• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Based on the height (h) of the casting level (9), the associated setpoint value (h *) and other signals, a pouring-mirror regulator (13) determines a preliminary setpoint position (p '*) for a closure device (4), by means of which the inflow of liquid metal (3) is set in a mold (1) of a continuous casting plant. The height (h), the associated setpoint (h *), the other signals and the provisional or a final nominal position (p '*, p *) are fed to an observer (14), which determines a compensation value (k), the the provisional nominal position (p '*) is activated. Thus, the final desired position (p *) for the closure device (4) is determined. The observer (14) has a determination block (17) which uses the height (h) and the final setpoint position (p *) to determine a fluctuation value (δh) which reflects the expected fluctuation of the height (h) of the casting mirror (9) , The observer (14) also has a first analysis element (18) which determines frequency components of the fluctuation value (δh). A selection element (22) determines and selects wavelengths (λi) at which the respectively associated frequency component of the fluctuation value (δh) lies above a first threshold value (S1). The determination block (17) performs a filtering of the height (h) and the final desired position (p *) for the selected wavelengths (λi) and determines the compensation value (k) exclusively on the basis of the filtered quantities (h, p *).
    公开号:AT518461A1
    申请号:T50301/2016
    申请日:2016-04-11
    公开日:2017-10-15
    发明作者:Ing Philipp Wieser Dipl
    申请人:Primetals Technologies Austria GmbH；
    IPC主号:
    专利说明:

    description
    Mold level control with disturbance compensation
    The present invention is based on a control method for the casting mirror of a continuous casting plant, wherein the continuous casting plant comprises a mold and a strand guide arranged downstream of the mold, wherein liquid metal is poured into the mold via a closure device and solidifies on walls of the mold such that forming a metal strand with a solidified strand shell and a still liquid core, wherein the metal strand is drawn out of the mold by rolling roller segments of the strand guide, wherein a height of the liquid metal casting level in the mold is detected and fed to a casting level regulator, wherein the Gießspiegelregler a target value for the height of the casting mirror and other signals are supplied, based on which determines the Gießspiegelregler in conjunction with the height of the casting mirror a provisional target position for the closure device, - wherein the height of the casting mirror, the Sollwer for the height of the casting mirror and the further signals and the provisional or a final nominal position are fed to an observer, - wherein the observer determines a compensation value, which is switched to the provisional target position, so that the final reference position, based on which in conjunction with the observer having a determination block to which the height of the casting mirror, the further signals and the final setpoint position are fed and the height of the obturator is determined by the actual position of the closure device a manipulated variable for the closure device is determined with the corrected by the compensation value provisional target position of the pouring mirror and the final nominal position determines a fluctuation value which reflects the expected fluctuation of the height of the casting mirror.
    Such a control method is known, for example, from WO 2010/149 419 A1. In these control methods, the observer includes a model of the continuous casting mold, by means of which the observer determines an expectation value for the casting level. The observer has a number of vibration compensators, by means of which, based on the difference between the height of the casting mirror and the expected value, a respective interference component related to a respective interference frequency is determined. The sum of the noise components corresponds to the compensation value.
    From WO 2011/085 938 Al a control method for the casting level of a continuous casting mold is known in which the measured actual value of the casting level and an actual position of the closure device are fed to an observer. The observer determines an expected value for the pouring mirror and subtracts it from the actual value of the pouring mirror. The observer determines therefrom a compensation value, which is applied to the desired position of the closure device.
    It is known from the technical paper "Maximum Mold Level Stability Düring Unsteady Bulking and Clogging - New Innovative Control Strategies" by Philipp Wieser et al., ECCC 2014, that pouring mirror fluctuations can not only be caused by pouring mirror bulbs, but also have other causes For example, to differentiate between the pouring mirror fluctuations caused by pouring mirror pumps and those caused by other causes, for example, pull-off forces and casting speeds can be taken into account.
