corresponds to the actual mechanical position on the load side, not the theoretical output position of the motor. The preset electronic cam relationship refers to the pre-established correspondence between the rotation orientation and the tilting position. It is used to express the target posture that the tilting mechanism should reach when the rotating mechanism moves to a certain orientation, thereby ensuring that the material distribution trajectory meets the predetermined process requirements. The original target tilting angle refers to the angle calculated based on the preset electronic cam relationship under the current rotation orientation. The calculated reference angle that the tilting axis should reach reflects the theoretical attitude position that the control system expects the chute or related tilting components to reach. The actual angle of the tilting load axis refers to the current true tilt angle detected by the position feedback element on the tilting load axis, which is used to characterize the actual attitude position that the tilting actuator has reached on the load side. The approximation direction mark is a status indicator that characterizes whether the original target tilting angle changes along the direction of angle increase or angle decrease relative to the previous sampling time. It is used to distinguish whether the current positioning process is an angle-increasing approximation or an angle-decreasing approximation, so as to identify the differences caused by different arrival paths under the same orientation.

[0016] After the control unit completes data acquisition and calculation for a single sampling moment, a complete fabric fabric cycle is defined as one full rotation of the actual angle of the rotating load axis. A complete fabric fabric cycle corresponds to the actual angle of the rotating load axis continuously changing from zero degrees to 360 degrees. The control unit sets a fixed sampling period of ten milliseconds and calculates the total number of sampling points within the current cycle based on the duration of the complete fabric fabric cycle. The total number of sampling points is the ratio of the duration of the complete fabric fabric cycle to the sampling period. The control unit synchronously stores the actual angle of the rotating load axis, the original target tilt angle, the actual angle of the tilt load axis, and the approximation direction marker at the k-th sampling moment. When the actual angle of the rotating load axis reaches 360 degrees, the data acquisition process for the complete fabric fabric cycle is considered complete. The control unit then integrates the four types of data from all sampling moments within the complete fabric fabric cycle according to the sampling time sequence to form the original cycle dataset. The expression for the original cycle dataset is: Where D is the original periodic dataset, and k is the sampling time number, where k is a positive integer between one and the total number of sampling points. The actual angle of the rotating load shaft at the k-th sampling time. To tilt the original target angle at the k-th sampling time, The actual angle of the tilted load shaft at the k-th sampling time. The approach direction is marked at the k-th sampling time. This data integration method uses the complete fabric cycle as a unified data unit and synchronously collects four types of core control data according to the sampling time sequence. This ensures that the correspondence between the rotation orientation, the original tilt target, the actual tilt angle and the approach direction is complete and continuous. This provides a complete and time-consistent data foundation for subsequent grouping and statistical analysis of deviation data by rotation orientation, extraction of bidirectional positioning step amount and common offset amount, and ensures the accuracy and reliability of subsequent data processing and parameter calculation.

[0017] It should be noted that the original cycle dataset refers to a data set continuously collected and compiled in chronological order within a complete fabric cycle. It includes the actual angle of the rotating load axis, the original target angle of tilting, the actual angle of the tilting load axis, and the approximation direction marker. It is used to fully reflect the target relationship, actual response relationship, and path change relationship of the master and slave axes within the fabric cycle, providing a data foundation for subsequent extraction of direction-related positioning differences.

