CN113655816B - Ladle bottom argon blowing system flow control method and computer readable storage medium - Google Patents
Ladle bottom argon blowing system flow control method and computer readable storage medium Download PDFInfo
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- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 title claims abstract description 908
- 229910052786 argon Inorganic materials 0.000 title claims abstract description 454
- 238000007664 blowing Methods 0.000 title claims abstract description 174
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000003860 storage Methods 0.000 title claims abstract description 11
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 36
- 238000012546 transfer Methods 0.000 claims description 108
- 238000013178 mathematical model Methods 0.000 claims description 12
- 238000012937 correction Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 97
- 238000010586 diagram Methods 0.000 description 16
- 238000012545 processing Methods 0.000 description 12
- 229910000831 Steel Inorganic materials 0.000 description 8
- 230000000694 effects Effects 0.000 description 8
- 230000001105 regulatory effect Effects 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000003044 adaptive effect Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 230000002411 adverse Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 239000011449 brick Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 238000003723 Smelting Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000007872 degassing Methods 0.000 description 1
- 238000009851 ferrous metallurgy Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
- C21C7/00—Treating molten ferrous alloys, e.g. steel, not covered by groups C21C1/00 - C21C5/00
- C21C7/04—Removing impurities by adding a treating agent
- C21C7/072—Treatment with gases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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Abstract
The application discloses a flow control method of a ladle bottom argon blowing system and a computer readable storage medium, wherein the method comprises the following steps: acquiring initial argon flow introduced into the ladle bottom argon blowing system; carrying out argon readjustment operation on the initial argon flow by using a preset ladle bottom argon blowing model control algorithm to obtain an argon control output quantity of the ladle bottom argon blowing system; and controlling and adjusting the flow of argon introduced into the ladle bottom argon blowing system according to the argon control output quantity. The application can solve the problems of poor argon blowing flow control performance, lower control precision and the like in the prior art.
Description
Technical Field
The application relates to the technical field of ferrous metallurgy automatic control, in particular to a flow control method of a ladle bottom argon blowing system and a computer readable storage medium.
Background
The ladle bottom argon blowing can well uniform the composition and the temperature of molten steel by adjusting the flow of the bottom argon blowing, and the inclusions in the steel are reduced. However, when the argon blowing flow is too large, the slag surface is blown through to generate splash, so that molten steel is exposed and oxidized, and inclusions are increased; the argon blowing flow is too small and can not be stirred rapidly, so that the capability of degassing and removing impurities is affected. Therefore, the control effect on the argon flow can directly influence the purity, quality and production cost of molten steel.
At present, most steel factory ladle bottom argon blowing flow control schemes adopt manual control, are easily influenced by the proficiency of operators, the external environment (such as pressure, temperature and the like) and factors such as air brick blockage of the ladle, pipeline air leakage and the like, and often have the phenomenon of out-of-control argon blowing, so that more impurities in steel, quality reduction, smelting time extension and the like are caused.
In addition, some engineering technicians also develop some ladle on-line bottom argon blowing automatic control schemes and process equipment, and when the ladle on-line bottom argon blowing automatic control schemes and process equipment are applied to a molten steel bottom argon blowing production field, the molten steel quality is remarkably improved, but the following problems still exist:
1. because of the poor identity of the ladle air brick and the supply pipeline, the argon control objects are greatly different, and the control performance of the argon is further affected.
2. The controlled object (argon) of ladle bottom argon blowing has parameter uncertainty, and the conventional control methods such as fuzzy, proportional-integral-derivative (PID) controllers and the like are difficult to meet the control requirement of argon blowing stirring, so that the argon blowing control precision is difficult, namely the control precision is lower.
3. The ladle bottom argon blowing adopts a longer air supply pipeline and an air brick slit outlet, is a typical large time lag system, and influences the control performance (or dynamic and static performance) of an argon blowing control system.
Disclosure of Invention
The embodiment of the application solves the problems of poor argon blowing flow control performance, low control precision and the like in the prior art by providing the flow control method of the ladle bottom argon blowing system and the computer readable storage medium, can realize the accurate control of the ladle bottom argon blowing flow, and is beneficial to improving the control performance and the robust performance of the ladle bottom argon blowing system.
In one aspect, the present application provides a method for controlling flow rate of a ladle bottom argon blowing system according to an embodiment of the present application, the method comprising:
acquiring initial argon flow introduced into the ladle bottom argon blowing system;
carrying out argon readjustment operation on the initial argon flow by using a preset ladle bottom argon blowing model control algorithm to obtain an argon control output quantity of the ladle bottom argon blowing system; the ladle bottom argon blowing model control algorithm comprises a pre-constructed hysteresis compensation controller and a flow controller, wherein the hysteresis compensation controller is used for performing compensation control on pure hysteresis generated by initial argon flow of the ladle bottom argon blowing system, and the flow controller is used for performing deviation adjustment on the argon flow of the ladle bottom argon blowing system so as to obtain the argon control output quantity;
And controlling and adjusting the flow of argon introduced into the ladle bottom argon blowing system according to the argon control output quantity.