    In WO 2007/042 170 Al, reference is made inter alia to JP 11-170 021 A2 and JP 9-29408 A2. With regard to the first-mentioned document, it is stated that it is known from the latter to metrologically detect the drive currents of electrically driven driver rollers and to compare changes in these drive currents with changes in the level of the casting mirror. A match in the waveform is considered an indication for Gießpumpepumpen. With respect to the second mentioned document is stated that it is known from this, to detect the bulging of the strand between adjacent strand guide rollers by measurement and to use for estimating the strand pumping and to compensate for the same. In its actual teaching, WO 2007/042 170 A1 discloses detecting the current consumption of a drive of one of the strand guide rollers, determining therefrom a compensation value, and connecting the compensation value to the output signal of a mold level controller.
    The object of the present invention is to provide a control method by means of which fluctuations of the casting mirror are largely eliminated and, in particular, unstable states are avoided.
    The object is achieved by a control method having the features of claim 1. Advantageous embodiments of the control method according to the invention are the subject of the dependent claims 2 to 6.
    According to the invention, a control method of the type mentioned above is configured in that the observer has a first analysis element to which the fluctuation value is supplied and the frequency components of the fluctuation value are determined, the frequency components determined by the first analysis element are supplied to a selection element which determines wavelengths and in which the respectively associated frequency component of the fluctuation value lies above a first threshold value and supplies the selected wavelengths to the determination block, and in that the determination block carries out a filtering of the height of the casting mirror and of the final nominal position for the wavelengths selected by the selection member and exclusively uses the compensation value the filtered height of the pouring mirror and the filtered final nominal position determined.
    In a preferred embodiment of the present invention, it is provided that the observer has a second analysis element to which an additional signal is supplied, the second analysis element determines frequency components of the additional signal, the frequency components determined by the second analysis element are also supplied to the selection element and the selection element only those wavelengths are determined and selected, in which additionally the respectively associated frequency component of the additional signal is above a second threshold value.
    This procedure makes it possible in particular to differentiate reliably between variations in the casting level, which can be attributed to casting mirror pumps, and variations in the casting level, which can be attributed to other causes. Only the first-mentioned fluctuations in the casting level are compensated. The second-mentioned fluctuations must not be compensated, since then unwanted resonances would be excited.
    As an additional signal, in particular a pull-out force, with which the metal strand is drawn from the rollers of the strand guide from the mold, or the speed at which the metal strand is drawn from the rollers of the strand guide from the mold, are used. Alternatively, a temperature of at least one of the walls of the mold or a force signal applied to one of the roller segments of the strand guide can be used as additional signal. Again, alternatively, it is possible that a local strand thickness is used as an additional signal, which is measured by means of a measuring device in the strand guide.
    The above-described characteristics, features and advantages of this invention, as well as the manner in which they are achieved, will become clearer and more clearly understood in connection with the following description of the embodiments, which will be described in more detail in conjunction with the drawings. 1 shows a continuous casting plant, FIG. 2 shows the structure of a control device of the prior art
    3 shows the structure of a control device according to the invention and FIG. 4 shows signal spectra of a fluctuation value and a
    Additional signal.
    According to FIG. 1, a continuous casting plant has a mold 1. In the mold 1 2 liquid metal 3 is poured over a dip tube, for example, liquid steel or liquid aluminum. The inflow of the liquid metal 3 into the mold 1 is adjusted by means of a closure device 4. Shown in FIG. 1 is an embodiment of the closure device 4 as a sealing stopper. In this case, a position p of the closure device 4 corresponds to a stroke position of the sealing plug. Alternatively, the closure device 4 may be designed as a slide. In this case, the closed position p corresponds to the slider position.
