Abstract
According to the defect of artificial slag adding and open-loop slag adding in continuous casting mold, a slag adding robot with real-time slag thickness detection and feedback control is developed. That is, the laser ranging sensor is applied on the basis of the open-loop slag adding robot. Then the real-time information of in-mold slag thickness can be obtained. And the coupling relation of three factors: real-time slag thickness, mold work slagging speed and robot slagging rate are taken into comprehensive consideration. Therefore fuzzy controller is built to realize the fuzzy PID control of the slagging robot feeding electro-mechanical system and achieve the intelligent control of slag thickness in the mold. The simulation and application results show that the slag adding robot based on fuzzy PID control has good effect and quick response. The slag can be pressed according to the requirement, which is beneficial to energy saving and consumption reduction, and improves the quality of the billet.
Highlights
Open-loop System of Slag MachineThe slag adding robot of continuous casting mold developed by our research groupwhich consists of electronic control system ķ, movement systemĸ, adding slag system Ĺ, and Lifting system ĺ.The adding slag system is made up of hopper 1, gear reducer 2 and 4, transporting motor 3, swinging-rod motor 5, transporting pipe 6, guiding device 7, transporting spiral 8,discharging port 9 and so on
In the process of continuous casting of steelthe thickness of the mold powder seriously affects the quality of billet [1,2,3,4,5]
In the formula, Dq is the expected thickness of the adding slag, h is the best thickness of mold fluxes and its range is 35mm~50mm, Dc is the thickness of the slag measured by the laser distance measuring sensor, and Dx is the thickness consumed by the mold in unit time
Summary
The slag adding robot of continuous casting mold developed by our research groupwhich consists of electronic control system ķ, movement systemĸ, adding slag system Ĺ, and Lifting system ĺ.The adding slag system is made up of hopper 1, gear reducer 2 and 4, transporting motor 3, swinging-rod motor 5, transporting pipe 6, guiding device 7, transporting spiral 8,discharging port 9 and so on. The structure of the slag adding robot is shown in Fig.. The mold fluxes is fed from the hopper into the feed pipe, and the feed motor drives the feed screw to deliver the slag to the discharge port, the mold fluxes falls into the mold. The swing bar motor drives the feed pipe to swing slag in the slag adding area of the mold. Transfer function of each link is calculated. The inverter can be simplified into an inertial link [19,20] in the process of adding slag, that is, the transfer function of the converter is: G1 S
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