WO2020059698A1 - 連続鋳造の制御装置、方法及びプログラム - Google Patents
連続鋳造の制御装置、方法及びプログラム Download PDFInfo
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- WO2020059698A1 WO2020059698A1 PCT/JP2019/036347 JP2019036347W WO2020059698A1 WO 2020059698 A1 WO2020059698 A1 WO 2020059698A1 JP 2019036347 W JP2019036347 W JP 2019036347W WO 2020059698 A1 WO2020059698 A1 WO 2020059698A1
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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
- B22D11/18—Controlling or regulating processes or operations for pouring
- B22D11/181—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level
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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
- B22D11/18—Controlling or regulating processes or operations for pouring
- B22D11/181—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level
- B22D11/186—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level by using electric, magnetic, sonic or ultrasonic means
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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
-
- 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
- B22D11/18—Controlling or regulating processes or operations for pouring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D46/00—Controlling, supervising, not restricted to casting covered by a single main group, e.g. for safety reasons
Definitions
- the present invention relates to a control device, a method and a program for continuous casting.
- Priority is claimed on Japanese Patent Application No. 2018-174509, filed Sep. 18, 2018, the content of which is incorporated herein by reference.
- Patent Document 1 discloses a method for controlling a water level of a steam turbine condenser, which is not directed to a steel process.
- a deviation signal between an inlet steam flow rate of a steam turbine measured by a turbine inlet steam flow meter and a condensate flow rate measured by a condensate flow meter corresponds to an opening amount of a condenser level control valve. It discloses that a condenser level control valve is converted into a condenser level control correction amount and added to an output of PID control that performs constant value control to control a condenser level control valve.
- Patent Literature 1 discloses a configuration in which a control correction amount is added to the output of PID control in which constant value control is performed. However, when this is applied to continuous casting, particularly when the latter disturbance occurs, hot water is removed. Surface level control performance will be degraded.
- the present invention has been made in view of the above points, and has been made to enable highly accurate control of the molten metal level in a mold even when a plurality of types of disturbances occur in continuous casting. Aim.
- a first aspect of the present invention is a control apparatus for continuous casting, in which molten metal is injected into a mold from a nozzle, and the molten metal is solidified and pulled out to continuously produce a slab.
- a melt level meter for measuring the melt level in the mold, and a melt injected from the nozzle into the mold so that the melt level measured by the melt level meter follows the melt level target value.
- a main control unit that obtains an operation amount of a flow rate adjusting mechanism that adjusts a flow rate of metal; a flow meter that measures a flow rate of molten metal injected from the nozzle into the mold; and a molten metal that is measured by the flow meter.
- An injection disturbance correction unit for obtaining a first correction amount for the operation amount of the flow rate control mechanism obtained by the main control unit in accordance with an estimated value of the injection disturbance obtained based on the flow rate measurement value of the injection surface; Measured with a level meter According to the estimated value of the drawing disturbance obtained on the basis of the surface level measurement, and a drawing disturbance correction unit for obtaining the second correction amount with respect to the operation amount of the flow rate adjusting mechanism which has been determined by the main control unit.
- the flow disturbance estimating unit further calculates a value, the injection disturbance correction unit, the flow rate measurement value of the molten metal measured by the flow meter, the flow rate estimation value of the molten metal calculated by the flow rate estimation unit
- the difference may be used as an estimated value of the injection disturbance, and the first correction amount may be obtained according to the estimated value of the injection disturbance.
- the injection disturbance correction unit may obtain the first correction amount using an inverse model of the flow rate characteristic model.
- the drawing disturbance correction unit may obtain the second correction amount using an inverse model of the flow characteristic model. .
- a Lumberger type observer that uses the molten metal level and the extraction disturbance as state variables is configured, and the extraction is performed.
- a pull-out disturbance estimating unit that obtains an estimated value of the disturbance may be provided, and the pull-out disturbance correcting unit may obtain the second correction amount according to the estimated value of the pull-out disturbance obtained by the pull-out disturbance estimating unit.
- the flowmeter may be an electromagnetic flowmeter.
- a second aspect of the present invention is a method for controlling continuous casting, in which a molten metal is injected into a mold from a nozzle, and the molten metal is solidified and pulled out to continuously produce a cast piece.
- a metal level measuring step of measuring a metal level in the metal level with a metal level meter, and the nozzle from the nozzle so that the metal level measured in the metal level measuring step follows the metal level target value.