    The liquid metal 3 in the mold is cooled by means of cooling devices (not shown), so that it solidifies on walls 1 'of the mold 1 and thus forms a strand shell 5. However, a core 6 is still liquid. He freezes later. The strand shell 5 and the core 6 together form a metal strand 7. The metal strand 7 is supported by means of a strand guide 8 and withdrawn from the mold 9. The strand guide 8 is arranged downstream of the mold 1. It has a plurality of roller segments 8 ', which in turn have rollers 8 "again. Only a few of the roller segments 8' and the rollers 8" are shown in FIG. By means of the rollers 8 ", the metal strand 7 is pulled out of the mold 1 at a withdrawal speed v.
    The liquid metal 3 forms in the mold 1 a pouring mirror 9. The pouring mirror 9 should be kept as constant as possible. Therefore, both in the prior art and in the present invention, the position p of the closure device 4 is tracked to adjust the inflow of the liquid metal 3 into the mold 1 accordingly.
    By means of a (known per se) measuring device 10, a height h of the pouring mirror 9 is detected. The height h is fed to a control device 11 for the continuous casting plant. The control device 11 determines a manipulated variable S for the closure device 4 in accordance with a control method, which is explained in more detail below. The closure device 4 is then controlled accordingly by the control device 11. As a rule, the control device 11 outputs the manipulated variable S to an adjusting device 12 for the closure device 4. The adjusting device 12 may be, for example, a hydraulic cylinder unit.
    The control device 11 implements - see FIG. 2 - inter alia a pouring-mirror regulator 13. The pouring-mirror regulator 13 is supplied with the height h of the pouring mirror 9. The pouring mirror controller 13 is further supplied with a desired value h * for the height h of the pouring mirror 9. The Gießspiegelregler 13 further signals are further supplied. The further signals may be, for example, the width and the thickness of the cast metal strand 7 (or more generally the cross section of the metal strand 7), the withdrawal speed v (or their nominal value), temperature signals of the mold 1 and others. Based on the deviation of the height h of the pouring mirror 9 from the desired value h *, the pouring-mirror regulator 13 then determines, in particular, a provisional setpoint position p '* for the closure device 4. The further signals can be used by the pouring mirror controller 13 for its parameterization and / or for determining a pilot control signal pV.
    The control device 11 further implements an observer 14. The observer 14 is supplied with the height h of the pouring mirror 9 and its desired value h *, the further signals and a final desired position p * for the closure device 4. The observer 14 determines a compensation value k. The compensation value k is switched to the provisional setpoint position p '* and thus determines the final setpoint position p *. Based on the deviation of the actual position p from the final setpoint position p *, the manipulated variable S is then determined, with which the closure device 4 is activated. In general, the control device 11 implements a subordinate position controller (not shown) for this purpose.
    For the sake of good order, it should again be emphasized that the observer 14 is not a person but a functional block implemented by the control device 11.
    The difference between the provisional nominal position p '* and the final nominal position p * corresponds to the compensation value k determined by the observer 14. Since the compensation value k is determined by the observer 14 and is therefore known to the observer 14, the observer 14 can also be supplied with the provisional desired position p '* as an alternative to the final desired position p *. Because due to the fact that the compensation value k is known to the observer 14, the observer 14 can readily determine the final desired position p * from the provisional desired position p '*. A tapping point 15, at which the (provisional or final) desired position p '*, p * is tapped, can thus be before or after a node 16 as needed, at which the compensation value k is switched to the provisional target position p' *. The tapping point 15 should, however, lie in front of a node 16 'at which it is switched on before the control signal pV.
    The observer 14 has a determination block 17. The determination block 17, the height h of the casting mirror 9, the other signals and the final desired position p * are supplied. The determination block 17 has a model of the continuous casting plant. Using the model, the determination block 17 determines an expected (ie model-calculated) height for the pouring mirror 9 on the basis of the further signals and the final nominal position p *. Based on the expected height, the determination block 17 then determines an expected (ie model-based calculated) fluctuation value 5h for the Height h of the pouring mirror 9, that is, the short-term fluctuation. For example, the determination block 17 can average the height h of the pouring mirror 9 and subtract the resulting average from the expected height. The determined fluctuation value 5h thus reflects the expected fluctuation of the height h of the pouring mirror 9. Based on the fluctuation value 5h, the determination block 17 then determines the compensation value k.
