CN107321948B - A kind of fault tolerant control method and device of the continuous cast mold non-sinusoidal oscillation of servo motor driving - Google Patents
A kind of fault tolerant control method and device of the continuous cast mold non-sinusoidal oscillation of servo motor driving Download PDFInfo
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- CN107321948B CN107321948B CN201710444630.1A CN201710444630A CN107321948B CN 107321948 B CN107321948 B CN 107321948B CN 201710444630 A CN201710444630 A CN 201710444630A CN 107321948 B CN107321948 B CN 107321948B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
- B22D11/166—Controlling or regulating processes or operations for mould oscillation
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Abstract
The invention discloses the fault tolerant control methods and device of a kind of continuous cast mold non-sinusoidal oscillation of servo motor driving, belong to continuously casting field.The vibration displacement for the crystallizer that this method is detected by displacement sensor, at mold oscillation displacement zero crossing, switch servo motor revolving speed, realize the steady switching between different mold oscillation waveforms, wave of non sinusoidal oscillation of mold changes and adjust automatically with drawing speed；Automatic diagnosis displacement sensor failure is rapidly switched to the faults-tolerant control mode of without gap sensors when displacement sensor failure, by adjust automatically servo motor revolving speed, realizes that vibrational waveform steadily switches in real time；After displacement sensor Failure elimination, non-sinusoidal oscillation mode can switch to.Realize that the device of this method is made of host computer monitoring system, high performance programmable controller, servo controller, driver, servo motor, retarder, eccentric shaft link mechanism, crystallizer vibration platform and crystallizer, displacement sensor thereon.
Description
Technical field
The invention belongs to continuously casting fields, and in particular to a kind of continuous cast mold non-sinusoidal oscillation of servo motor driving
Fault tolerant control method and device.
Background technique
Continuous cast mold is the key equipment in continuous casting, continuous cast mold non-sinusoidal oscillation to improve slab quality,
It improves drawing speed to play a significant role, has been acknowledged as developing one of the key technology of high efficiency continuous casting.It applies in the industry
Continuous cast mold non-sinusoidal oscillation device is broadly divided into hydraulic-driven, Mechanical Driven, servo electric jar and drives three kinds of modes.It is domestic
The continuous casting crystallizer non sine vibration generating arrangement generallyd use outside is driven by electrohydraulic servo system, can be by adjusting online
The parameters such as frequency, amplitude and the deviation proportion of whole vibrational waveform realize waveform switch, but float etc. and lack there are servo-cylinder oil leak, zero
Point, and system complex, investment it is big, difficult in maintenance.The country also developed the non-sinusoidal oscillation device of several Mechanical Drivens, such as non-
Crystallizer non sine vibration generating arrangement, the double-eccentric shaft superposition non sine vibration generating arrangement of Knucle-gear (elliptic gear) driving
Deng this kind of device driving system is complicated, and the precision of mold oscillation is lower, can not achieve mold oscillation displacement or velocity wave form
Switching.In addition, the non-sinusoidal oscillation device of also servo electric jar driving, rotated forward, parking, inverted using servo motor,
Variable angular velocity rotation, realizes the non-sinusoidal oscillation of crystallizer, however the frequent positive and negative rotation of servo motor can be to mold oscillation
The tracking accuracy and response speed of displacement, speed etc. generate adverse effect, the moving synchronously of four servoBcylinders be also difficult to reach compared with
High control precision, so be difficult to realize non-sinusoidal oscillation displacement or velocity wave form it is quick, steady, accurately switch.
The continuous casting crystallizer non sine vibration generating arrangement of servo motor driving overcomes the deficiency of above-mentioned driving device,
By controlling servo motor one direction, variable angular velocity continuous rotation, and by retarder, eccentric shaft link mechanism and crystallizer
Shake table realizes non-sinusoidal oscillation of mould, has control precision high, system simplification, compact-sized, large carrying capacity, energy conservation
The advantages that environmentally friendly.Switching servo motor it is expected revolving speed at crystallizer displacement zero crossing, is able to achieve and changes and produce with drawing speed
Raw different vibration frequencies, the non-sinusoidal oscillation of mould displacement of waveform deviation proportion or velocity wave form it is quick, steady, accurately
Switching.