[0018] In an embodiment of the present invention, based on the original periodic dataset, the data is grouped according to the rotational azimuth intervals corresponding to the actual angle of the rotating load shaft. The actual tilting deviation center values ​​corresponding to different approximation direction markers within each rotational azimuth interval are extracted, and the bidirectional positioning step amount and common offset amount are calculated. Specifically, this includes: After acquiring the original cycle dataset corresponding to the complete fabric cycle, the control unit divides the rotational azimuth from 0 to 360 degrees into continuous, equally spaced rotational azimuth intervals according to the actual angle of the rotational load axis. In this embodiment, the division value of the rotational azimuth interval is set to one degree, and each rotational azimuth interval corresponds to a rotational angle coverage range of one degree. Based on this, the control unit accurately groups and classifies all sampling points in the original cycle dataset according to their respective rotational azimuth intervals. The control unit calculates the difference between the actual angle of the tilting load axis and the original tilting target angle for each sampling point in the original cycle dataset to obtain the actual deviation corresponding to the current sampling point. The calculation formula is as follows: in The actual deviation at the k-th sampling point. The actual angle of the tilted load axis at the k-th sampling point. The original target angle of the tilting at the kth sampling point is calculated by directly subtracting the actual tilting angle from the original target angle. This formula can accurately quantify the positioning deviation of the actual operating position of the tilting axis relative to the theoretical target position, providing a direct and reliable quantitative basis for subsequent deviation statistics and feature extraction.

[0019] The control unit uses the divided rotational azimuth intervals as the statistical benchmark. Within the same rotational azimuth interval, it first extracts the actual deviations corresponding to all sampling points marked as increasing angle directions in the same approximation direction. After sorting the actual deviations in order of numerical magnitude, it calculates the median and determines the median as the center value of the positive approximation deviation for the current rotational azimuth interval. Simultaneously, within the same rotational azimuth interval, it extracts the actual deviations corresponding to all sampling points marked as decreasing angle directions in the same approximation direction. After sorting the actual deviations in order of numerical magnitude, it calculates the median and determines the median as the center value of the negative approximation deviation for the current rotational azimuth interval. Using the median to calculate the center value of the deviation can effectively eliminate random errors and abnormal data interference generated during the sampling process, stably reflect the actual positioning deviation law of the tilting shaft under different approximation directions, and ensure the accuracy and stability of the bidirectional approximation deviation feature extraction within the same rotational azimuth interval.

[0020] It should be noted that the forward approximation deviation center value refers to the representative deviation obtained by statistically analyzing the actual tilting deviations corresponding to all sampling points in the increasing angle approximation state within the same rotational azimuth interval. It is used to characterize the stable deviation of the actual load-side position relative to the original target position when the tilting shaft approaches the target angle from the side with the smaller angle. This value reflects the typical deviation level formed by the combined effects of force transmission, clearance elimination, and actual positioning results in the forward approximation path. The reverse approximation deviation center value refers to the representative deviation obtained by statistically analyzing the actual tilting deviations corresponding to all sampling points in the decreasing angle approximation state within the same rotational azimuth interval. It is used to characterize the stable deviation of the actual load-side position relative to the original target position when the tilting shaft approaches the target angle from the side with the larger angle. This value reflects the typical deviation level formed by the combined effects of the force state of the transmission chain, clearance switching, and actual positioning results in the reverse approximation path. The above two values ​​correspond to the representative stable deviation values ​​of the same target position under two different arrival paths, and their differences can be used to characterize whether there is a direction-related positioning split phenomenon.

[0021] After the control unit determines the forward approximation deviation center value and the reverse approximation deviation center value within the same rotation azimuth interval, it calculates the bidirectional positioning error step amount and the common offset amount corresponding to the current rotation azimuth interval based on these two center values. The formula for calculating the bidirectional positioning error step amount is as follows: in This represents the bidirectional positioning difference step amount corresponding to the current rotation azimuth interval. This represents the center value of the positive approximation deviation within the current rotation azimuth interval. This formula, which calculates the difference between the center values ​​of the forward and reverse approximation deviations within the same rotation azimuth interval, accurately quantifies the amplitude of stable position splitting caused by increasing and decreasing angle approximation at the same target tilt angle. It directly characterizes the bidirectional position difference step feature of rotation azimuth locking. The formula for calculating the common offset is as follows: in The formula, which calculates the arithmetic mean of the bidirectional approximation deviation center values ​​within the same rotation azimuth interval, provides a unified reference offset parameter for subsequent directional correction of the original target angle. The control unit traverses all rotation azimuth intervals according to the above calculation method, obtaining the bidirectional position difference step amount and common offset amount corresponding to each rotation azimuth interval, forming a bidirectional position difference step curve and common offset curve covering the entire fabric laying cycle, providing complete and accurate interval parameter support for subsequent correction target generation.