Optionally, the ladle bottom argon blowing model control algorithm includes a pre-built closed-loop reference model, a closed-loop argon blowing model and the flow controller, the closed-loop reference model and the closed-loop argon blowing model are both configured with the hysteresis compensation controller, the argon readjustment operation is performed on the initial argon flow by using the preset ladle bottom argon blowing model control algorithm, and the obtaining the argon control output of the ladle bottom argon blowing system includes:
inputting the initial argon flow into the closed-loop reference model for argon flow prediction, and calculating to obtain predicted argon flow;
carrying out real argon flow correction by using the closed-loop argon blowing model to obtain real argon flow;
and carrying out flow deviation adjustment on the predicted argon flow and the real argon flow by using the flow controller, and calculating to obtain the argon control output quantity of the ladle bottom argon blowing system.
Optionally, the calculating, by using the flow controller, the argon control output of the ladle bottom argon blowing system includes:
The initial argon flow is acted on the closed-loop reference model, and output flow deviation is obtained; wherein the output flow deviation is related to the predicted argon flow and the real argon flow;
and adjusting and calculating the argon control output quantity of the ladle bottom argon blowing system according to the output flow deviation by utilizing the flow controller.
Optionally, before the argon readjusting operation is performed on the initial argon flow by using a preset ladle bottom blowing argon model control algorithm, the method further includes:
constructing a mathematical model corresponding to the ladle bottom argon blowing system, and acquiring a first transfer function corresponding to the mathematical model;
constructing a closed-loop reference model and a closed-loop argon blowing model which comprise a hysteresis compensation controller; wherein the closed loop reference model and the closed loop argon blowing model are both related to the first transfer function.
Optionally, the first transfer function is:
wherein S is a variable sign of a transfer function, p and q are preset model parameters, and τ is a preset lag time.
Optionally, the constructing a closed loop reference model including the hysteresis compensation controller includes:
determining an open loop reference model according to the first transfer function expression and the identification parameters thereof; the identification parameters are obtained by carrying out system identification according to the initial argon flow and the acquired actual argon flow;
Acquiring a second transfer function and a first gain adjustment factor of the open loop reference model; the second transfer function is a transfer function used by the hysteresis compensation controller to reduce hysteresis effects on the open loop reference model;
and performing closed-loop transfer function deduction on the open-loop reference model according to the second transfer function and the first gain adjustment factor, so as to obtain the closed-loop reference model.
Optionally, the transfer function of the open loop reference model is:the second transfer function isThe first gain adjustment factor is +.>The transfer function of the closed loop reference model is +.>
Wherein a and b are both preconfigured model parameters to be determined, τ 1 For a preset lag time, r (S) is the initial argon flow, y m And (S) outputting predicted argon flow for the closed-loop reference model.
Optionally, the constructing a closed loop argon model including a hysteresis compensation controller includes:
determining an open-loop argon model according to the first transfer function and the identification parameters thereof; the identification parameters are obtained by carrying out system identification according to the initial argon flow and the acquired actual argon flow;
acquiring a third transfer function and a second gain adjustment factor of the open-loop argon model; the third transfer function is a transfer function of the hysteresis compensation controller for reducing hysteresis effects (i.e., performing hysteresis compensation) on the open loop argon model;
And performing closed-loop transfer function deduction on the open-loop argon model according to the third transfer function and the second gain adjustment factor, so as to obtain the closed-loop argon model.
Optionally, the transfer function of the open loop reference model is:the third transfer function isThe second gain adjustment factor is +.>The transfer function of the closed loop argon model is +.>
Wherein m and n are both preconfigured model parameters to be determined, τ 2 And u (S) is the argon control output quantity generated after the argon readjustment operation is performed, and y (S) is the real argon flow output by the closed-loop argon model.
In another aspect, the present application provides a flow control device of a ladle bottom argon blowing system according to an embodiment of the present application, where the device includes an acquisition module, a processing module, and a control module, where:
the acquisition module is used for acquiring the initial argon flow introduced into the ladle bottom argon blowing system;
the processing module is used for carrying out argon readjustment operation on the initial argon flow by utilizing a preset ladle bottom argon blowing model control algorithm to obtain an argon control output quantity of the ladle bottom argon blowing system; the ladle bottom argon blowing model control algorithm comprises a pre-constructed hysteresis compensation controller and a flow controller, wherein the hysteresis compensation controller is used for performing compensation control on pure hysteresis generated by initial argon flow of the ladle bottom argon blowing system, and the flow controller is used for performing deviation adjustment on the argon flow of the ladle bottom argon blowing system so as to obtain the argon control output quantity;
And the control module is used for controlling and adjusting the flow of the argon introduced into the ladle bottom argon blowing system according to the argon control output quantity.