But displacement sensor works under high temperature, humidity, adverse circumstances dusty in industry spot, it may occur that
Failure, and steadily switching is needed through displacement sensor acquisition between non-sinusoidal oscillation of mould displacement, speed different wave
At the time of mold oscillation displacement measurement is to determine that crystallizer is displaced zero crossing, therefore, displacement sensor failure will cause knot
Brilliant device non-sinusoidal oscillation displacement or velocity wave form cannot in real time, smoothly switch, and cannot be automatic with the variation of drawing speed
Adjust the vibration frequency of mold oscillation waveform, therefore, this not only will affect slab quality, but also may cause production it is abnormal,
The production accidents such as bleed-out even occur.But there is presently no control method and device to be able to solve the above problem.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of displacement of realization non-sinusoidal oscillation of mould or velocity wave forms
Quick and stable switching, and the continuous cast mold for the servo motor driving that can be also worked normally when displacement sensor breaks down
The fault tolerant control method and device of non-sinusoidal oscillation.
To solve the above problems, the technical solution used in the present invention is:
A kind of fault tolerant control method of the continuous cast mold non-sinusoidal oscillation of servo motor driving, comprising the following steps:
(1) servo motor is rotated with lesser constant rotational speed, and crystallizer is with lower frequency vibration and stable operation, high-performance
The mold oscillation displacement that programmable controller is acquired by displacement sensor automatically determines the middle position of mold oscillation, i.e.,
Automatically determine the artificial zero-bit of system, later according to the frequency of the size adjust automatically non-sinusoidal oscillation of mould of drawing speed,
Waveform deviation proportion, switching servo motor it is expected that revolving speed, driving crystallizer realize non-sinusoidal oscillation；
(2) high performance programmable controller judges position by the mold oscillation shift value of acquisition displacement sensor detection
Whether displacement sensor breaks down, if not breaking down, crystallizer works in non-sinusoidal oscillation mode, non-sinusoidal oscillation of mould
Displacement or velocity wave form change and adjust automatically with drawing speed, at mold oscillation displacement zero crossing, realize different vibrations
Real-time steady switching between displacement or velocity wave form；If breaking down, control system is switched to without gap sensors online
Faults-tolerant control mode automatically switches to sinusoidal vibration by non-sinusoidal oscillation, and when drawing speed changes, adjust automatically
The frequency and servo motor revolving speed of sinusoidal vibration are realized real-time steady between crystallizer difference vibration displacement or velocity wave form
Switching；
(3) when displacement sensor Failure elimination, non-sinusoidal oscillation mode can be switched to.
Further, the mode of the artificial zero-bit of system is automatically determined in the step (1) are as follows: crystallizer is shaken with lower frequency
Dynamic, high performance programmable controller acquires maximum value, the minimum value of the mold oscillation displacement of displacement sensor detection, and asks it
Average value is determined as when the absolute value of the difference of the measured value of actual displacement sensor and average value is less than some threshold epsilon
The artificial zero-bit of mold oscillation.Wherein, threshold epsilon is taken as 0.002mm.
The mode for judging whether displacement sensor breaks down in step (2) is: the crystallizer vibration of displacement sensor detection
The measured value of displacement is moved far beyond working range, also, when drawing speed changes, after 3s, the practical vibration of crystallizer
Dynamic frequency, waveform deviation proportion do not change yet, then can determine whether that displacement sensor breaks down.
Further, (such as displacement sensor environment temperature reduces after displacement sensor failure is eliminated automatically in step (3)
Failure is eliminated automatically afterwards), then system can switch to displacement sensor mode, and switching servo motor it is expected revolving speed, makes crystallizer
Work in non-sinusoidal oscillation mode.If failure is not eliminated yet after device is shut down and displacement sensor ambient temperature reduces,
Displacement sensor then can be overhauled or replaced to displacement sensor, after Failure elimination, by automatically determining system again
Artificial zero-bit makes crystallizer work in non-sinusoidal oscillation mode.
A kind of device of the fault tolerant control method of continuous cast mold non-sinusoidal oscillation that realizing above-mentioned servo motor driving, packet
Include host computer monitoring system, high performance programmable controller, servo controller, driver, servo motor, retarder, partially
Mandrel link mechanism, crystallizer vibration platform and crystallizer, displacement sensor thereon, wherein high performance programmable controller passes through
The corresponding speed curves operation of the non-sinusoidal oscillation of mould of servo controller and driver control servo motor desirably, is watched
It takes motor and non-sinusoidal oscillation of mould is realized by retarder, eccentric shaft link mechanism and crystallizer vibration platform；High-performance can be compiled
Range controller is displaced by acquisition drawing speed and by the mold oscillation that displacement sensor acquires, and judges displacement sensor
Whether work normally, when displacement sensor works normally, according to the difference of drawing speed, at mold oscillation displacement zero crossing
Frequency, the waveform deviation proportion for automatically switching non-sinusoidal oscillation of mould, when detecting that displacement sensor breaks down, system is certainly
The dynamic faults-tolerant control mode for being switched to without gap sensors, and with the difference of drawing speed, system also can adjust automatically crystallizer
The frequency of vibration；After detecting displacement sensor Failure elimination, it is switched to non-sinusoidal oscillation mode.
