Simulation and Control Design of Automatic Pouring System

1. 自动浇注过程是将熔融金属注入模具并将浇注机从一处转移到另一处的浇注过程。在本研究中，四个研究者分别在大学机构（Terashima, Toyohashi University, Toyohashi University, Maeda, Natoya University），铸造机械制造商（Yoshida, Fujiwa Electric Company）和铸造生产制造商（Osada, Osada casting Company）进行了上述两个问题的研究。本研究得到的结果如下：在浇注过程中，考虑流体特性的倾斜式自动浇注系统的建模、仿真与控制。利用二维连续性和含油罐旋转项的Navier-stokes方程建立数学模型。通过实验验证了模型的有效性。分析了罐体形状、转轴位置和罐体旋转角速度等操作变量对浇注过程中流体行为的影响。利用预成型理论进行流量控制和振动控制，保证罐体角度的位置控制。在传递过程中，提出了对液位变化具有鲁棒性的液体容器传递系统。将h∞控制理论应用于该系统，以获得对液位变化的鲁棒性。此外，采用Fletcher Reefves优化方法结合剪切技术合理确定参考轨迹，以抑制晃动（液体振动）。通过仿真和实验，验证了该控制系统的有效性。

1. Automatic pouring process is constructed of a pouring process injecting molten metal into a mold and also transfering a poring machine from a certain place to an another place. In the present researches, the above two problems have been studied among four reserchers working in universities institution (Terashima, Toyohashi University of Technology ; Maeda, Natoya University), casting machine builder (Yoshida, Fujiwa Electric Company) and Casting Production Maker (Osada, Osada Casting Company). The results obtained in this researches are the followings.2. With respect to pouring proces, modelling, simulation and control of an automatic pouring system of tilting-type considering the fluid behavior. A mathematical model is built usitn two dimensional continuity and Navier-stokes equations with the term of tank rotation. Model validity is confirmed by experiments. The effect of operated variables like the tank shape, the position of rotary shaft and the angular velocity of tank rotation is analyzed on the fluid behavior during pouring. Flow rate control and vibration control using preshaping theory guaranteeing the posotion control of tank angle are als given.3. With respect to transferring process, we proposed the liquid container transfer system with the robustness for the change of liquid level. H-infinity control theory has been applied to this system to obtain the robustness for the change of liquid level. Furthermore, a reference trajectory is reasonably determined by an optimization method of Fletcher Reefves combined with a clipping-off technique to suppress the sloshing (liquid vibration). Through simulations and experiments, the effectiveness of the present control system has been demonstrated.