- Main control step for determining the operation amount of the flow rate adjusting mechanism for adjusting the flow rate of the molten metal injected into the mold, and a flow measurement step for measuring the flow rate of the molten metal injected from the nozzle into the mold with a flow meter,
- a first value for the operation amount of the flow rate adjusting mechanism determined in the main control step is determined.
- An injection disturbance correction step for obtaining a correction amount, and the flow rate adjustment obtained in the main control step in accordance with an estimated value of a pull-out disturbance obtained based on a metal level measurement value measured by the metal level meter.
- a pull-out disturbance correction step of obtaining a second correction amount for the operation amount of the mechanism is a program for controlling a continuous casting in which a molten metal is injected into a mold from a nozzle, and the molten metal is drawn out while solidifying, thereby continuously producing a slab. Determining an operation amount of a flow rate adjusting mechanism for adjusting a flow rate of molten metal injected from the nozzle into the mold so that the level of the molten metal measured by the level gauge is made to follow the target value of the molten metal level.
- drawing disturbance correction determining a second correction amount with respect to the operation amount of the mechanism, a configuration was programmed to the computer to execute.
- the level of the molten metal in the mold can be controlled with high accuracy. This makes it possible to improve the quality of the slab and stabilize the operation.
- FIG. 6 is a characteristic diagram showing a simulation result comparing the method of the present invention with a conventional method.
- FIG. 6 is a characteristic diagram showing a simulation result comparing the method of the present invention with a conventional method.
- FIG. 6 is a characteristic diagram showing a simulation result comparing the method of the present invention with a conventional method.
- FIG. 6 is a characteristic diagram showing a simulation result comparing the method of the present invention with a conventional method.
- control device 100 for continuous casting according to an embodiment of the present invention will be described with reference to the accompanying drawings.
- FIG. 1 shows a schematic configuration of a continuous casting control system including a continuous casting control device 100 and a continuous casting facility to be controlled.
- the continuous casting equipment includes a mold 1 and an immersion nozzle 2, and molten steel is injected into the mold 1 from a tundish (not shown) via the immersion nozzle 2.
- the mold 1 is water-cooled, and the molten steel in contact with the mold starts to solidify.
- the molten steel is poured into the mold 1 from the immersion nozzle 2 and is drawn while solidifying the molten steel to continuously produce a cast piece.
- a molten metal level meter 3 for measuring the molten metal level in the mold 1 is installed.
- the immersion nozzle 2 is provided with an in-nozzle flowmeter 4 for measuring the flow rate of molten steel injected into the mold 1.
- the measured value of the molten metal level measured by the molten metal level measuring instrument 3 (that is, the actual molten metal level) and the measured value of the molten steel flow rate measured by the in-nozzle flowmeter 4 (that is, the actual molten metal flow rate) are as follows. It is input to the control device 100.
- the in-nozzle flowmeter 4 for example, an electromagnetic flowmeter can be used.
- the flow rate of the molten steel injected into the mold 1 from the immersion nozzle 2 is adjusted by the opening of the sliding gate 5, which is a flow rate adjusting mechanism (operating end) for adjusting the flow rate of the molten steel.
- the opening of the sliding gate 5 is operated under the control of the control device 100.
- the sliding gate 5 is used in the example shown in FIG. 1, a configuration may be used in which the flow rate of molten steel supplied from the immersion nozzle 2 is adjusted using a stopper.
- FIG. 2 shows a configuration of a control device 100 for continuous casting according to the present embodiment.
- the control device 100 includes a main controller 101 (main control unit), a flow rate estimation unit 102, an injection disturbance correction unit 103, a disturbance observer 104, and a pull-out disturbance correction unit 105.
- the main controller 101 determines the opening level u of the sliding gate 5 so as to make the measured level y measured by the level gauge 3 follow the target level, thereby determining the level. Execute feedback control so as to keep it constant.
- the opening of the sliding gate 5 is simply referred to as the opening.
- the flow rate estimating unit 102 calculates a flow rate estimated value Q pred of the molten steel according to the current opening degree using a flow rate characteristic model representing a relationship between the opening degree and the flow rate of the molten steel.
- the injection disturbance correction unit 103 calculates the difference between the flow rate measurement value Q of the molten steel measured by the flow meter 4 in the nozzle and the flow rate estimation value Q pred of the molten steel calculated by the flow rate estimation unit 102 as the estimated value d of the injection disturbance. 1 ⁇ , and the opening correction amount v for the opening u is obtained in accordance with the estimated value d 1 ⁇ of the injection disturbance.
- the method of obtaining the estimated value of the injection disturbance d 1 ⁇ is not limited to this, but may be obtained by a different method as long as it can be obtained using the flow rate measurement value Q.