Wherein, displacement sensor uses digital displacement transducer or analog quantity displacement sensor, high performance programmable
Controller includes power module, CPU module, communication module, FM458-1 functional module and EXM438-1I/O expansion module, each mould
It is communicated between block by core bus；The core of FM458-1 functional module system control, is used for servo motor rotary speed setting value
Calculating, mold oscillation displacement waveform switching, mold oscillation displacement closed-loop control and system faults-tolerant control；
EXM438-1I/O expansion module is mainly used for the acquisition of drawing speed and mold oscillation displacement.
The beneficial effects of adopting the technical scheme are that the present invention is applied to continuously casting industry, it can be automatic
Displacement sensor failure is diagnosed, when displacement sensor does not break down, according to live drawing speed, is displaced in mold oscillation
At zero crossing by quickly, smoothly switch motor revolving speed, automatically switch frequency, the waveform deflection of non-sinusoidal oscillation of mould
Rate realizes non-sinusoidal oscillation of mould displacement or the steady switching of velocity wave form；When a failure occurs it, it is rapidly switched to non-displacement
The faults-tolerant control mode of sensor automatically switches to sinusoidal vibration by non-sinusoidal oscillation, and when drawing speed changes, still
So energy adjust automatically mold oscillation frequency, and switch servo motor revolving speed by way of to definite integral, realize crystallizer vibration
Dynamic displacement or velocity wave form in real time, steadily switch, and guarantee the stationarity of mold oscillation and the normal production of continuous casting, avoid by position
Production exception caused by displacement sensor failure even occurs the production accidents such as bleed-out and is after displacement sensor Failure elimination
System, which can switch to displacement sensor mode, makes crystallizer work in non-sinusoidal oscillation mode, guarantees the efficient stable fortune of system
Row.The present invention not only solves non-sinusoidal oscillation of mould displacement and velocity wave form with drawing speed variation and adjust automatically is asked
Topic, and avoid production exception and economic loss as caused by displacement sensor failure.
Detailed description of the invention
Fig. 1 is the fault tolerant control overall construction drawing of the continuous cast mold non-sinusoidal oscillation of servo motor driving.
Fig. 2 is the fault tolerant control method main program flow chart of the continuous cast mold non-sinusoidal oscillation of servo motor driving.
Specific embodiment
Embodiment: certain steel mill's full arc shape small square billet continuous caster mould, 165*165 slab of casting, the crystallizer of use are non-
The given waveform S (t) and speed preset waveform V (t) of the desired displacement of sinusoidal vibration is respectively as follows:
S (t)=hsin (ω t-Asin (ω t)) (1)
V (t)=h ω (1-Acos (ω t)) cos (ω t-Asin (ω t)) (2)
In formula, the π of ω=2 f/60 is eccentric shaft mean angular velocity, mold oscillation frequency f=aVL+ b, technological parameter a=
65.5, b=14.5, unit is beat/min drawing speed VL(m/min), mold oscillation amplitude h=4mm；Parameterα is waveform deviation proportion, and value range is -0.4~+0.4, and as α=0, mold oscillation is displaced
Curve is sine curve, crystallizer sinusoidal vibration.
Non-linear and probabilistic ideally, the above-mentioned crystallizer in gap, the friction for not considering transmission mechanism etc.