In another aspect, the present application provides, by an embodiment of the present application, a terminal including a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface are connected through the bus and complete communication with each other; the memory stores executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, for use in a ladle bottom argon blowing system flow control method as provided in the above embodiment.
In another aspect, the present application also provides a computer readable storage medium, including computer instructions, which when run on a terminal, cause the terminal to execute the ladle bottom argon blowing system flow control method provided above.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages: the initial argon flow input into the ladle bottom argon blowing system is obtained, argon readjustment operation is carried out on the initial argon flow by utilizing a preset ladle bottom argon blowing model control algorithm, the final argon control output of the system is obtained, and then the opening of an argon regulating valve of the system is regulated in real time according to the argon control output, so that accurate regulation of the argon flow is realized. The ladle bottom argon blowing model control algorithm is adopted to realize automatic identification of model parameters, reduce the influence of the model parameters on the control performance of an argon blowing system, and also relates to a hysteresis compensation controller (for example, a Smith predictor) in the algorithm, which can reduce the adverse effect of a pure hysteresis environment of a system object and can further improve the dynamic and static (control) performance and the robust performance of the ladle bottom argon blowing system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a flow control method of a ladle bottom argon blowing system provided by an embodiment of the application.
Fig. 2 is a control logic block diagram corresponding to a flow control method of a ladle bottom argon blowing system provided by an embodiment of the application.
Fig. 3 is a control logic block diagram corresponding to an argon blowing flow control under a simulation tool (Simlink) according to an embodiment of the present application.
Fig. 4 is a graph of simulation comparison of ladle bottom argon blowing flow under different control methods according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a flow control device based on a ladle bottom argon blowing system according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
The embodiment of the application solves the problems of poor argon blowing flow control performance, low control precision and the like in the prior art by providing the flow control method of the ladle bottom argon blowing system and the computer readable storage medium, can realize the accurate control of the ladle bottom argon blowing flow, and is beneficial to improving the control performance and the robust performance of the ladle bottom argon blowing system.
The technical scheme of the embodiment of the application aims to solve the technical problems, and the overall thought is as follows: acquiring initial argon flow introduced into the ladle bottom argon blowing system;
carrying out argon readjustment operation on the initial argon flow by using a preset ladle bottom argon blowing model control algorithm to obtain an argon control output quantity of the ladle bottom argon blowing system; the ladle bottom argon blowing model control algorithm comprises a pre-constructed hysteresis compensation controller and a flow controller, wherein the hysteresis compensation controller is used for performing compensation control on pure hysteresis generated by initial argon flow of the ladle bottom argon blowing system, and the flow controller is used for performing deviation adjustment on the argon flow of the ladle bottom argon blowing system so as to obtain the argon control output quantity;
and controlling and adjusting the flow of argon introduced into the ladle bottom argon blowing system according to the argon control output quantity.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
First, the term "and/or" appearing herein is merely an association relationship describing associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Fig. 1 is a schematic flow chart of a flow control method of a ladle bottom argon blowing system according to an embodiment of the present application. The method as shown in fig. 1 comprises the following implementation steps:
s101, acquiring initial argon flow introduced into the ladle bottom argon blowing system.
The initial argon flow can be a pre-configured flow set value r, which can be specifically configured by a system in a self-defined manner or can be actively configured by a user, and the application is not limited.
S102, performing argon readjustment operation on the initial argon flow by using a preset ladle bottom argon blowing model control algorithm to obtain an argon control output quantity of the ladle bottom argon blowing system; the ladle bottom argon blowing model control algorithm comprises a pre-constructed hysteresis compensation controller and a flow controller, wherein the hysteresis compensation controller is used for performing compensation control on pure hysteresis generated by initial argon flow of the ladle bottom argon blowing system, and the flow controller is used for performing deviation adjustment on the argon flow of the ladle bottom argon blowing system so as to obtain the argon control output quantity.
In a specific embodiment, the ladle bottom argon blowing model control algorithm mainly comprises the following functions of the following components: an initial argon flow (also referred to as an argon flow given signal) r, a closed-loop reference model, a closed-loop argon blowing model, an output flow deviation e and an adaptive flow controller (also referred to as an adaptive controller). Wherein the closed-loop reference model and the closed-loop argon-blowing model are both preconfigured models including a hysteresis compensation controller (e.g., a Smith predictor). Wherein the closed loop reference model is used for argon flow Predicting, outputting and obtaining predicted argon flow y m The closed loop argon blowing model is used for carrying out real argon flow correction to output and obtain real argon flow y, and the flow controller is used for carrying out deviation adjustment on the argon flow to output and obtain argon control output u. In practical application, an argon flow given signal r acts on the closed-loop reference model to generate an output flow deviation e, and the self-adaptive controller calculates the argon control output quantity (also called a control output variable) u according to the output flow deviation e so as to load the argon control output quantity (also called a control output variable) u into the closed-loop argon blowing model for calculation and correction to obtain y output by the closed-loop argon blowing mode; and continuously and automatically adjusting u according to the output flow deviation e until the output flow deviation e is close to 0, so that the tracking of the argon flow given signal r is realized. Referring to fig. 2, a specific control logic diagram corresponding to the argon flow control method of the present application is shown, and the present application will be described in detail below with reference to fig. 2.