- d 1 ⁇ notation is assumed that ⁇ is attached on the d 1.
- a disturbance that varies the flow rate of the molten steel injected from the immersion nozzle 2 into the mold 1 is referred to as an injection disturbance.
- the injection disturbance disturbances such as a nozzle defect, nozzle clogging, clogging and peeling, and nozzle erosion are assumed.
- the disturbance observer 104 calculates a molten steel flow rate measured value Q measured by the in-nozzle flow rate meter 4 and a molten metal level measured value y measured by the molten metal level meter 3.
- An estimated value d 2 ⁇ of the extraction disturbance is obtained.
- drawing disturbance a disturbance that affects the downstream side of the mold 1 and changes the volume balance of molten steel in the mold 1 and affects the level of the molten metal.
- the pull-out disturbance a disturbance such as a casting speed error or a volume change due to unsteady bulging is assumed.
- the casting speed error represents a difference between the actual casting speed measured from the roll rotation speed and the like and the actual casting speed inside the mold.
- the opening amount of the flow rate adjusting mechanism is corrected based on a correction coefficient calculated in advance according to the casting speed change amount.
- the unsteady bulging refers to bulging of a slab that periodically changes with time according to the roll pitch interval.
- the extraction disturbance correction unit 105 calculates an opening correction amount w for the opening u in accordance with the extraction disturbance estimation value d 2 ⁇ obtained by the disturbance observer 104.
- the opening degree u obtained by the main controller 101 and the opening degree correction amount v and the opening degree correction amount w obtained by the injection disturbance correction unit 103 and the extraction disturbance correction unit 105 are obtained.
- the opening is determined, and the opening operation of the sliding gate 5 is executed so as to have the determined opening.
- FIG. 3 is a block diagram showing a control system for continuous casting.
- the main controller 101 takes the deviation e between the target level value and the measured level value y as an input so that the deviation e becomes 0, that is, as described above, the level level measured value y is The opening degree u is determined so as to follow the surface level target value.
- the flow rate Q according to the current opening degree (u + v + w) and the current injection disturbance d 1 is obtained from the plant flow characteristic P. Then, the current flow rate Q, the drawing disturbance d 2 the current, the molten metal surface level y corresponding to the casting speed V c is.
- A represents the cross-sectional area of the mold 1 and s represents the Laplace operator.
- the flow rate estimating unit 102 uses the flow rate characteristic model P 0 , which is a nominal model representing the relationship between the opening degree and the flow rate of the molten steel, as shown in Expression (1), to calculate the flow rate of the molten steel according to the current opening degree (u + v + w). Calculate the flow estimate Q pred .
- the flow characteristic model P 0 is given by a non-linear function, it can be generally approximated by a straight line by linearizing around the opening operation point.
- the difference between the measured flow rate Q of the molten steel and the estimated flow rate Q pred of the molten steel is defined as an estimated value of injection disturbance d 1 ⁇ .
- the injection disturbance d 1 can be estimated by comparing the flow rate measurement value Q of the molten steel including the injection disturbance d 1 and the flow rate estimation value Q pred of the molten steel not including the injection disturbance d 1 .
- the injection disturbance correction unit 103 uses an inverse model of the flow rate characteristic model P 0 (a relational expression representing the degree of opening for a given flow rate) P 0 -1 as in equation (3), and uses the opening degree correction gain K 1. Is used to determine the opening correction amount v so as to cancel the estimated value d 1 ⁇ of the injection disturbance.
- the inverse model P 0 -1 is given by a non-linear function, but may be generally approximated by a straight line by linearizing around the opening operation point.
- the disturbance observer 104 is constituted by a Luenberger-type observer using the process level 1 / As representing the response of the molten metal level to the flow rate of the molten steel and using the molten metal level and the pull-out disturbance as state variables. An outline of calculation in the disturbance observer 104 will be described.
- the process model 1 / As representing the response of the molten metal level the estimated molten metal level y ⁇ according to the measured flow rate Q of the current molten steel is calculated, and the measured molten metal level y and the estimated molten metal level are calculated.
- An estimated value d 2 ⁇ of the extraction disturbance is obtained based on the difference from the value y ⁇ .
- the process model 1 / As may be formulated in consideration of the run-off time factor. Further, the method of obtaining the estimated value d 2 ⁇ of the extraction disturbance is not limited to this, and may be obtained by a different method as long as it can be obtained by using the molten metal level measurement value y.