The desired revolving speed of servo motor corresponding to vibration displacement velocity function are as follows:
In formula, i is the reduction ratio of retarder, i=5 in embodiment.The desired revolving speed of servo motor as α=0 are as follows:
Overall construction drawing such as Fig. 1 institute of the fault tolerant control of the continuous cast mold non-sinusoidal oscillation of servo motor driving
Show, including host computer monitoring system, high performance programmable controller, servo controller, driver, servo motor, deceleration
Device, eccentric shaft link mechanism, crystallizer vibration platform and crystallizer, displacement sensor thereon.Wherein, displacement sensor is using beauty
MTS company, state digital displacement transducer, resolution ratio 0.001mm；Servo motor is compiled using Siemens 1FT7 series containing internal
The high-performance permanent magnet synchronous servo motor of code device, rated speed nN=2000r/min, rated power P=15.3KW；High-performance can
Programmable controller uses Siemens's high-performance S7-400PLC control system, including PS407 power module, CPU 414-2 DP mould
Block, CP443-1 communication module, FM458-1 functional module and EXM438-1I/O expansion module, and each intermodule is total by backboard
Line communication；FM458-1 functional module calculates servo motor and it is expected revolving speed, and passes through servo controller and driver control servo electricity
Machine revolving speed is run by desired revolving speed, vibrates crystallizer by desired non-sinusoidal oscillation displacement and velocity wave form；EXM438-1I/O
Expansion module is mainly used for the acquisition of drawing speed and mold oscillation displacement；Host computer monitoring system (Wincc) passes through
Industrial Ethernet and SIEMENS PLC control system communicate, and monitor in real time to non-sinusoidal vibration system.
The mold oscillation displacement measurement that SIEMENS PLC control system is acquired by displacement sensor, diagnosis displacement pass
Whether sensor breaks down, and when breaking down, is switched to the faults-tolerant control mode of without gap sensors, automatic by non-sinusoidal oscillation
It is switched to sinusoidal vibration, and when drawing speed changes, the frequency of system adjust automatically mold oscillation, and pass through switching
Servo motor revolving speed realizes that mold oscillation displacement or the real-time steady switching of velocity wave form, displacement sensor failure are eliminated automatically
(failure is eliminated automatically after such as displacement sensor environment temperature reduces) afterwards, then system can switch to displacement sensor mode, cut
Servo motor expectation revolving speed is changed, crystallizer is made to work in non-sinusoidal oscillation mode.If being shut down in device and around displacement sensor
Failure is not eliminated yet after environment temperature reduces, then can be overhauled or be replaced displacement sensor to displacement sensor, disappear to failure
After removing, by automatically determining the artificial zero-bit of system again, crystallizer is made to work in non-sinusoidal oscillation mode.
Fig. 2 is the fault tolerant control method flow chart of the continuous cast mold non-sinusoidal oscillation of servo motor driving, including following
Step:
(1) servo motor accelerates to the rotation of 500r/min constant rotational speed with ramp system, and crystallizer is vibrated with lower frequency
And stable operation, the mold oscillation shift value that SIEMENS PLC control system is acquired by displacement sensor judge displacement sensing
Whether device breaks down, if breaking down, the faults-tolerant control mode of without gap sensors is automatically switched to, according to drawing speed
The frequency of size adjust automatically crystallizer sinusoidal vibration, switches servo motor given rotating speed, and driving crystallizer realizes sinusoidal vibration；
If crystallizer works in non-sinusoidal oscillation mode there is no failure, system automatically determines the interposition of mold oscillation displacement
It sets, that is, automatically determines the artificial zero-bit of system, later according to the size adjust automatically non-sinusoidal oscillation of mould of drawing speed
Frequency, waveform deviation proportion, switching servo motor it is expected that revolving speed, driving crystallizer realize non-sinusoidal oscillation；
(2) SIEMENS PLC control system judges to be displaced by the mold oscillation shift value of detection displacement sensor acquisition
Whether sensor breaks down, if crystallizer works in non-sinusoidal oscillation mode, non-sinusoidal oscillation of mould there is no failure
Waveform parameter (vibration frequency, waveform deviation proportion) changes and adjust automatically with drawing speed, when mold oscillation is displaced zero crossing
When, non-sinusoidal oscillation of mould frequency and waveform deviation proportion are updated, it is expected revolving speed by quickly and stably switching servo motor,
Realize real-time, the steady switching between mold oscillation displacement or speed different wave；If breaking down, using knot of the invention
The fault tolerant control method of brilliant device non-sinusoidal oscillation realizes the automatic diagnosis of displacement sensor failure and automatically switches to no position rapidly
The faults-tolerant control mode of displacement sensor automatically switches to sinusoidal vibration mode by non-sinusoidal oscillation, and when drawing speed becomes
When change, the frequency of system adjust automatically mold oscillation, and servo motor given rotating speed is calculated automatically, by comparing current time
Servo motor actual speed and given rotating speed, when the difference of given rotating speed and actual speed be greater than 50r/min when, given rotating speed from
Actual speed provides after to definite integral；When the difference of given rotating speed and actual speed is less than 50r/min, given rotating speed is direct
It provides, given integral process terminates, and setting to definite integral end mark is 1；
(3) if displacement sensor failure is eliminated automatically in device operation, system can switch to displacement sensor mould
Formula, at mold oscillation displacement zero crossing, switching servo motor it is expected revolving speed, and crystallizer is made to work in non-sinusoidal oscillation mould
Formula；If device shut down and displacement sensor ambient temperature reduce after failure do not eliminate yet, can to displacement sensor into
Row maintenance or replacement displacement sensor, by automatically determining the artificial zero-bit of system again, make crystallizer work after Failure elimination
Make in non-sinusoidal oscillation mode.
