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1. 发明授权

US08202472B2 Method for controlling a process for automatically pouring molten metal, a system for controlling a servomotor of an automatic pouring apparatus, and a medium for recording programs for controlling a tilting of a ladle 有权
标题翻译：用于控制自动浇注熔融金属的方法的方法，用于控制自动浇注装置的伺服电动机的系统和用于记录用于控制钢包倾斜的程序的介质
公开(公告)号：US08202472B2
公开(公告)日：2012-06-19
申请号：US12597143
申请日：2008-03-28
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
IPC分类号： B22D41/06
CPC分类号： B22D41/06 , B22D37/00 , B22D39/04
摘要： A method for controlling a ladle to pour molten metal into a mold. The method comprises producing a mathematical model describing a relationship between a measured electrical voltage supplied to a servomotor for tilting the ladle and a flow rate of the molten metal flowing out of the ladle when the ladle is tilted; solving an inverse problem of the mathematical model; estimating the flow rate of the molten metal using a state observer having an exponential damping that uses an extended Kalman filter, based on the measured electrical voltage and a weight of the molten metal poured into the mold; processing the flow rate of the molten metal and a target flow rate of the molten metal with a gain-scheduled PI controller; obtaining a target electrical voltage to be supplied to the servomotor; and controlling the servomotor based on the target electrical voltage.
摘要翻译：一种用于控制浇包以将熔融金属倒入模具中的方法。所述方法包括：产生一个数学模型，描述当钢包倾斜时，提供给用于倾斜钢包的伺服电动机的测量电压与从钢包流出的熔融金属的流量之间的关系; 解决数学模型的逆问题; 基于所测量的电压和投入到模具中的熔融金属的重量，使用具有使用扩展卡尔曼滤波器的指数阻尼的状态观察器来估计熔融金属的流量; 用增益调节PI控制器处理熔融金属的流量和熔融金属的目标流量; 获得要提供给伺服电动机的目标电压; 并基于目标电压来控制伺服电动机。

2. 发明授权

US08062578B2 Tilting-type automatic pouring method and a medium that stores programs to control the tilting of a ladle 有权
标题翻译：倾斜式自动浇注方法和存储用于控制钢包倾斜的程序的介质
公开(公告)号：US08062578B2
公开(公告)日：2011-11-22
申请号：US12597876
申请日：2008-04-21
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
IPC分类号： B22D41/06
CPC分类号： B22D41/06 , B22D37/00 , B22D46/00
摘要： A method for controlling a ladle to pour molten metal into a sprue of a mold. The method includes obtaining a mathematical model describing a locus of positions where the molten metal flowing from the ladle drops on an upper surface of the sprue. The method further includes solving an inverse problem of the mathematical model, estimating a position where the molten metal drops using a result of the solving of the inverse problem, and determining target voltages to be supplied to servomotors controlling the ladle. At least the target voltage to be supplied to one of the servomotors is determined based on the estimated position. The method also includes controlling the servomotors based on respective target voltages.
摘要翻译：一种用于控制浇包以将熔融金属倒入模具的浇道中的方法。该方法包括获得描述从钢包流出的熔融金属在浇道的上表面上落下的位置轨迹的数学模型。该方法还包括解决数学模型的逆问题，使用解决逆问题的结果估计熔融金属滴落的位置，以及确定要提供给控制钢包的伺服电动机的目标电压。至少要提供给伺服电动机之一的目标电压基于估计位置来确定。该方法还包括基于相应的目标电压来控制伺服电动机。

3. 发明授权

US08114338B2 Tilting-type automatic pouring method and storage medium 有权
标题翻译：倾斜式自动浇注方法和储存介质
公开(公告)号：US08114338B2
公开(公告)日：2012-02-14
申请号：US12597860
申请日：2008-02-19
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Makio Suzuki , Kazuhiro Ota
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Makio Suzuki , Kazuhiro Ota
IPC分类号： C21B13/00
CPC分类号： B22D41/06 , B22D37/00 , B22D46/00
摘要： A tilting-type automatic pouring method for pouring molten metal from a ladle with an outflow position into a mold. The method includes tilting the ladle forward to pour molten metal into the mold, measuring a weight of poured molten metal, calculating a flow rate of the molten metal flowing out of the ladle based on the measured weight of poured molten metal, estimating a weight of molten metal that will be poured during a backward tilting. The method also includes estimating a total weight of molten metal based on the measured weight of poured molten metal and the estimated weight of molten metal that will be poured during the backward tilting and comparing the estimated total weight of molten metal to a predetermined weight. When the estimated total weight is equal to or larger than the predetermined weight, the backward tilting is started.
摘要翻译：一种用于将熔融金属从具有流出位置的钢包浇铸到模具中的倾斜式自动浇注方法。该方法包括向前倾斜浇包以将熔融金属倒入模具中，测量浇注的熔融金属的重量，计算流出钢包的熔融金属的流量，基于所测量的浇注熔融金属的重量，估计重量在向后倾斜期间将倾倒的熔融金属。该方法还包括基于所测量的浇注熔融金属重量和在向后倾斜期间将被浇注的熔融金属的估计重量来估计熔融金属的总重量，并将预计熔融金属的总重量与预定重量进行比较。当估计总重量等于或大于预定重量时，开始向后倾斜。