    The procedure explained so far in connection with FIG. 2 corresponds to the procedure of the prior art. It is also taken in the present invention. An important difference, however, is that in the prior art, the observer 14 is identical to the determination block 17. In the context of the present invention, however, the determination block 17 as shown in FIG. 3 is only one of several components of the observer 14. For example, the observer 14 additionally has a first analysis element 18. The first analysis element 18 is supplied with the fluctuation value 5h. The first analysis element 18 determines therefrom - see FIG. 4 - the frequency components of the fluctuation value 5h. Preferably, a second analysis element 19 is additionally present. The second analysis element 19 is supplied with an additional signal Z. The second analysis element 19 determines therefrom the frequency components of the additional signal Z. The zero line for the frequency components of the fluctuation value 5h and the frequency components of the additional signal Z are offset from one another in FIG. 4, so that the two frequency components are more clearly recognizable.
    The additional signal Z may be a pull-out force F, with which the metal strand 7 is pulled out of the mold 8 by the rollers 8 '' of the strand guide 8. The pull-out force F is directed parallel to the withdrawal speed V. Alternatively, it may be the withdrawal speed These two alternatives are preferred, but it is also possible to use, as additional signal Z, for example, a force signal F 'applied to (at least) one of the roller segments 8' of the strand guide 8. The direction to which the force signal F The additional signal Z can also be a temperature T of at least one of the walls 1 'of the mold 1. The temperature T is optionally detected by means of a corresponding temperature sensor 20. Again, it can alternatively the additional signal Z is a local strand thickness d, which is measured by means of a measuring device 21 in the S Trangführung 8 is measured.
    The first analysis element 18 supplies the frequency components determined by it to a selection element 22. If present, this also applies analogously to the second analysis element 19. The selection element 22 determines, in conjunction with the withdrawal speed v, the associated wavelengths which correspond to the frequency components of the fluctuation value 5h and possibly also of the additional signal Z. The withdrawal speed v is supplied to the observer 14 and within the observer 14 to the selection member 22 for this purpose.
    The selection element 22 determines the wavelengths at which the associated frequency component of the fluctuation value 5h possibly also the associated frequency component of the additional signal Z is above a threshold value S1, S2. The respective threshold value Sl, S2 can be determined individually for the frequency components of the fluctuation value 5h on the one hand and the frequency components of the additional signal Z on the other hand. These wavelengths are preselected by the selector 22. Within respective contiguous regions of preselected wavelengths of the fluctuation value 5h, the selection element 22 then determines those wavelengths Xi (i = 1, 2, 3,...) At which the respective frequency component of the fluctuation value 5h assumes a maximum. The number of wavelengths Xi can be up to 10. These wavelengths Xi select the selector 22 (finally). The selected wavelengths Xi supplies the selection element 22 to the determination block 17.
    The determination block 17 carries out a filtering of the height h of the casting mirror 9 and of the final setpoint position p * for the wavelengths Xi selected by the selection element 22. Determining the compensation value k, the determination block 17 determines only on the basis of the filtered height h of the pouring mirror 9 and the filtered final setpoint position p *. The other frequency components of the height h of the pouring mirror 9 and the final setpoint position p * are disregarded by the determination block 17 as part of the determination of the compensation value k.
    The selection element 22 can also be predetermined predetermined wave ranges. In this case, the predetermined wave ranges represent an additional selection criterion. In particular, wavelengths at which the associated frequency component of the fluctuation value 5h, if appropriate, also the associated frequency component of the additional signal Z is above the respective threshold value S1, S2, are selected only if they additionally within a the predetermined wavelength ranges are. Otherwise, they are not selected even if the associated frequency component of the fluctuation value 5h possibly also the associated frequency component of the additional signal Z is above the respective threshold value S1, S2.