The mode of artificial zero-bit is automatically determined in the step (1) are as follows: during mold oscillation, FM458 module
The mold oscillation shift value that the displacement sensor being mounted on crystallizer vibration platform is fed back is received by EXM438 module,
Its maximum value, minimum value are taken, and is averaged, when the measured value of actual displacement sensor and the absolute value of the difference of average value are less than
When some threshold epsilon, the artificial zero-bit of mold oscillation is determined.The resolution of the digital displacement transducer as used in the present invention
Rate is 0.001mm, in allowable range of error, threshold epsilon can be set as 0.002mm.
Displacement sensor works under high temperature, humidity, adverse circumstances dusty in industry spot, it may occur that failure,
When displacement sensor failure, the mold oscillation displacement measurement that displacement sensor is fed back to SIEMENS PLC control system surpasses
Measurement range when working normally out, wherein the normal measurement range before the artificial zero-bit of determination is 0~15mm, determines people
Normal measurement range after work zero-bit is -4.5mm~+4.5mm, it is thus impossible to determine mold oscillation displacement zero crossing
Moment, the frequency and waveform deviation proportion of non-sinusoidal oscillation of mould cannot change with the variation of drawing speed.So in step
(1) and in (2) mode for judging whether displacement sensor breaks down is: the mold oscillation of displacement sensor detection is displaced
Measured value is far beyond working range, also, when drawing speed changes, after 3s, the actual vibration frequency of crystallizer,
Waveform deviation proportion does not change yet, then can determine whether that displacement sensor breaks down.
When detecting that displacement sensor breaks down in step (2), if system does not switch mold oscillation mode, still
In non-sinusoidal oscillation mode, the mold oscillation displacement that displacement sensor cannot acquire can not determine that mold oscillation is displaced
At the time of zero crossing, cause non-sinusoidal oscillation of mould displacement or velocity wave form that cannot in real time, smoothly switch, it cannot be with drawing
The vibration frequency of the variation adjust automatically mold oscillation waveform of base speed, therefore, this not only will affect slab quality, Er Qieke
It can cause production exception, the production accidents such as bleed-out even occur.Therefore, when displacement sensor breaks down, control system will
It is immediately switched to the without gap sensors faults-tolerant control mode of crystallizer sinusoidal vibration, and it is given to compare current time servo motor
Revolving speed and actual speed are realized by given integral way and quick smoothly switch servo motor revolving speed, realize mold oscillation
Displacement or velocity wave form change with drawing speed and smoothly switch between the different vibration frequencies of generation.
Claims (7)
1. a kind of fault tolerant control method of the continuous cast mold non-sinusoidal oscillation of servo motor driving, it is characterised in that: this method
The following steps are included:
(1) servo motor is rotated with lesser constant rotational speed, and crystallizer is with lower frequency vibration and stable operation, high-performance can be compiled
The mold oscillation shift value that range controller is acquired by displacement sensor automatically determines the middle position of mold oscillation, i.e., certainly
The dynamic artificial zero-bit for determining system, later according to the frequency of the size adjust automatically non-sinusoidal oscillation of mould of drawing speed, wave
Shape deviation proportion, switching servo motor it is expected that revolving speed, driving crystallizer realize non-sinusoidal oscillation；
(2) high performance programmable controller judges that displacement passes by the mold oscillation shift value of acquisition displacement sensor detection
Whether sensor breaks down, if not breaking down, crystallizer works in non-sinusoidal oscillation mode, non-sinusoidal oscillation of mould displacement
Or velocity wave form changes and adjust automatically with drawing speed, at mold oscillation displacement zero crossing, realizes different vibration displacements
Or the real-time steady switching between velocity wave form；If breaking down, control system is switched to the fault-tolerant of without gap sensors online
Control model automatically switches to sinusoidal vibration by non-sinusoidal oscillation, and when drawing speed changes, and adjust automatically is sinusoidal
The frequency and servo motor revolving speed of vibration, that realizes between crystallizer difference vibration displacement or velocity wave form real-time steadily cuts
It changes；
(3) when displacement sensor Failure elimination, it is switched to non-sinusoidal oscillation mode.