[0022] It should be noted that the bidirectional positioning step difference refers to the difference between the center values ​​of the forward and reverse approximation deviations within the same rotational azimuth interval. It is used to characterize the degree of separation between the final stable positioning results when the tilting shaft approaches the same target position along the increasing and decreasing angle directions, respectively. The larger this value, the more obvious the stable position split caused by different arrival paths under the same rotational azimuth, indicating a more prominent direction-dependent positioning difference in the controlled object. The common offset refers to the average result of the center values ​​of the forward and reverse approximation deviations within the same rotational azimuth interval. It is used to characterize the degree of overall positional offset that generally exists under the rotational azimuth when the approximation direction is not distinguished. This value reflects the common deviation level of the actual positioning position of the tilting load shaft relative to the original target position. Among them, the bidirectional positioning step difference mainly reflects the branching differences caused by different approximation paths, while the common offset mainly reflects the overall offset that is common to both approximation paths. The two can be used together to characterize direction-dependent errors and direction-independent errors, respectively.

[0023] In an embodiment of the present invention, the original tilt target angle is directionally corrected based on the actual angle of the rotating load shaft at the current sampling time, the approximation direction mark, the bidirectional positioning difference step amount, and the common offset amount, to generate a corrected tilt target angle, specifically including: During real-time servo control operation, the control unit acquires the actual angle of the rotating load axis at the current sampling moment. Based on this angle, it matches the bidirectional position difference step and common offset amount within the corresponding rotational azimuth range. Simultaneously, it reads the approximation direction marker value at the current sampling moment. Based on all the above parameters, it performs a direction-related precise correction calculation on the original tilt target angle to generate a corrected tilt target angle for driving the tilt servo axis. The calculation formula for the correction calculation is as follows: in The target tilt angle for correction at the current sampling time. The original target tilt angle at the current sampling moment. This is the common offset amount corresponding to the rotational azimuth range of the current rotating load axis's actual angle. This represents the approximation direction marker value at the current sampling time. The value for the increasing angle direction marker is one, and the value for the decreasing angle direction marker is negative one. The correction formula first eliminates the overall positional offset that does not distinguish between approximation directions by subtracting the common offset amount from the actual angle of the current rotating load shaft in the rotational orientation range. Then, it combines the approximation direction mark with the half-value calculation of the bidirectional positional offset step amount to achieve deviation compensation for orientation adaptation. This can convert the dual-branch stable positioning relationship caused by the angle-increasing approximation and the angle-decreasing approximation under the same rotational orientation into a single-branch mapping relationship. This fundamentally eliminates the destruction of the uniqueness of the master-slave synchronization of the electronic cam by the bidirectional positional offset step of the rotational orientation lock. The control unit uses the corrected tilting target angle as the position input signal of the tilting servo drive to ensure that the tilting load shaft can reach a unique and stable actual position for the same target tilting angle under different approximation directions. This ensures that the positioning accuracy and trajectory repeatability meet the requirements of the blast furnace production process during the multi-track material feeding switching process.

[0024] It should be noted that the corrected tilt target angle refers to the corrected target angle generated based on the original tilt target angle under the current rotational orientation, combined with the bidirectional positioning step difference, common offset, and current approximation direction corresponding to that rotational orientation. This angle is used as the position setpoint for the actual execution of the servo drive. This angle no longer only represents the theoretical target posture under the electronic cam relationship, but rather the target posture that the tilt load axis should track to achieve true and accurate positioning after considering the stable positioning split and common position offset caused by different approximation paths under the same rotational orientation. By using the corrected tilt target angle for closed-loop control, the positioning results that originally fell into different stable positions due to angle-increasing and angle-decreasing approximations can converge to the same target position, thereby reducing the direction-related positioning difference and improving the posture consistency during multi-track fabric switching.