4. 发明申请

US20100059555A1 TILTING-TYPE AUTOMATIC POURING METHOD AND A MEDIUM THAT STORES PROGRAMS TO CONTROL THE TILTING OF A LADLE 有权
标题翻译：倾斜式自动浸渍方法和储存控制梯子倾斜程序的介质
公开(公告)号：US20100059555A1
公开(公告)日：2010-03-11
申请号：US12597876
申请日：2008-04-21
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
IPC分类号： B22D41/06
CPC分类号： B22D41/06 , B22D37/00 , B22D46/00
摘要： (Problems to be Solved) This invention provides a method that enables molten metal that flows from ladles to drop precisely into a sprue of a mold.(Means to Solve the Problems) The input voltage that is to be supplied to each of the servomotors is controlled so that the molten metal that flows from the ladle drops precisely into a sprue of a mold, the respective servomotors tilting the ladle, moving the ladle backward and forward, and moving the ladle up and down, wherein the method comprises: obtaining a mathematical model covering the locus of the positions where the molten metal that flows from the ladle drops, solving the inverse problem of the mathematical model thus obtained; estimating the position where the molten metal drops from the term for the estimated flow of the molten metal and the term for the estimated position where the molten metal drops; and processing the data on the estimated position where the molten metal drops, whereby the pouring of the molten metal is effected by determining the electrical voltages to be supplied to the respective servomotors, which tilt the ladle, move the ladle backward and forward, and move the ladle up and down, and controlling the three motors based on the electrical voltages thus determined.
摘要翻译：（待解决的问题）本发明提供一种能够使从熔池流出的熔融金属精确地落入模具的浇道中的方法。（解决问题的手段）控制供给到各伺服电动机的输入电压，使得从钢包流出的熔融金属精确地落入模具的浇道中，各个伺服电动机倾斜钢包，钢包向后和向前移动，并且上下移动钢包，其中所述方法包括：获得覆盖从钢包流出的熔融金属的位置的轨迹的数学模型，解决由此获得的数学模型的逆问题; 估计熔融金属从熔融金属的估计流量的术语下降的位置以及熔融金属滴下的估计位置的项; 并且处理熔融金属的估计位置上的数据，从而通过确定供给到各个伺服电机的电压来实现熔融金属的倾倒，该电动机倾斜钢包，向后并向前移动钢包，并且移动钢包上下，并根据这样确定的电压控制三台电动机。

5. 发明申请

US20100133302A1 TILTING-TYPE AUTOMATIC POURING METHOD AND STORAGE MEDIUM 有权
标题翻译：倾斜式自动浇注方法和储存介质
公开(公告)号：US20100133302A1
公开(公告)日：2010-06-03
申请号：US12597860
申请日：2008-02-19
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Makio Suzuki , Kazuhiro Ota
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Makio Suzuki , Kazuhiro Ota
IPC分类号： B22D41/06 , B22D46/00 , G06F19/00
CPC分类号： B22D41/06 , B22D37/00 , B22D46/00
摘要： The present invention provides a tilting-type automatic pouring method wherein a very speedy and highly accurate pouring can be realized, which method pours molten metal into a mold by tilting a ladle that holds the molten metal, and the present invention also provides the storage medium for programs used for the method.The tilting-type automatic pouring method of the present invention uses a) the relationship of (1) the height of the molten metal during backward tilting of the ladle, which height is calculated from the height of the molten metal above the outflow position, which height decreases, when the forward tilting of the ladle stops and from the height of the molten metal that is above the outflow position and that decreases after the backward tilting of the ladle starts, and (2) the weight of the molten metal poured from the ladle into the mold, and b) the model expression for the flow of the molten metal, which expression defines the weight of the molten metal that flows from the ladle into the mold.In the tilting-type automatic pouring method of the present invention, the final weight of the molten metal that is poured is estimated by assuming that the final weight of the molten metal that is poured from the forward tilting of the ladle to its backward tilting is equal to the sum of the weight of the molten metal that is poured at the start of the backward tilting and the weight of the molten metal that is poured after the start of the backward tilting.
摘要翻译：本发明提供了一种倾斜型自动倾倒方法，其中可以实现非常快速和高精度的浇注，该方法通过倾斜保持熔融金属的钢包将熔融金属浇注到模具中，并且本发明还提供了存储介质用于该方法的程序。本发明的倾斜式自动倾倒方法使用a）（1）钢包的后倾时的熔融金属的高度的关系，该高度是从流出位置上方的熔融金属的高度算出的，当钢包的向前倾斜停止时，高度降低，并且从钢包的后倾位置开始时，熔融金属的高度高于流出位置并减小的高度，以及（2）从浇铸到模具中，以及b）熔融金属流动的模型表达式，其表达式定义从钢包流入模具的熔融金属的重量。在本发明的倾斜式自动浇注方法中，通过假设从钢包的向前倾斜向后倾的方式浇注的熔融金属的最终重量是通过假定浇注的熔融金属的最终重量是等于在向后倾斜开始时浇注的熔融金属的重量与在向后倾斜开始之后注入的熔融金属的重量之和。