    In summary, the present invention thus relates to the following facts:
    A pouring-mirror regulator 13 uses a height h of the pouring mirror 9, the associated setpoint h * and other signals to determine a provisional setpoint position p '* for a closure device 4, by means of which the inflow of liquid metal 3 into a mold 1 of a continuous casting installation is set. The height h, the associated setpoint h *, the further signals and the provisional or a final setpoint position p '*, p * are fed to an observer 14, which determines a compensation value k, which is switched to the provisional setpoint position p' *. Thus, the final nominal position p * for the
    Locking device 4 determined. The observer 14 has a determination block 17 which uses the height h and the final setpoint position p * to determine a fluctuation value 5 h which reflects the expected fluctuation of the height h of the pouring mirror 9. The observer 14 also has a first analysis element 18, which determines frequency components of the fluctuation value 5h. A selection element 22 determines and selects wavelengths Xi at which the respectively associated frequency component of the fluctuation value 5h lies above a first threshold value S1. The determination block 17 performs a filtering of the height h and the final desired position p * for the selected wavelengths Xi and determines the compensation value k exclusively on the basis of the filtered quantities h, p *.
    The present invention has many advantages. In particular, the variations in the height h of the pouring mirror 9 can be significantly reduced. As a result, the quality of the cast metal strand 7 can be increased. Furthermore, a rocking of the fluctuations in the height h of the casting mirror 9 can be avoided without reducing the withdrawal speed v. In contrast to the prior art, therefore, the productivity of the continuous casting plant can be maintained unchanged.
    Although the invention has been further illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.
    REFERENCE SIGNS LIST 1 mold 1 'walls of the mold 2 dip tube 3 liquid metal 4 closure device 5 strand shell 6 core 7 metal strand 8 strand guide 8' roll segments 8 "rollers 9 casting mirror 10 measuring device 11 control device 12 adjusting 13 Gießspiegelregler 14 observers 15 tapping point 16, 16 'nodes 17 Detection block 18, 19 Analysis elements 20 Temperature sensor 21 Measuring device 22 Selection element d Strip thickness F Pull-out force F 'Force signal h Height of the pouring level h * Setpoint for the height of the pouring level k Compensation value p Position of the closing device p *, p' * Setpoints S Control value
    Sl, S2 threshold values T temperature v take-off speed Z additional signal 5h fluctuation value λ, λί wavelengths
    权利要求:
    Claims (6)
    [1]
    claims
    1. The control method for the pouring mirror (9) of a continuous casting plant, - wherein the continuous casting a Kokille (1) and one of the mold (1) downstream strand guide (8), - wherein in the mold (1) via a closure device (4) liquid Metal (3) is poured, which solidifies on walls (1 ') of the mold (1), so that a metal strand (7) with a solidified strand shell (5) and a still liquid core (6) is formed, - wherein the metal strand (7) is pulled out of the mold (1) by means of rollers (8 ") of roller segments (8 ') of the strand guide (8), wherein a height (h) of the pouring mirror (9) of the liquid metal (3) in the mold (1) is detected and fed to a Gießspiegelregler (13), - wherein the Gießspiegelregler (13) a desired value (h *) for the height (h) of the Gießspiegel (9) and other signals are supplied, based on which the Gießspiegelregler (13) in conjunction with the height (h) of the pouring mirror 9, a provisional set position (p '*) for the closure device (4) determines, - wherein the height (h) of the pouring mirror (9), the desired value (h *) for the height (h) of the pouring mirror (9) and the further signals and the provisional or a final nominal position (p *) are fed to an observer (14), - wherein the observer (14) determines a compensation value (k) which is switched to the provisional set position (p '*), so that the final nominal position (p *), based on which in Connection with the actual position (p) of the closure device (4) a manipulated variable (S) for the closure device (4) is determined, with the provisional nominal position (p '*) corrected by the compensation value (k) corresponds, - wherein the observer (14 ) has a determination block (17) to which the height (h) of the casting mirror (9), the further signals and the final nominal position (p *) are fed and the basis of the height (h) of the casting mirror (9) and the final nominal position (p *) a fluctuation value (5h) which reflects the expected fluctuation of the height (h) of the pouring mirror (9), wherein the observer (14) has a first analysis element (18) to which the fluctuation value (5h) is fed and determines the frequency components of the fluctuation value (5h) in which the frequency components determined by the first analysis element (18) are fed to a selection element (22) which determines and selects wavelengths (Ai) at which the respectively associated frequency component of the fluctuation value (5h) lies above a first threshold value (S1), and supplying the selected wavelengths (Ai) to the detection block (17), and - the determination block (17) filtering the height (h) of the pouring mirror (9) and the final desired position (p *) for the wavelengths selected by the selection member (22) (Ai) and determine the compensation value (k) exclusively on the basis of the filtered height (h) of the pouring mirror (9) and the filtered final nominal position (p *) t.