[0025] In an embodiment of the present invention, the target tilt angle is sent to the servo driver to perform closed-loop control, and the actual angle of the rotating load axis, the original target tilt angle, the actual angle of the tilt load axis, and the approximation direction mark are recorded synchronously throughout the complete fabric cycle to form an execution cycle dataset, specifically including: The control unit transmits the real-time generated corrected tilt target angle as a position command to the tilt servo driver. The tilt servo driver uses the corrected tilt target angle as the position input command and the actual angle of the tilt load shaft fed back in real time by the tilt load shaft encoder as the position feedback signal. The position loop calculates the position deviation and outputs a speed command signal. The speed loop combines the speed command signal and the motor speed feedback signal to output a current command signal. The current loop drives the tilt servo motor to run according to the current command signal and the motor current feedback signal, completing the step-by-step closed-loop adjustment of the position loop, speed loop, and current loop. This drives the tilt load shaft to accurately track the corrected tilt target angle and complete the fabric laying action. The control unit takes the continuous change of the actual angle of the rotating load shaft from zero degrees to 360 degrees as a complete fabric laying cycle. It synchronously collects running data through a unified hardware trigger signal with a fixed sampling period of 10 milliseconds. The total number of sampling points in the complete fabric laying cycle is the ratio of the total fabric laying cycle duration to the sampling period.

[0026] Throughout the complete fabric cycle, the control unit continuously and synchronously records four types of data: the actual angle of the rotating load shaft, the original target angle, the actual angle of the tilting load shaft, and the approximation direction marker. After the rotating load shaft completes a 360-degree rotation, the control unit sequentially combines the four types of data from all sampling moments according to the sampling sequence to form the execution cycle dataset. The expression for the execution cycle dataset is as follows: in For the execution cycle dataset, k is the index of the sampling time, and the value of k is a positive integer between one and the total number of sampling points for a complete fabric cycle. The actual angle of the rotating load shaft at the k-th sampling time. To tilt the original target angle at the k-th sampling time, The actual angle of the tilted load shaft at the k-th sampling time. As the approximation direction marker at the k-th sampling moment, the control unit retains the original target tilt angle completely in the execution cycle dataset. This ensures that the original electronic cam master-slave mapping relationship is always used as a unified reference when updating parameters in the next cycle, effectively avoiding reference drift caused by introducing compensation data from the previous cycle. The use of a unified hardware-triggered synchronous acquisition and complete cycle recording method can ensure the accurate and continuous temporal correspondence of the four types of data. This provides a real, reliable, and full-cycle measured data foundation for the subsequent update calculation of bidirectional position difference step amount and common bias amount, ensuring the stable and reliable operation of the periodic self-updating closed-loop control.

[0027] It should be noted that the execution cycle dataset refers to the data set continuously and synchronously recorded and collected in chronological order during the closed-loop control process of the servo control system completing a complete fabric feeding cycle according to the corrected tilt target angle. It includes at least the actual angle of the rotating load shaft, the original tilt target angle, the actual angle of the tilt load shaft, and the approximation direction mark corresponding to each sampling moment in the cycle. This dataset is used to realistically represent the correspondence between the main shaft rotation orientation, the theoretical target of the slave shaft, the actual position result of the slave shaft, and the arrival path state under the control conditions after direction correction. This provides a unified data basis for recalculating the actual deviation in each rotation orientation interval, updating the positive approximation deviation center value and the reverse approximation deviation center value, and further updating the bidirectional position difference step amount and common bias amount in the next fabric feeding cycle.