6. 发明申请

US20100116855A1 METHOD FOR CONTROLLING A PROCESS FOR AUTOMATICALLY POURING MOLTEN METAL, A SYSTEM FOR CONTROLLING A SERVOMOTOR OF AN AUTOMATIC POURING APPARATUS, AND A MEDIUM FOR RECORDING PROGRAMS FOR CONTROLLING A TILTING OF A LADLE 有权
标题翻译：用于控制自动浇铸金属的方法的方法，用于控制自动浇注装置的伺服电机的系统以及用于控制倾斜倾斜的记录程序的介质
公开(公告)号：US20100116855A1
公开(公告)日：2010-05-13
申请号：US12597143
申请日：2008-03-28
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
IPC分类号： B22D37/00 , B22D39/00
CPC分类号： B22D41/06 , B22D37/00 , B22D39/04
摘要： The present invention provides a method for controlling a process for automatically pouring molten metal by a tilted ladle, wherein the pouring can be performed in a manner that is as close as possible to that of an experienced operator by using a computer that has programs installed for such purpose.The method to control the automatic pouring of molten metal by a ladle comprises controlling a servomotor, corresponding to the desired flow pattern of the molten metal, so that the molten metal can be poured into a mold, wherein the servomotor, which tilts the ladle to pour the molten metal in a mold, is controlled by a computer that has programs installed that control the process of pouring, the method comprising: producing a mathematical model covering the electrical voltage that is supplied to the servomotor for tilting the ladle to a rate of the flow of the molten metal poured by the tilted ladle, solving the inverse problem of the mathematical model thus produced, estimating the rate of the flow of the molten metal by an observer having an exponential damping that uses an extended Kalman filter, based on an electrical voltage being supplied to the servomotor and the weight of the molten metal poured into the mold that is measured by weighing equipment, wherein the measurement is calibrated by eliminating errors caused by the movement of the center of gravity of the object to be measured, treating the rate of the flow of the molten metal and the targeted rate of the flow of the molten metal with a gain-scheduled PI controller, obtaining data on the electrical voltage to be supplied to the servomotor thereby, and controlling the servomotor based on the data on the electrical voltage thus obtained and to be supplied to the servomotor.
摘要翻译：本发明提供了一种用于控制通过倾斜钢包自动浇注熔融金属的方法的方法，其中可以通过使用具有安装程序的计算机以尽可能接近有经验的操作者的方式来进行倾倒这样的目的通过浇包来控制熔融金属的自动浇注的方法包括控制对应于熔融金属的期望流动模式的伺服电机，使得熔融金属可以倒入模具中，其中伺服电机将钢包倾斜将熔融金属浇注在模具中，由具有控制浇注过程的程序的计算机控制，该方法包括：产生覆盖提供给伺服电机的电压的数学模型，以将钢包倾斜至通过倾斜的钢包浇注的熔融金属的流动，解决由此产生的数学模型的逆问题，基于使用扩展卡尔曼滤波器的具有指数阻尼的观察者估计熔融金属的流动速率，供给伺服电动机的电压和通过称量设备测量的浇注到模具中的熔融金属的重量，其中测量是通过消除由被测量物质的重心运动引起的错误，用增益调节PI控制器处理熔融金属的流量和熔融金属流的目标速率来进行校准，获得关于要提供给伺服电动机的电压的数据，并且基于由此获得的电压的数据来控制伺服电动机并将其提供给伺服电动机。