In specific implementation, as shown in fig. 2, the system may first detect and obtain the measured argon flow y (may be referred to as initial real argon flow) of the ladle bottom argon blowing system by using devices such as a sensor, and then output the predicted argon flow y according to the closed-loop reference model m And actually measuring the argon flow y to calculate an output flow deviation e, then calculating a control output variable u of the argon according to the output flow deviation e by the self-adaptive controller, finally introducing the control output variable u into a closed-loop argon blowing model, and ensuring that e is close to 0 by carrying out real-time adjustment on the output flow deviation e, and outputting to obtain the final argon control output quantity.
In an alternative embodiment, before the ladle bottom argon blowing model control algorithm is used, the application can also construct (establish) a mathematical model corresponding to the ladle bottom argon blowing system, and can be simplified into an inertia link plus a delay link, wherein (an expression of) a corresponding first transfer function is shown in the following formula (1):
wherein S is a variable sign of a transfer function, p and q are preset model parameters, and τ is a preset lag time. Optionally, p, q and τ are model parameters that are custom configured for the system.
The argon flow is started to be blown to the system a few minutes before tapping (for example, the first 2 minutes), at this time, the argon set value r and the actually measured argon flow at this stage can be collected, and the identification parameters p, q and τ in the above formula (1) are obtained through system identification.
Related embodiments of closed loop reference model, closed loop argon blowing model, and adaptive controller (i.e., flow controller) creation are described below. In a specific embodiment, the open loop reference model can be determined according to the first conduction function formula (1) corresponding to the mathematical model of the ladle bottom argon blowing system and the identification parameters thereof. The transfer function expression of the open loop reference model is shown in the following formula (2):
Wherein,
wherein a and b are both preconfigured model parameters to be determined, τ 1 Is a preset lag time.
A hysteresis compensation controller (e.g., the Smith predictor of fig. 2) is used to reduce hysteresis in the open loop reference modelIn other words, the hysteresis compensation controller is configured to hysteresis compensate the open loop reference model, and the corresponding transfer function is called a second transfer function, and the expression of the second transfer function is as shown in the following formula (3):
k in FIG. 2 m For the open loop reference modelThe first gain adjustment factor has a corresponding expression as shown in the following formula (4):
further, the application obtains the closed-loop reference model by carrying out closed-loop transfer function deduction on the open-loop reference model through transformation, for example, according to the second transfer function and the first gain adjustment factor, and the corresponding transfer function expression is shown in the following formula (5):
wherein r (S) is the initial argon flow, y m And (S) outputting predicted argon flow for the closed-loop reference model.
In another embodiment, the open-loop argon model can be determined according to the first conduction function formula (1) corresponding to the mathematical model of the ladle bottom argon blowing system and the identification parameters thereof. The transfer function expression of the open loop argon model is shown in the following formula (6):
Wherein,
wherein m and n are both preconfigured model parameters to be determined, τ 2 Is a preset lag time.
A hysteresis compensation controller (e.g., the Smith predictor of fig. 2) is used to reduce hysteresis in the open loop argon modelIn other words, a hysteresis compensation controller can be used to hysteresis compensate the open loop argon model, which is toThe corresponding transfer function is called a third transfer function, and the expression of the third transfer function is as shown in the following formula (7):
k in FIG. 2 p And a second gain adjustment factor for the open loop argon model is expressed as the following formula (8):
further, the application obtains the closed-loop argon model by carrying out closed-loop transfer function deduction on the open-loop argon model according to the third transfer function and the second gain adjustment factor through transformation, and the corresponding transfer function expression is shown as the following formula (9):
and u (S) is the argon control output quantity generated after the argon readjustment operation is performed, and y (S) is the real argon flow output by the closed-loop argon model.
In yet another embodiment, the flow controller constructed in accordance with the present application has a transfer function expressed as shown in equation (10) below:
K c ＝u＝αr-βy+k 0 r formula (10)
Wherein k is 0 And (3) a fixed proportion parameter configured for the system, wherein alpha and beta are adaptive parameters of the controller. The flow controller constructed in this way can ensure that the system has a faster response speed while automatically adjusting.
In practical application, the control law (namely argon control output u) of the flow controller can be designed based on the Lyapunov function (Lyapunov) stability principle. Specifically, a Lyapunov function shown in the following formula (11) is selected:
the error equation for obtaining the Lyapunov function is shown in the following formula (12):
further deriving Lyapunov function V, and introducing into error equation (12) and flow controller (10) to obtainIs shown in the following formula (13):
further, the adaptive law of the controller is calculated as shown in the following formula (14):
bringing the above formula (14) into formula (13)In (c) the lyapunov stability theorem is utilized (specifically satisfying the following conditions:. The:. About.>And V is more than or equal to 0), and a self-adaptive controller with global stability is designed. The finally designed conduction function of the flow controller is specifically shown in the following formula (15):
wherein t is time, lambda 1 、λ 2 And k 0 Are all model parameters which are pre-configured.