[0028] In an embodiment of the present invention, the updated bidirectional positioning difference step amount and the updated common bias amount are calculated based on the execution cycle dataset for use in the next fabrication cycle, specifically including: After the correction closed-loop control of the current complete fabric cycle is executed and the execution cycle dataset is obtained, the periodic update calculation of the bidirectional position difference step amount and common bias amount is carried out based on the execution cycle dataset. First, the actual deviation between the actual angle of the tilting load axis and the original target tilting angle is recalculated for each sampling point in the execution cycle dataset. The calculation formula is as follows: in Update the actual deviation used for calculation for the k-th sampling point. The actual angle of the tilted load axis at the k-th sampling point. The original target angle is tilted at the kth sampling point. This calculation can truly reflect the deviation of the actual position of the tilting shaft relative to the original electronic cam target after correction control, providing a reliable basis of measured data for parameter iteration and update.

[0029] Continuing to use a one-degree scale, the rotational azimuth from 0 to 360 degrees is divided into continuous, equally spaced rotational azimuth intervals. All sampling points in the execution cycle dataset are assigned to the corresponding rotational azimuth intervals according to the actual angle of the rotating load axis. Within the same rotational azimuth interval, the actual deviations of all sampling points marked as increasing angle directions are extracted. After sorting these deviation values, the median is calculated and determined as the updated positive approximation deviation center value. Simultaneously, the actual deviations of all sampling points marked as decreasing angle directions are extracted within the same rotational azimuth interval. After sorting these deviation values, the median is calculated and determined as the updated reverse approximation deviation center value. Using the median effectively filters out random errors caused by on-site interference, ensuring the stability and accuracy of the updated deviation center value. Based on the updated bidirectional approximation deviation center values, the updated bidirectional positioning step is calculated using the following formula: in This represents the updated bidirectional positioning difference step size within the current rotation azimuth range. This is the center value of the positive approximation deviation after the current rotation azimuth interval is updated. This is the updated reverse approximation deviation center value for the current rotation azimuth interval. This calculation can accurately quantify the bidirectional position split amplitude that still exists after corrective control. Subsequently, the updated common bias is calculated using the following formula: in The common offset amount after updating the current rotation orientation interval is calculated to obtain a unified reference offset parameter adapted to the current equipment operating state. The above calculation is completed by traversing all rotation orientation intervals to form an updated bidirectional positioning difference step curve and an updated common offset curve covering the entire material feeding cycle. The updated parameters are directly used for the generation calculation of the tilting target angle correction in the next material feeding cycle. Through periodic iterative updates, the changes in transmission chain characteristics are continuously adapted, and the unique and stable electronic cam mapping relationship between the rotation axis and the tilting axis is always maintained, ensuring that the positioning accuracy and trajectory repeatability of the multi-track material feeding at the top of the blast furnace meet the production process requirements in the long term.

[0030] The present invention also provides a servo control system for a blast furnace top airtight box, the system including a rotary servo motor for driving the rotary shaft and a tilting servo motor for driving the tilting shaft; the actual angle of the rotary load shaft is fed back by an encoder mounted on the rotary load shaft, and the actual angle of the tilting load shaft is fed back by an encoder mounted on the tilting load shaft.