- a step-like disturbance is assumed as the extraction disturbance, and the disturbance observer is formulated as in Expression (4).
- L 1 and L 2 are observer gains.
- a transfer function from the flow rate measurement value Q and the molten metal level measurement value y of the molten steel to the estimated value d 2 ⁇ of the drawing disturbance is expressed as Expression (5).
- a step-shaped disturbance may be assumed as the extraction disturbance, but a ramp-shaped disturbance or a periodic disturbance may be assumed.
- yQ / As corresponds to the “prediction error” of the molten metal level, and the value obtained by passing this through the secondary filter L (s) is the estimated value d 2 ⁇ of the extraction disturbance.
- the filter L (s) is represented by Expression (6). Note that the filter characteristics of the filter L (s) may be appropriately determined according to the frequency band of the assumed extraction disturbance. For example, when the peak frequency of the extraction disturbance can be assumed in advance, such as in unsteady bulging, an appropriate bandpass filter including the peak frequency may be designed.
- the extraction disturbance correction unit 105 uses the inverse model P 0 -1 of the flow characteristic model P 0 as shown in Expression (7), and calculates the estimated value d 2 ⁇ of the extraction disturbance using the opening correction gain K 2.
- the opening correction amount w is determined so as to cancel.
- the inverse model P 0 -1 is given by a non-linear function, but may be generally approximated by a straight line by linearizing around the opening operation point.
- the opening correction gains K 1 and K 2 are not limited to positive constants, and for example, a PD controller may be used. Further, the opening correction gains K 1 and K 2 may be changeable.
- a minor loop that suppresses injection disturbance a loop including the injection disturbance correction unit 103
- a minor loop that suppresses pullout disturbance By adding the loop including the pull-out disturbance correction unit 105, the molten metal level can be controlled with high accuracy so as to cancel the injection disturbance and the pull-out disturbance. This makes it possible to improve the quality of the slab and stabilize the operation. In addition, it is possible to separately estimate the injection disturbance and the extraction disturbance, and it is possible to prevent the control performance from deteriorating for each disturbance.
- the estimated value of the injection disturbance d 1 is obtained, and is used to detect a nozzle failure, nozzle clogging, clogging peeling, nozzle erosion, etc., and to perform an action for stabilizing the operation (for example, changing the casting speed).
- Action action to change the set value of the electromagnetic force device).
- a more effective suppression of the periodic disturbance can be performed using the estimated value of the removal disturbance d 2 in combination with the periodic disturbance suppression control method disclosed in Patent Document 2, for example. It becomes possible.
- Simulation conditions of invention method to which the present invention is applied Assuming typical casting conditions of a continuous casting facility for manufacturing slabs, the following simulation conditions were set, and a simulation of level control was performed.
- the width of the mold was set to 1250 mm
- the thickness of the mold was set to 270 mm
- the casting speed was set to 1.5 m / m
- the drip time was set to 0.3 sec.
- the molten metal level target value was set at a position (-100 mm) in the casting direction of 100 mm in a coordinate system with the upper end of the mold as the origin (see the target values indicated by dotted lines in FIGS. 4 to 6).
- the flow characteristic model P 0 and its inverse model P 0 -1 are given by straight lines. In addition, since the controller is mounted in a speed type, it is sufficient to set only the slope without considering the intercept of the straight line.
- A is the level response when the injection disturbance d 1 occurs
- (b) is the level response when the extraction disturbance d 2 occurs
- (c) is the injection disturbance d 1 and the extraction disturbance d. 2 shows the response of the molten metal level when 2 occurs simultaneously.
- FIG. 4 (a) when the injection disturbance d 1 is generated, it is both same result conventional method and the invention method.
- FIGS. 4B and 4C when the pull-out disturbance d 2 occurs, the conventional method cannot suppress the level change, but the invention method cannot control the level change. Can be suppressed. In the conventional method, it is not possible to distinguish between the injection disturbance d 1 and the extraction disturbance d 2 , so that when the extraction disturbance d 2 occurs, the effect of suppressing the fluctuation of the metal surface level deteriorates.
- Fig. 6 shows the response of the level of the molten metal when the occurrences of the symbols occur simultaneously.
- FIG. 6 shows a simulation result when the model error ⁇ of the flow characteristic model P 0 is 0.2 (flow is likely to occur), and (a) is similar to (a) to (c) of FIG. Is the level response when the injection disturbance d 1 occurs, (b) is the level response when the extraction disturbance d 2 occurs, and (c) is the response between the injection disturbance d 1 and the extraction disturbance d 2.
