基于光滑整形的钢包快速精准定位研究

Research on Fast and Accurate Positioning of Ladle Based on Smooth Shaping

针对铸造起重机吊运钢水包过程中钢水与吊摆产生的双向流固耦合现象,文中采用一系列质量弹簧阻尼器来等效钢水晃动对钢水包容器产生的影响,基于等效力学原理建立了钢水包吊运系统的等效力学模型,推导出了其运动方程,在验证了其系统的稳定性、客观性和可控性之后,采用级联光滑整形器对钢包吊运系统进行安全快速精准定位控制。结果表明:级联光滑整形控制器既可抑制钢包吊运系统的钢丝绳残余摆动和钢水残余晃动,还可使其钢丝绳摆角和钢水的晃动在整个吊运过程都保持相对稳定。

Considering the two-way fluid-solid coupling between molten steel and pendulum during the hoisting of ladle by a casting crane,in this paper,the authors use a series of mass spring dampers to equivalent the influence of molten steel sloshing on ladle container.Based on the principle of equivalent mechanics,the equivalent mechanical model of ladle hoisting system was established,and the motion equation of ladle was deduced.After verifying the stability,objectivity and controllability of the system,the cascade smooth shaper was used to control the safe,rapid and accurate positioning of the ladle hoisting system.The results show that the cascade smooth shaper can not only suppress the residual swinging of steel wire rope and the residual shaking of molten steel of the ladle hoisting system,but also keep the swinging angle of steel wire rope and molten steel relatively stable during the whole hoisting.