Optimum Trajectory Generation for Lower Position Pouring and Outflow Liquid Falling Position Control

摘要

This paper discusses a novel approach of trajectory generation for falling position control of outflow liquid in casting industry. In previous study, the falling position control of outflow liquid is proposed, using model-based control systems. In order to reduce amounts of gas entrainment and splash, it is desirable to pour molten metal from lower position. In this study, desired ladle motion is derived by analytical solution which is considered liquid trajectory and positional relation between a ladle and obstacles. This analytical solution is assumed that a ladle contacts with obstacles at all time of process. Therefore, downward ladle motion is also designed by the polynomial equation. The effectiveness of the proposed approach is verified by laboratory experiments of the automatic pouring system with rectangle-shaped ladle.