- Fig. 4 shows the response of the molten metal level at the same time.
- the injection disturbance d 1 and the pull-out disturbance d 2 cannot be distinguished from each other, so that when the pull-out disturbance d 2 occurs, the effect of suppressing the fluctuation of the metal surface level is deteriorated.
- the model error of the flow characteristic model P 0 is, the generation of the injection disturbance d 1 and the extraction disturbance d 2 in the method of the present invention as compared with the conventional method.
- the effect of suppressing the fluctuation of the molten metal level does not deteriorate.
- the present invention has been described with the embodiment.
- the above embodiment is merely an example of the embodiment in carrying out the present invention, and the technical scope of the present invention is interpreted in a limited manner. It must not be. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features.
- another aspect of the present invention is a method for controlling continuous casting in which a molten metal is injected into a mold from a nozzle, and the molten metal is solidified and pulled out to continuously produce a slab. From the nozzle to the mold, so as to make the metal level measured in the metal level measuring step follow the metal level measured in the metal level measuring step, and the metal level measured in the metal level measuring step.
- control device for continuous casting to which the present invention is applied can be realized by, for example, a computer including a CPU, a ROM, a RAM, and the like.
- the present invention can also be realized by supplying software (program) for realizing the functions of the present invention to a system or apparatus via a network or various storage media, and a computer of the system or apparatus reads and executes the program. It is feasible.
- still another aspect of the present invention is a program for controlling continuous casting to continuously produce slabs by injecting molten metal from a nozzle into a mold and pulling out while solidifying the molten metal,
- Main control for determining an operation amount of a flow rate adjusting mechanism for adjusting a flow rate of molten metal injected from the nozzle into the mold so that the level of the molten metal measured by the level gauge is made to follow the target level of the molten metal level.