    [2]
    2. Control method according to claim 1, characterized in that the observer (14) has a second analysis element (19) to which an additional signal (Z) is supplied, that the second analysis element (19) frequency components of the additional signal (Z) determines that the Frequency components determined by the second analysis element (19) are likewise fed to the selection element (22) and that the selection element (22) only determines and selects those wavelengths (Ai) in which additionally the respectively associated frequency component of the additional signal (Z) is above a second one Threshold value (S2).
    [3]
    3. control method according to claim 2, characterized in that as an additional signal (Z) a pull-out force (F), with the metal strand (7) from the rollers (8 ") of the strand guide (8) is pulled out of the mold (1) or the speed (v), with which the metal strand (7) is drawn from the rollers (8 ") of the strand guide (8) from the mold (1), is used.
    [4]
    4. Control method according to claim 2, characterized in that as additional signal (Z) a temperature (T) of at least one of the walls (1 ') of the mold (1) is used.
    [5]
    5. Control method according to claim 2, characterized in that as an additional signal (Z) a force signal (F ') is used, with which one of the roller segments (8') of the strand guide (8) is acted upon.
    [6]
    6. Control method according to claim 2, characterized in that a local strand thickness (d) is used as additional signal (Z), which is measured by means of a measuring device (21) in the strand guide (8).
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    同族专利:
    公开号 | 公开日
    AT518461B1|2019-12-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    AT410064B|1996-10-02|2003-01-27|Siemens Ag|METHOD AND DEVICE FOR CASTING A STRAND OF LIQUID METAL|
    AT413023B|1999-01-14|2005-10-15|Sumitomo Heavy Industries|DEVICE FOR REGULATING THE METAL MIRROR IN A CONTINUOUS COIL|
    WO2010149419A1|2009-06-24|2010-12-29|Siemens Aktiengesellschaft|Control method for the meniscus of a continuous casting mold|
    WO2011085938A1|2010-01-15|2011-07-21|Siemens Aktiengesellschaft|Control method for the casting level of a continuous casting mold|
    JP5751144B2|2011-11-16|2015-07-22|Ｊｆｅスチール株式会社|Control device and control method for continuous casting machine|
    JP2015182100A|2014-03-24|2015-10-22|Ｊｆｅスチール株式会社|Control apparatus and control method for continuous casting machine|US11110512B2|2016-12-13|2021-09-07|Primetals Technologies Austria GmbH|Method and device for regulating a continuous casting machine|
    法律状态:
    2021-12-15| MM01| Lapse because of not paying annual fees|Effective date: 20210411 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50301/2016A|AT518461B1|2016-04-11|2016-04-11|Mold level control with disturbance variable compensation|ATA50301/2016A| AT518461B1|2016-04-11|2016-04-11|Mold level control with disturbance variable compensation|
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