Optionally, the application takes the flow set value (namely the initial argon flow r) and the actually measured argon flow y as inputs, calculates and adjusts the argon control output u in real time through the flow controller, and transmits the argon control output u to the ladle bottom blowing argon L1 system (Programmable logic Controller, PLC).
And S103, controlling and adjusting the flow of argon introduced into the ladle bottom argon blowing system according to the argon control output quantity.
According to the ladle bottom argon blowing system PLC, the opening of the argon regulating valve can be regulated in real time according to the argon control output quantity, so that the accurate regulation and control of the argon flow are realized.
To better help understand the present application, fig. 3 shows a specific control block diagram corresponding to flow control of a ladle bottom-blowing argon system in a simulation (Simulink) environment. As shown in fig. 3, the closed loop argon blowing model obtained by system identification isThe selected open loop reference model is +.>The self-adaptive parameters of the selected flow controllers are respectively as follows: k (K) 0 ＝0.65，λ 1 ＝1.8e -4 ，λ 2 ＝3.1e -4 . Assuming that the argon given signal r is a step function with the amplitude of 100, a simulation diagram of the output argon control output (i.e., argon flow) is shown in fig. 4.
Specifically, as shown in fig. 4, a schematic diagram of a simulation curve of argon flow control of a ladle argon blowing system using different flow control methods is shown. As shown in fig. 4, the conventional PID, the scheme of the present application and the fuzzy adaptive PID are used to adjust the argon control output of the computing system, respectively, and the abscissa in fig. 4 represents time and the ordinate represents argon flow. As can be seen from fig. 4: compared with the conventional PID and fuzzy self-adaptive PID scheme, the ladle bottom argon blowing model control algorithm constructed by the application has the advantages of high response speed, no overshoot, high convergence speed and other excellent dynamic and static properties, and can better realize the accurate and rapid adjustment of ladle bottom argon blowing.
By implementing the embodiment of the application, the following beneficial effects are achieved:
1. according to the application, through the hysteresis compensation controller (Smith predictor), the transfer functions of the closed-loop reference model and the closed-loop argon model do not contain pure hysteresis items, the transition time is shortened, the overshoot is reduced, and the dynamic performance of the ladle bottom argon blowing system is improved.
2. According to the application, the model parameters in the mathematical model corresponding to the ladle bottom argon blowing system can be obtained through system identification, and the influence of the model parameters on the argon control performance of the system can be reduced.
3. The self-adaptive controller (flow controller) has simple structure and easy realization, and automatically adjusts the input of a controlled object (argon flow) under the action of the flow controller by selecting a proper reference model, so that the controlled object follows the output of the reference model, and has good dynamic and static performance and robust performance.
Based on the same inventive concept, another embodiment of the application provides a device and a terminal for implementing the ladle bottom argon blowing system flow control method in the embodiment of the application. Please refer to fig. 5, which is a schematic structural diagram of a flow control device of a ladle bottom argon blowing system according to an embodiment of the present application. The apparatus 500 as shown in fig. 5 includes: an acquisition module 501, a processing module 502 and a control module 503, wherein:
The obtaining module 501 is configured to obtain an initial argon flow introduced into the ladle bottom argon blowing system;
the processing module 502 is configured to perform argon readjustment operation on the initial argon flow by using a preset ladle bottom argon blowing model control algorithm to obtain an argon control output of the ladle bottom argon blowing system; the ladle bottom argon blowing model control algorithm comprises a pre-constructed hysteresis compensation controller and a flow controller, wherein the hysteresis compensation controller is used for performing compensation control on pure hysteresis generated by initial argon flow of the ladle bottom argon blowing system, and the flow controller is used for performing deviation adjustment on the argon flow of the ladle bottom argon blowing system so as to obtain the argon control output quantity;
the control module 503 is configured to control and adjust the flow of argon introduced into the ladle bottom argon blowing system according to the argon control output.
Optionally, the ladle bottom argon blowing model control algorithm includes a pre-constructed closed-loop reference model, a closed-loop argon blowing model and the flow controller, where the closed-loop reference model and the closed-loop argon blowing model are both configured with the hysteresis compensation controller, and the processing module 502 is specifically configured to:
Inputting the initial argon flow into the closed-loop reference model for argon flow prediction, and calculating to obtain predicted argon flow;
obtaining real argon flow by using the closed-loop argon blowing model to obtain real argon flow;
and carrying out flow deviation adjustment on the predicted argon flow and the real argon flow by using the flow controller, and calculating to obtain the argon control output quantity of the ladle bottom argon blowing system.