- a first correction to the operation amount of the flow rate adjusting mechanism obtained in the main control step in accordance with an estimated value of the injection disturbance obtained based on the flow rate measurement value of the molten metal measured by the flow rate meter.
- the level of the molten metal in the mold can be controlled with high accuracy.
- 1 mold
- 2 immersion nozzle
- 3 level gauge
- 4 flow rate meter in nozzle
- 5 sliding gate
- 100 controller for continuous casting
- 101 main controller
- 102 flow rate estimation unit
- 103 injection disturbance correction unit
- 104 disturbance observer
- 105 pull-out disturbance correction unit
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Abstract
Description
本願は、2018年9月18日に、日本に出願された特願2018-174009号に基づき優先権を主張し、その内容をここに援用する。
(1)本発明の第一の態様は、ノズルから溶融金属を鋳型に注入し、溶融金属を凝固させながら引き抜くことで連続的に鋳片を製造する連続鋳造の制御装置であって、前記鋳型内の湯面レベルを測定する湯面レベル測定計と、前記湯面レベル測定計で測定された湯面レベルを湯面レベル目標値に追従させるように、前記ノズルから前記鋳型に注入される溶融金属の流量を調節する流量調節機構の操作量を求める主制御部と、前記ノズルから前記鋳型に注入される溶融金属の流量を測定する流量測定計と、前記流量測定計で測定される溶融金属の流量測定値に基づいて求められた注入外乱の推定値に応じて、前記主制御部で求めた前記流量調節機構の操作量に対する第1の補正量を求める注入外乱補正部と、前記湯面レベル測定計で測定される湯面レベル測定値に基づいて求められた引抜外乱の推定値に応じて、前記主制御部で求めた前記流量調節機構の操作量に対する第2の補正量を求める引抜外乱補正部と、を備える。
(2)上記(1)に記載の連続鋳造の制御装置は、前記流量調節機構の操作量と溶融金属の流量との関係を表す流量特性モデルを用いて、開度に応じた溶鋼の流量推定値を計算する流量推定部を更に備え、前記注入外乱補正部は、前記流量測定計で測定される溶融金属の流量測定値と、前記流量推定部で計算される溶融金属の流量推定値との差を注入外乱の推定値とし、当該注入外乱の推定値に応じて、前記第1の補正量を求めてもよい。
(3)上記(2)に記載の連続鋳造の制御装置では、前記注入外乱補正部は、前記流量特性モデルの逆モデルを用いて、前記第1の補正量を求めてもよい。
(4)上記(2)又は(3)に記載の連続鋳造の制御装置では、前記引抜外乱補正部は、前記流量特性モデルの逆モデルを用いて、前記第2の補正量を求めてもよい。
(5)上記(1)~(4)のいずれか一項に記載の連続鋳造の制御装置は、前記流量測定計で測定される溶融金属の流量測定値と前記湯面レベル測定計で測定される湯面レベル測定値とを入力とし、溶融金属の流量に対する湯面レベルの応答を表すプロセスモデルを用いて、湯面レベルと引抜外乱を状態変数とするルーエンバーガー型のオブザーバを構成し、引抜外乱の推定値を求める引抜外乱推定部を備え、前記引抜外乱補正部は、前記引抜外乱推定部で求めた引抜外乱の推定値に応じて、前記第2の補正量を求めてもよい。
(6)上記(1)~(5)のいずれか一項に記載の連続鋳造の制御装置では、前記流量測定計が電磁流量計であってもよい。
(8)本発明の第三の態様は、ノズルから溶融金属を鋳型に注入し、溶融金属を凝固させながら引き抜くことで連続的に鋳片を製造する連続鋳造を制御するためのプログラムであって、湯面レベル測定計で測定された湯面レベルを湯面レベル目標値に追従させるように、前記ノズルから前記鋳型に注入される溶融金属の流量を調節する流量調節機構の操作量を求める主制御ステップと、流量測定計で測定される溶融金属の流量測定値に基づいて求められた注入外乱の推定値に応じて、前記主制御ステップで求めた前記流量調節機構の操作量に対する第1の補正量を求める注入外乱補正ステップと、前記湯面レベル測定計で測定される湯面レベル測定値に基づいて求められた引抜外乱の推定値に応じて、前記主制御ステップで求めた前記流量調節機構の操作量に対する第2の補正量を求める引抜外乱補正ステップと、をコンピュータに実行させるように構成したプログラムである。
連続鋳造設備は、鋳型1と、浸漬ノズル2とを備え、溶鋼がタンディッシュ(不図示)から浸漬ノズル2を介して鋳型1に注入される。鋳型1は水冷されており、鋳型に接した溶鋼は凝固し始める。浸漬ノズル2から溶鋼を鋳型1に注入して、溶鋼を凝固させながら引き抜くことで連続的に鋳片を製造する。