[0031] Specifically, the system includes a control unit, a rotary servo motor, a tilting servo motor, a rotary load shaft encoder, and a tilting load shaft encoder. The rotary servo motor is directly connected to the rotating shaft of the blast furnace top airtight box via a mechanical transmission structure. It receives control commands from the control unit and stably drives the rotating shaft to complete continuous rotation. The tilting servo motor is directly connected to the tilting shaft of the blast furnace top airtight box via a mechanical transmission structure. It receives control commands from the control unit and precisely drives the tilting shaft to complete tilting motion. The rotary load shaft encoder is fixedly installed at the end of the rotary load shaft, rotating synchronously with it. It collects the actual rotation angle of the rotary load shaft in real time and continuously transmits the angle feedback signal to the control unit, providing the load-side real position basis for the electronic cam target generation rotation orientation range determination and data acquisition. The tilting load shaft encoder is fixedly installed at the end of the tilting load shaft, rotating synchronously with it. It collects the actual rotation angle of the rotary load shaft in real time and transmits the angle feedback signal continuously to the control unit. This provides the load-side real position basis for the electronic cam target generation rotation orientation range determination and data acquisition. The actual rotation angle of the tilting load shaft is collected and the angle feedback signal is continuously transmitted to the control unit. This provides accurate position feedback on the load side for actual deviation calculation, bidirectional position difference step extraction and correction target generation, and servo closed-loop control. The control unit establishes electrical connections with the rotating load shaft encoder, the tilting load shaft encoder, the rotating servo motor, and the tilting servo motor, respectively. It is used to receive real-time feedback signals from the two load shaft encoders, execute all control logic for data integration, deviation statistics, step calculation, target correction, and parameter periodic updates, and output corresponding drive commands to the rotating servo motor and the tilting servo motor. The entire system adopts a hardware architecture with dual servo motor drive and dual load shaft encoder full closed-loop feedback, which can fully support the entire process execution of the aforementioned servo control method for the blast furnace top airtight box. It stably realizes master-slave synchronous control of the rotating shaft and the tilting shaft, effectively eliminates the positioning split problem caused by the bidirectional position difference step, and ensures the trajectory repeatability and positioning consistency of the multi-track material distribution at the blast furnace top.

[0032] It should be noted that a rotary servo motor is an actuator that outputs controlled rotary driving force. Its output torque is transmitted through a transmission mechanism, driving the rotary shaft and its connected load components to rotate around a predetermined axis, thereby changing the circumferential orientation of the material distribution mechanism in the furnace top plane. A tilting servo motor is an actuator that outputs controlled tilting driving force. Its output is transmitted through a transmission chain, driving the tilting shaft and its connected load components to change the pitch angle, thereby changing the spatial posture of the material distribution mechanism and the material flow landing point. The actual angle of the rotating load shaft refers to the actual angle that the rotating load shaft has rotated to on the load side, used to characterize the rotary execution. The current circumferential position of the mechanism relative to the initial orientation reflects the actual mechanical output position, not just the theoretical position calculated from the motor side. The actual angle of the tilting load shaft refers to the actual tilt angle that the tilting load shaft has reached on the load side, which is used to characterize the current actual attitude position of the tilting actuator. This angle directly corresponds to the actual pitch state of the fabric component. The encoder refers to the position signal output by the position detection element installed on the corresponding load shaft after continuously detecting the rotation process of the shaft. This position signal is used to reflect the actual angular displacement state of the corresponding load shaft at the current moment and serves as the position feedback basis in the servo closed-loop control.

[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A servo control method for a blast furnace top airtight box, applied to a servo control system with a rotating axis as the driving axis and a tilting axis as the driven axis, characterized in that, include: S1. Obtain the actual angle of the rotating load axis, generate the original target angle of tilting according to the preset electronic cam relationship, obtain the actual angle of the tilting load axis and the approximation direction mark of the tilting axis, and integrate the actual angle of the rotating load axis, the original target angle of tilting, the actual angle of the tilting load axis and the approximation direction mark of the tilting axis within a complete fabric cycle into the original cycle dataset. S2. Based on the original periodic dataset, group the rotational azimuth intervals corresponding to the actual angle of the rotating load axis, extract the tilting actual deviation center value corresponding to the different approximation direction markers in each rotational azimuth interval, and calculate the bidirectional positioning difference step amount and common offset amount. S3. Based on the actual angle of the rotating load shaft, the approximation direction mark, the bidirectional positioning difference step amount, and the common offset amount at the current sampling time, the original tilt target angle is corrected to generate the corrected tilt target angle. S4. Send the target tilt angle to the servo driver to perform closed-loop control, and synchronously record the actual angle of the rotating load axis, the original target tilt angle, the actual angle of the tilt load axis, and the approximation direction mark during the complete fabric cycle to form an execution cycle dataset. S5. Calculate the updated bidirectional positioning step amount and the updated common bias amount based on the execution cycle dataset, for use in the next fabric cycle.