Optionally, the processing module 502 is further specifically configured to:
the initial argon flow is acted on the closed-loop reference model, and output flow deviation is obtained; wherein the output flow deviation is related to the predicted argon flow and the real argon flow;
and adjusting and calculating the argon control output quantity of the ladle bottom argon blowing system according to the output flow deviation by utilizing the flow controller.
Optionally, before the argon readjusting operation is performed on the initial argon flow by using a preset ladle bottom-blowing argon model control algorithm, the apparatus further includes a construction module 504:
the construction module 504 is configured to construct a mathematical model corresponding to the ladle bottom argon blowing system, and obtain a first transfer function corresponding to the mathematical model;
The construction module is also used for constructing a closed-loop reference model and a closed-loop argon blowing model which comprise a hysteresis compensation controller; wherein the closed loop reference model and the closed loop argon blowing model are both related to the first transfer function.
Optionally, the first transfer function is:
wherein S is a variable sign of a transfer function, p and q are preset model parameters, and τ is a preset lag time.
Optionally, the building module 504 is specifically configured to:
determining an open loop reference model according to the first transfer function and the identification parameters thereof; the identification parameters are obtained by carrying out system identification according to the initial argon flow and the acquired actual argon flow;
acquiring a second transfer function and a first gain adjustment factor of the open loop reference model; the second transfer function is a transfer function of the hysteresis compensation controller for hysteresis compensating the open loop reference model;
and performing closed-loop transfer function deduction on the open-loop reference model according to the second transfer function and the first gain adjustment factor, so as to obtain the closed-loop reference model.
Optionally, the transfer function of the open loop reference model is:the second transfer function is G m (S)/>The first gain adjustment factor is +.>The transfer function of the closed loop reference model is that
Wherein a and b are both preconfigured model parameters to be determined, τ 1 For a preset lag time, r (S) is the initial argon flow, y m And (S) outputting predicted argon flow for the closed-loop reference model.
Optionally, the building module 504 is specifically configured to:
determining an open-loop argon model according to the first transfer function and the identification parameters thereof; the identification parameters are obtained by carrying out system identification according to the initial argon flow and the acquired actual argon flow;
acquiring a third transfer function and a second gain adjustment factor of the open-loop argon model; the third transfer function is a transfer function of the hysteresis compensation controller for performing hysteresis compensation on the open-loop argon model;
and performing closed-loop transfer function deduction on the open-loop argon model according to the third transfer function and the second gain adjustment factor, so as to obtain the closed-loop argon model.
Optionally, the transfer function of the open loop argon model is:the third transfer function is G p (S)/>The second gain adjustment factor is +.>The transfer function of the closed loop argon model is
Wherein m and n are both preconfigured model parameters to be determined, τ 2 And u (S) is the argon control output quantity generated after the argon readjustment operation is performed, and y (S) is the real argon flow output by the closed-loop argon model.
According to the embodiment of the application, the initial argon flow input into the ladle bottom argon blowing system is obtained, the argon readjustment operation is carried out on the initial argon flow by utilizing the preset ladle bottom argon blowing model control algorithm, the final argon control output of the system is obtained, and the opening of the argon regulating valve of the system is regulated in real time according to the argon control output, so that the accurate regulation of the argon flow is realized. The ladle bottom argon blowing model control algorithm is adopted to realize automatic identification of model parameters, reduce the influence of the model parameters on the control performance of an argon blowing system, and also relates to a hysteresis compensation controller (for example, a Smith predictor) in the algorithm, which can reduce the adverse effect of a pure hysteresis environment of a system object and can further improve the dynamic and static (control) performance and the robust performance of the ladle bottom argon blowing system.
Fig. 6 is a schematic structural diagram of a terminal according to an embodiment of the present application. The terminal 600 of the present embodiment includes: at least one processor 601, communication interface 602, user interface 603 and memory 604, the processor 601, communication interface 602, user interface 603 and memory 604 may be connected by a bus or otherwise, an embodiment of the present application being exemplified by connection via bus 605. Wherein,
The processor 601 may be a general purpose processor such as a central processing unit (Central Processing Unit, CPU).
The communication interface 602 may be a wired interface (e.g., an ethernet interface) or a wireless interface (e.g., a cellular network interface or using a wireless local area network interface) for communicating with other terminals or websites. The user interface 503 may be a touch panel, including a touch screen and a touch screen, for detecting operation instructions on the touch panel, and the user interface 603 may be a physical button or a mouse. The user interface 603 may also be a display screen for outputting, displaying images or data.
The Memory 604 may include Volatile Memory (RAM), such as random access Memory (Random Access Memory); the Memory may also include a Non-Volatile Memory (Non-Volatile Memory), such as a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); memory 604 may also include a combination of the types of memory described above. The memory 504 is used for storing a set of program codes, and the processor 601 is used for calling the program codes stored in the memory 604 to perform the following operations:
Acquiring initial argon flow introduced into the ladle bottom argon blowing system;
carrying out argon readjustment operation on the initial argon flow by using a preset ladle bottom argon blowing model control algorithm to obtain an argon control output quantity of the ladle bottom argon blowing system; the ladle bottom argon blowing model control algorithm comprises a pre-constructed hysteresis compensation controller and a flow controller, wherein the hysteresis compensation controller is used for performing compensation control on pure hysteresis generated by initial argon flow of the ladle bottom argon blowing system, and the flow controller is used for performing deviation adjustment on the argon flow of the ladle bottom argon blowing system so as to obtain the argon control output quantity;
and controlling and adjusting the flow of argon introduced into the ladle bottom argon blowing system according to the argon control output quantity.