主制御器101は、湯面レベル測定計3で測定される湯面レベル測定値yを湯面レベル目標値に追従させるように、スライディングゲート5の開度uを求めることにより、湯面レベルを一定に保つようにフィードバック制御を実行する。なお、以下では、スライディングゲート5の開度を単に開度と呼ぶ。
主制御器101は、湯面レベル目標値と、湯面レベル測定値yとの偏差eを入力として、偏差eが0になるように、すなわち、既述したとおり湯面レベル測定値yを湯面レベル目標値に追従させるように、開度uを求める。
そして、式(2)のように、溶鋼の流量測定値Qと、溶鋼の流量推定値Qpredとの差を注入外乱の推定値d1^とする。このように注入外乱d1を含む溶鋼の流量測定値Qと、注入外乱d1を含まない溶鋼の流量推定値Qpredとを比較することで、注入外乱d1を推定することができる。
また、注入外乱と引抜外乱とをそれぞれ区別して推定することができ、それぞれの外乱に対して制御性能の劣化を防ぐことができる。そして、注入外乱d1の推定値が得られることにより、これを使って、ノズルの不具合、ノズル詰まり、詰まり剥離、ノズル溶損等を検知し、操業安定化のためのアクション(例えば鋳造速度変更アクション、電磁力装置の設定値の変更アクション)につなげることができる。また、引抜外乱d2の推定値が得られることにより、これを使って、例えば特許文献2に開示されている周期的外乱の抑制制御方法と組み合わせて、より効果的な周期的外乱の抑制が可能となる。
[本発明を適用した発明法のシミュレーション条件]
スラブを製造する連続鋳造設備の典型的な鋳造条件を想定し、以下のようなシミュレーション条件を設定して、湯面レベル制御のシミュレーションを実施した。
鋳型幅は1250mm、鋳型厚は270mm、鋳造速度は1.5m/m、湯落ちむだ時間は0.3secに設定した。
湯面レベル目標値は、鋳型上端を原点とする座標系において鋳造方向100mmの位置(-100mm)に設定した(図4乃至図6に点線で示す目標値を参照のこと)。
主制御器101は、PI制御器で設定し(比例ゲイン0.20、積分時間30sec)、制御周期は50msecとし、PI制御は速度型で実装した。
また、開度補正ゲインK1=0.3、K2=1.0、オブザーバゲインL1=1、L2=L1*Aに設定した。
流量特性モデルP0及びその逆モデルP0 -1は、直線で与えるものとした。なお、速度型で制御器を実装するので、直線の切片については考慮せず、傾きだけを設定すればよい。
開度補正ゲインK2=0としたものを従来法とした。開度補正ゲインK2=0とすることにより、引抜外乱を抑制するマイナーループがないものと同等の状態となり、特許文献1に開示されている手法に準じたものとなる。そして、発明法と従来法とで、シミュレーションによる湯面レベル制御結果を比較した。
ここで、実プラントにおけるプラント流量特性Pを予め正確に把握することは難しく、実際には、ノミナルモデルである流量特性モデルP0には誤差が生じる。この流量特性モデルP0のモデル誤差Δとして、3種類のケース、具体的にはΔ=0(誤差なし)、Δ<0(流量が出にくい)、Δ>0(流量が出やすい)を設定する。そして、それぞれのケースについて、(a)注入外乱d1が発生、(b)引抜外乱d2が発生、(c)注入外乱d1と引抜外乱d2とが同時発生した場合についてシミュレーションを実施した。次に説明する図4乃至図6に示すように、注入外乱d1及び引抜外乱d2ともに50sec時点で発生するものとした。また、いずれの外乱も流量10%相当の体積変動を考慮した。流量特性モデルP0のモデル誤差Δは、ノミナル値の20%減(Δ=-0.2)、ノミナル値の20%増(Δ=0.2)とした。
図4乃至図6に、シミュレーション結果を示す。
図4は、流量特性モデルP0のモデル誤差Δ=0(誤差なし)とした場合のシミュレーション結果を示す。(a)は注入外乱d1が発生したときの湯面レベルの応答、(b)は引抜外乱d2が発生したときの湯面レベルの応答、(c)は注入外乱d1と引抜外乱d2とが同時発生したときの湯面レベルの応答を示す。図4の(a)に示すように、注入外乱d1が発生したときは、従来法及び発明法ともに同じ結果となる。一方、図4の(b)、(c)に示すように、引抜外乱d2が発生したとき、従来法では湯面レベル変動を抑制することができていないが、発明法では湯面レベル変動を抑制することができている。従来法では、注入外乱d1と引抜外乱d2との区別ができないため、引抜外乱d2が発生したときに湯面レベル変動の抑制効果が悪化する。
また、図6は、流量特性モデルP0のモデル誤差Δ=0.2(流量が出やすい)とした場合のシミュレーション結果を示し、図4の(a)~(c)と同様、(a)は注入外乱d1が発生したときの湯面レベルの応答、(b)は引抜外乱d2が発生したときの湯面レベルの応答、(c)は注入外乱d1と引抜外乱d2とが同時発生したときの湯面レベルの応答を示す。ここでも、従来法では、注入外乱d1と引抜外乱d2との区別ができないため、引抜外乱d2が発生したときに湯面レベル変動の抑制効果が悪化する。
図4乃至図6に示すように、流量特性モデルP0のモデル誤差がどのような場合であっても、発明法では、従来法と比較して、注入外乱d1、引抜外乱d2の発生に対して、湯面レベルの変動の抑制効果が悪化することはない。
また、本発明は、本発明の機能を実現するソフトウェア(プログラム)を、ネットワーク又は各種記憶媒体を介してシステム或いは装置に供給し、そのシステム或いは装置のコンピュータがプログラムを読み出して実行することによっても実現可能である。