2. The servo control method for the airtight box at the top of a blast furnace according to claim 1, characterized in that, Obtain the approximation direction marker for the tilt axis, including: Calculate the difference between the original target tilt angle at the current sampling time and the original target tilt angle at the previous sampling time to obtain the target angle increment; When the target angle increment is greater than zero, the approximation direction is marked as the angle-increasing direction; When the target angle increment is less than zero, the approximation direction is marked as the angle reduction direction; When the target angle increment is zero, the approximation direction mark remains consistent with the previous sampling time.

3. The servo control method for the airtight box at the top of a blast furnace according to claim 1, characterized in that, The step of extracting the actual tilt deviation center value based on different approximation direction markers within each rotation azimuth interval includes: For each sampling point in the original periodic dataset, the difference between the actual angle of the tilting load axis and the original target tilting angle is calculated to obtain the actual deviation of each sampling point; Using the rotational azimuth interval corresponding to the actual angle of the rotating load shaft as a reference, the median of the actual deviation corresponding to the approach direction marked as the angle-increasing direction is calculated as the positive approach deviation center value, and the median of the actual deviation corresponding to the approach direction marked as the angle-decreasing direction is calculated as the negative approach deviation center value.

4. The servo control method for the airtight box at the top of a blast furnace according to claim 3, characterized in that, The calculations yield the bidirectional positioning difference step amount and common offset amount corresponding to each rotation azimuth interval, including: Subtracting the center value of the positive approximation deviation from the center value of the negative approximation deviation within the same rotational azimuth interval yields the bidirectional positioning difference step amount. The common bias is obtained by calculating the average of the center values ​​of the forward approximation deviation and the center values ​​of the reverse approximation deviation within the same rotational azimuth interval.

5. The servo control method for the airtight box at the top of a blast furnace according to claim 1, characterized in that, The formula for calculating the corrected tilt target angle is as follows: In the formula, The target tilt angle for correction at the current sampling time. The original target tilt angle at the current sampling time. This is the common offset amount corresponding to the actual angle of the currently described rotating load shaft. This refers to the bidirectional positioning difference step amount corresponding to the actual angle of the rotating load shaft. The value corresponding to the approximation direction at the current sampling time is marked.

6. The servo control method for the airtight box at the top of a blast furnace according to claim 1, characterized in that, The formation of the execution cycle dataset includes: During the complete fabric fabrication cycle of closed-loop control performed according to the corrected tilt target angle, the actual angle of the rotating load axis, the original tilt target angle, the actual angle of the tilt load axis, and the approximation direction mark of the current cycle are recorded synchronously and combined to form the execution cycle dataset.

7. The servo control method for the airtight box at the top of a blast furnace according to claim 6, characterized in that, The calculation of the updated bidirectional position difference step amount and the updated common bias amount based on the execution cycle dataset includes: Based on the execution cycle dataset, the actual deviation between the actual angle of the tilting load axis and the original tilting target angle at each sampling point is recalculated. Based on the recalculated actual deviation, the rotational azimuth intervals corresponding to the actual angle of the rotating load shaft are grouped, and the updated forward approximation deviation center value and the updated reverse approximation deviation center value are extracted. Based on the updated forward approximation deviation center value and the updated reverse approximation deviation center value, the updated bidirectional positioning difference step amount and the updated common bias amount are calculated and used to generate the corrected tilt target angle for the next fabric cycle.

8. A servo control system for a blast furnace top airtight box, applied in the servo control method for a blast furnace top airtight box as described in any one of claims 1-7, characterized in that, The system includes a rotary servo motor for driving the rotary axis and a tilting servo motor for driving the tilting axis; the actual angle of the rotary load axis is fed back by an encoder mounted on the rotary load axis, and the actual angle of the tilting load axis is fed back by an encoder mounted on the tilting load axis.

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