Optionally, the ladle bottom argon blowing model control algorithm includes a pre-constructed closed-loop reference model, a closed-loop argon blowing model and the flow controller, where the closed-loop reference model and the closed-loop argon blowing model are both configured with the hysteresis compensation controller, and the processor 601 is specifically configured to:
inputting the initial argon flow into the closed-loop reference model for argon flow prediction, and calculating to obtain predicted argon flow;
Carrying out real argon flow correction by using the closed-loop argon blowing model to obtain real argon flow;
and carrying out flow deviation adjustment on the predicted argon flow and the real argon flow by using the flow controller, and calculating to obtain the argon control output quantity of the ladle bottom argon blowing system.
Optionally, the processor 601 is specifically configured to:
the initial argon flow is acted on the closed-loop reference model, and output flow deviation is obtained; wherein the output flow deviation is related to the predicted argon flow and the real argon flow;
and adjusting and calculating the argon control output quantity of the ladle bottom argon blowing system according to the output flow deviation by utilizing the flow controller.
Optionally, before the argon readjusting operation is performed on the initial argon flow by using a preset ladle bottom blowing argon model control algorithm, the processor 601 is further configured to:
constructing a mathematical model corresponding to the ladle bottom argon blowing system, and acquiring a first transfer function corresponding to the mathematical model;
constructing a closed-loop reference model and a closed-loop argon blowing model which comprise a hysteresis compensation controller; wherein the closed loop reference model and the closed loop argon blowing model are both related to the first transfer function.
Optionally, the first transfer function is:
wherein S is a variable sign of a transfer function, p and q are preset model parameters, and τ is a preset lag time.
Optionally, the processor 601 is further configured to:
determining an open loop reference model according to the first transfer function and the identification parameters thereof; the identification parameters are obtained by carrying out system identification according to the initial argon flow and the acquired actual argon flow;
acquiring a second transfer function and a first gain adjustment factor of the open loop reference model; the second transfer function is a transfer function of the hysteresis compensation controller for hysteresis compensating the open loop reference model;
and performing closed-loop transfer function deduction on the open-loop reference model according to the second transfer function and the first gain adjustment factor, so as to obtain the closed-loop reference model.
Optionally, the transmission of the open loop reference modelThe transfer function is:the second transfer function isThe first gain adjustment factor is +.>The transfer function of the closed loop reference model is +.>
Wherein a and b are both preconfigured model parameters to be determined, τ 1 For a preset lag time, r (S) is the initial argon flow, y m And (S) outputting predicted argon flow for the closed-loop reference model.
Optionally, the processor 601 is further configured to:
determining an open-loop argon model according to the first transfer function and the identification parameters thereof; the identification parameters are obtained by carrying out system identification according to the initial argon flow and the acquired actual argon flow;
acquiring a third transfer function and a second gain adjustment factor of the open-loop argon model; the third transfer function is a transfer function of the hysteresis compensation controller for performing hysteresis compensation on the open-loop argon model;
and performing closed-loop transfer function deduction on the open-loop argon model according to the third transfer function and the second gain adjustment factor, so as to obtain the closed-loop argon model.
Optionally, the transfer function of the open loop argon model is:the third transfer function is G p (S)/>The second gain adjustment factor is +.>The transfer function of the closed loop argon model is
Wherein m and n are both preconfigured model parameters to be determined, τ 2 And u (S) is the argon control output quantity generated after the argon readjustment operation is performed, and y (S) is the real argon flow output by the closed-loop argon model.
Since the electronic device described in this embodiment is a terminal for implementing the method described in the embodiment of the present application, based on the method described in the embodiment of the present application, those skilled in the art can understand the specific implementation of the terminal in this embodiment and various modifications thereof, so how the method in the embodiment of the present application is implemented by the terminal will not be described in detail herein. The terminals used by those skilled in the art to implement the method in the embodiments of the present application are all within the scope of the present application.