2. a kind of faults-tolerant control side of the continuous cast mold non-sinusoidal oscillation of servo motor driving according to claim 1
Method, it is characterised in that: the mode of the artificial zero-bit of system is automatically determined in the step (1) are as follows: crystallizer is shaken with lower frequency
Dynamic, high performance programmable controller acquires maximum value, the minimum value of the mold oscillation displacement of displacement sensor detection, and asks it
Average value is determined as when the absolute value of the difference of the measured value of actual displacement sensor and average value is less than some threshold epsilon
The artificial zero-bit of mold oscillation.
3. a kind of faults-tolerant control side of the continuous cast mold non-sinusoidal oscillation of servo motor driving according to claim 2
Method, it is characterised in that: threshold epsilon 0.002mm.
4. a kind of faults-tolerant control side of the continuous cast mold non-sinusoidal oscillation of servo motor driving according to claim 1
Method, it is characterised in that: the mode for judging whether displacement sensor breaks down in step (2) is: the knot of displacement sensor detection
The measured value of brilliant device vibration displacement is far beyond working range, also, when drawing speed changes, after 3s, and crystallizer
Actual vibration frequency, waveform deviation proportion do not change yet, then can determine whether that displacement sensor breaks down.
5. a kind of faults-tolerant control side of the continuous cast mold non-sinusoidal oscillation of servo motor driving according to claim 1
Method, it is characterised in that: after displacement sensor failure is eliminated automatically in step (3), then system has switched to displacement sensor mode,
Switch servo motor and it is expected revolving speed, crystallizer is made to work in non-sinusoidal oscillation mode.
6. a kind of appearance of the continuous cast mold non-sinusoidal oscillation for the driving of servo motor described in any one of Claims 1 to 5
The device of wrong control method, it is characterised in that: including host computer monitoring system, high performance programmable controller, servo control
Device processed, driver, servo motor, retarder, eccentric shaft link mechanism, crystallizer vibration platform and crystallizer thereon, displacement pass
Sensor, wherein high performance programmable controller passes through the crystallizer of servo controller and driver control servo motor desirably
The corresponding speed curves operation of non-sinusoidal oscillation, servo motor pass through retarder, eccentric shaft link mechanism and crystallizer vibration platform
Realize non-sinusoidal oscillation of mould；High performance programmable controller is acquired by acquisition drawing speed and by displacement sensor
Mold oscillation displacement, judge whether displacement sensor works normally, displacement sensor work normally when, according to drawing speed
Difference, automatically switch the frequency of non-sinusoidal oscillation of mould, waveform deviation proportion at mold oscillation displacement zero crossing, work as inspection
When measuring displacement sensor and breaking down, system automatically switches to the faults-tolerant control mode of without gap sensors, and with throwing speed
The difference of degree, system also can adjust automatically mold oscillation frequency；After detecting displacement sensor Failure elimination, it is switched to
Non-sinusoidal oscillation mode.
7. a kind of fault tolerant control method of the continuous cast mold non-sinusoidal oscillation of servo motor driving according to claim 6
Device, it is characterised in that: institute's displacement sensors use digital displacement transducer or analog quantity displacement sensor, Gao Xing
Energy programmable controller includes power module, CPU module, communication module, FM458-1 functional module and EXM438-1 I/O extension
Module, each intermodule are communicated by core bus；FM458-1 functional module is the core of system control, for servo electricity
The calculating of machine rotary speed setting value, mold oscillation are displaced the switching of waveform, mold oscillation displacement closed-loop control and system
Faults-tolerant control；EXM438-1 I/O expansion module is mainly used for the acquisition of drawing speed and mold oscillation displacement.
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| CN107900296B (en) * | 2017-11-23 | 2024-05-07 | 燕山大学 | Non-sinusoidal vibration distributed control system of continuous casting crystallizer driven by servo motor |
| CN110907112A (en) * | 2019-12-13 | 2020-03-24 | 湖南镭目科技有限公司 | Non-sinusoidal vibration table equipment fault diagnosis method and system |
| EP3878574A1 (en) * | 2020-03-13 | 2021-09-15 | Primetals Technologies Austria GmbH | State determination for strand-guiding rolls by vibration evaluation |
| CN111964583B (en) * | 2020-07-08 | 2022-05-27 | 瑞声新能源发展(常州)有限公司科教城分公司 | Motor vibration displacement estimation method, device and medium |
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