従って、本発明の更に別の態様は、ノズルから溶融金属を鋳型に注入し、溶融金属を凝固させながら引き抜くことで連続的に鋳片を製造する連続鋳造を制御するためのプログラムであって、湯面レベル測定計で測定された湯面レベルを湯面レベル目標値に追従させるように、前記ノズルから前記鋳型に注入される溶融金属の流量を調節する流量調節機構の操作量を求める主制御ステップと、流量測定計で測定される溶融金属の流量測定値に基づいて求められた注入外乱の推定値に応じて、前記主制御ステップで求めた前記流量調節機構の操作量に対する第1の補正量を求める注入外乱補正ステップと、前記湯面レベル測定計で測定される湯面レベル測定値に基づいて求められた引抜外乱の推定値に応じて、前記主制御ステップで求めた前記流量調節機構の操作量に対する第2の補正量を求める引抜外乱補正ステップと、をコンピュータに実行させるように構成したプログラム又はそれを記録したコンピュータが読み取り可能な記録媒体である。
Claims (8)
- ノズルから溶融金属を鋳型に注入し、溶融金属を凝固させながら引き抜くことで連続的に鋳片を製造する連続鋳造の制御装置であって、
前記鋳型内の湯面レベルを測定する湯面レベル測定計と、
前記湯面レベル測定計で測定された湯面レベルを湯面レベル目標値に追従させるように、前記ノズルから前記鋳型に注入される溶融金属の流量を調節する流量調節機構の操作量を求める主制御部と、
前記ノズルから前記鋳型に注入される溶融金属の流量を測定する流量測定計と、
前記流量測定計で測定される溶融金属の流量測定値に基づいて求められた注入外乱の推定値に応じて、前記主制御部で求めた前記流量調節機構の操作量に対する第1の補正量を求める注入外乱補正部と、
前記湯面レベル測定計で測定される湯面レベル測定値に基づいて求められた引抜外乱の推定値に応じて、前記主制御部で求めた前記流量調節機構の操作量に対する第2の補正量を求める引抜外乱補正部と、
を備える連続鋳造の制御装置。 - 前記流量調節機構の操作量と溶融金属の流量との関係を表す流量特性モデルを用いて、開度に応じた溶鋼の流量推定値を計算する流量推定部を更に備え、
前記注入外乱補正部は、前記流量測定計で測定される溶融金属の流量測定値と、前記流量推定部で計算される溶融金属の流量推定値との差を注入外乱の推定値とし、当該注入外乱の推定値に応じて、前記第1の補正量を求める
請求項1に記載の連続鋳造の制御装置。 - 前記注入外乱補正部は、前記流量特性モデルの逆モデルを用いて、前記第1の補正量を求める
請求項2に記載の連続鋳造の制御装置。 - 前記引抜外乱補正部は、前記流量特性モデルの逆モデルを用いて、前記第2の補正量を求める
請求項2又は3に記載の連続鋳造の制御装置。 - 前記流量測定計で測定される溶融金属の流量測定値と前記湯面レベル測定計で測定される湯面レベル測定値とを入力とし、溶融金属の流量に対する湯面レベルの応答を表すプロセスモデルを用いて、湯面レベルと引抜外乱を状態変数とするルーエンバーガー型のオブザーバを構成し、引抜外乱の推定値を求める引抜外乱推定部を備え、
前記引抜外乱補正部は、前記引抜外乱推定部で求めた引抜外乱の推定値に応じて、前記第2の補正量を求める
請求項1から4のいずれか1項に記載の連続鋳造の制御装置。 - 前記流量測定計が電磁流量計である
請求項1から5のいずれか1項に記載の連続鋳造の制御装置。 - ノズルから溶融金属を鋳型に注入し、溶融金属を凝固させながら引き抜くことで連続的に鋳片を製造する連続鋳造の制御方法であって、
前記鋳型内の湯面レベルを湯面レベル測定計で測定する湯面レベル測定ステップと、
前記湯面レベル測定ステップで測定された湯面レベルを湯面レベル目標値に追従させるように、前記ノズルから前記鋳型に注入される溶融金属の流量を調節する流量調節機構の操作量を求める主制御ステップと、
前記ノズルから前記鋳型に注入される溶融金属の流量を流量測定計で測定する流量測定ステップと、
前記流量測定ステップで測定される溶融金属の流量測定値に基づいて求められた注入外乱の推定値に応じて、前記主制御ステップで求めた前記流量調節機構の操作量に対する第1の補正量を求める注入外乱補正ステップと、
前記湯面レベル測定計で測定される湯面レベル測定値に基づいて求められた引抜外乱の推定値に応じて、前記主制御ステップで求めた前記流量調節機構の操作量に対する第2の補正量を求める引抜外乱補正ステップと、
を有する連続鋳造の制御方法。 - ノズルから溶融金属を鋳型に注入し、溶融金属を凝固させながら引き抜くことで連続的に鋳片を製造する連続鋳造を制御するためのプログラムであって、
湯面レベル測定計で測定された湯面レベルを湯面レベル目標値に追従させるように、前記ノズルから前記鋳型に注入される溶融金属の流量を調節する流量調節機構の操作量を求める主制御ステップと、
流量測定計で測定される溶融金属の流量測定値に基づいて求められた注入外乱の推定値に応じて、前記主制御ステップで求めた前記流量調節機構の操作量に対する第1の補正量を求める注入外乱補正ステップと、
前記湯面レベル測定計で測定される湯面レベル測定値に基づいて求められた引抜外乱の推定値に応じて、前記主制御ステップで求めた前記流量調節機構の操作量に対する第2の補正量を求める引抜外乱補正ステップと、
をコンピュータに実行させるように構成したプログラム。
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