The technical scheme provided by the embodiment of the application at least has the following technical effects or advantages: the initial argon flow input into the ladle bottom argon blowing system is obtained, argon readjustment operation is carried out on the initial argon flow by utilizing a preset ladle bottom argon blowing model control algorithm, the final argon control output of the system is obtained, and then the opening of an argon regulating valve of the system is regulated in real time according to the argon control output, so that accurate regulation of the argon flow is realized. The ladle bottom argon blowing model control algorithm is adopted to realize automatic identification of model parameters, reduce the influence of the model parameters on the control performance of an argon blowing system, and also relates to a hysteresis compensation controller (for example, a Smith predictor) in the algorithm, which can reduce the adverse effect of a pure hysteresis environment of a system object and can further improve the dynamic and static (control) performance and the robust performance of the ladle bottom argon blowing system.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, terminals (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The flow control method of the ladle bottom argon blowing system is characterized by comprising the following steps of:
acquiring initial argon flow introduced into the ladle bottom argon blowing system;
constructing a mathematical model corresponding to the ladle bottom argon blowing system, and acquiring a first transfer function corresponding to the mathematical model;
determining an open loop reference model according to the first transfer function and the identification parameters thereof; the identification parameters are obtained by carrying out system identification according to the initial argon flow and the acquired actual argon flow;
acquiring a second transfer function and a first gain adjustment factor of the open loop reference model; the second transfer function is a transfer function of the hysteresis compensation controller for hysteresis compensation of the open loop reference model;
performing closed-loop transfer function deduction on the open-loop reference model according to the second transfer function and the first gain adjustment factor, so as to obtain the closed-loop reference model; wherein the closed loop reference model and the closed loop argon blowing model are both related to the first transfer function;
Carrying out argon readjustment operation on the initial argon flow by using a preset ladle bottom argon blowing model control algorithm to obtain an argon control output quantity of the ladle bottom argon blowing system; the ladle bottom argon blowing model control algorithm comprises a pre-constructed hysteresis compensation controller and a flow controller, wherein the hysteresis compensation controller is used for performing compensation control on pure hysteresis generated by initial argon flow of the ladle bottom argon blowing system, and the flow controller is used for performing deviation adjustment on the argon flow of the ladle bottom argon blowing system so as to obtain the argon control output quantity;
and controlling and adjusting the flow of argon introduced into the ladle bottom argon blowing system according to the argon control output quantity.
2. The method of claim 1, wherein the ladle bottom argon blowing model control algorithm comprises a pre-built closed-loop reference model, a closed-loop argon blowing model and the flow controller, wherein the closed-loop reference model and the closed-loop argon blowing model are both provided with the hysteresis compensation controller, and the obtaining the argon control output of the ladle bottom argon blowing system by performing argon readjustment operation on the initial argon flow by using the preset ladle bottom argon blowing model control algorithm comprises:
Inputting the initial argon flow into the closed-loop reference model for argon flow prediction, and calculating to obtain predicted argon flow;
carrying out real argon flow correction by using the closed-loop argon blowing model to obtain real argon flow;
and carrying out flow deviation adjustment on the predicted argon flow and the real argon flow by using the flow controller, and calculating to obtain the argon control output quantity of the ladle bottom argon blowing system.
3. The method of claim 2, wherein the calculating the argon control output of the ladle bottom blowing argon system by using the flow controller to perform flow deviation adjustment on the predicted argon flow and the real argon flow comprises:
the initial argon flow is acted on the closed-loop reference model, and output flow deviation is obtained; wherein the output flow deviation is related to the predicted argon flow and the real argon flow;
and adjusting and calculating the argon control output quantity of the ladle bottom argon blowing system according to the output flow deviation by utilizing the flow controller.
4. The method of claim 1, wherein the first transfer function is:
Wherein S is a variable sign of a transfer function, p and q are preset model parameters, and τ is a preset lag time.
5. The method of claim 1, wherein the transfer function of the open loop reference model is:the second transfer function is +.>The first gain adjustment factor is +.>The transfer function of the closed loop reference model is +.>
Wherein a and b are both preconfigured model parameters to be determined, τ 1 For a preset lag time, r (S) is the initial argon flow, y m And (S) the predicted argon flow output by the closed-loop reference model, and S is the variable sign of the transfer function.
6. The method of claim 1, wherein said constructing a closed loop argon model including a hysteresis compensation controller comprises:
determining an open-loop argon model according to the first transfer function and the identification parameters thereof; the identification parameters are obtained by carrying out system identification according to the initial argon flow and the acquired actual argon flow;
acquiring a third transfer function and a second gain adjustment factor of the open-loop argon model; the third transfer function is a transfer function of the hysteresis compensation controller for performing hysteresis compensation on the open-loop argon model;
And performing closed-loop transfer function deduction on the open-loop argon model according to the third transfer function and the second gain adjustment factor, so as to obtain the closed-loop argon model.
7. The method of claim 6, wherein the transfer function of the open loop argon model is:the third transfer function is +.>The second gain adjustment factor isThe transfer function of the closed loop argon model is +.>
Wherein m and n are both preconfigured model parameters to be determined, τ 2 And u (S) is the argon control output quantity generated after the argon readjustment operation is carried out, y (S) is the real argon flow output by the closed-loop argon model, and S is the variable sign of the transfer function.
8. A computer readable storage medium comprising computer instructions which, when run on a terminal, cause the terminal to perform the ladle bottom argon system flow control method of any one of the preceding claims 1-7.
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