7. 发明申请

US20130041493A1 METHOD FOR AUTOMATICALLY POURING MOLTEN METAL BY TILTING A LADLE AND A MEDIUM FOR RECORDING PROGRAMS FOR CONTROLLING A TILT OF A LADLE 有权
标题翻译：用于自动倾斜金属的方法，通过倾斜拉杆和用于记录梯度的记录程序的介质
公开(公告)号：US20130041493A1
公开(公告)日：2013-02-14
申请号：US13642316
申请日：2011-01-26
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Ryusuke Fukushima , Makio Suzuki , Kazuhiro Ota , Hiroyasu Makino
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Ryusuke Fukushima , Makio Suzuki , Kazuhiro Ota , Hiroyasu Makino
IPC分类号： G06F17/50
CPC分类号： B22D41/06 , B22D35/04 , B22D37/00
摘要： The purpose of the present invention is to provide a method for accurately dropping molten metal that flows from a ladle into a pouring gate in a mold. The present invention includes a method for controlling the respective input voltages transmitted to a servomotor that tilts the ladle such that the molten metal that flows from the ladle drops accurately into the pouring gate in the mold, a servomotor that moves the ladle back and forth, and a servomotor that moves the ladle up and down, by using a computer. In the method, a mathematical model of the area on which the molten metal that flows from the ladle will drop is produced, and then the inverse problem of the produced mathematical model is solved. In view of the effect of a contracted flow, the position on which molten metal drops is estimated by the estimating device for estimating the pouring rate and the estimating device for estimating the position on which molten metal will drop. Then the estimated position is calculated by a computer. Thereby the respective input voltages transmitted to the servomotor that tilts the ladle, the servomotor that moves the ladle back and forth, and the servomotor that moves the ladle up and down, are obtained. Then the three respective servomotors are controlled based on the obtained input voltages.
摘要翻译：本发明的目的是提供一种将从钢包流出的熔融金属精确地倒入模具中的浇注浇口的方法。本发明包括一种用于控制传输到伺服电机的各个输入电压的方法，所述伺服电机倾斜钢包，使得从钢包流出的熔融金属精确地落入模具中的浇注浇口中，使来回移动钢桶的伺服电动机，以及通过使用计算机将钢包上下移动的伺服电机。在该方法中，产生从钢包流出的熔融金属落下的区域的数学模型，然后解决所产生的数学模型的逆问题。鉴于收缩流的影响，通过用于估计浇注速率的估计装置估计熔融金属液滴的位置和用于估计熔融金属将下降的位置的估计装置。然后，计算机计算估计的位置。从而获得传递给伺服电机的各个输入电压，其倾斜钢包，来回移动钢桶的伺服电动机和上下移动钢桶的伺服电动机。然后基于获得的输入电压来控制三个相应的伺服电动机。

8. 发明申请

US20120109354A1 TILTING-TYPE AUTOMATIC MOLTEN METAL POURING METHOD, TILTING CONTROL SYSTEM, AND STORAGE MEDIUM HAVING TILTING CONTROL PROGRAM STORED THEREIN 有权
标题翻译：倾斜式自动轧制金属浇注方法，倾斜控制系统和存储有倾斜控制程序的存储介质
公开(公告)号：US20120109354A1
公开(公告)日：2012-05-03
申请号：US13266756
申请日：2010-03-31
申请人： Kazuhiko Terashima , Yoshiyuki Noda , Makio Suzuki , Hiroyasu Makino , Kazuhiro Ota
发明人： Kazuhiko Terashima , Yoshiyuki Noda , Makio Suzuki , Hiroyasu Makino , Kazuhiro Ota
IPC分类号： G06F17/00 , B22D41/06
CPC分类号： B22D39/04 , B22D37/00 , B22D41/06
摘要： A method of automatically pouring molten metal from a ladle into a mold by tilting the ladle. In the method, the height of molten metal located above a molten metal outlet and the weight of molten metal flowing out of the ladle are estimated using an expanded Kalman filter on the basis of: the weight of the molten metal flowing out of the ladle, said weight being measured using a load cell; the voltage inputted to a servo motor; the angle of tilt of the ladle measured by a rotary encoder; and the position of the ladle in the lifting and lowering direction thereof. The sum of the weight of the molten metal flowing out of the ladle when the ladle is tilted rearward, said weight being estimated from the angle of tilt of the ladle and the height of the molten metal located above the molten metal outlet estimated by the expanded Kalman filter, and the weight of the molten metal flowing out of the ladle estimated by the expanded Kalman filter are estimated as the final weight of outflowing molten metal. The estimated final weight of outflowing molten metal is determined whether or not to be greater than or equal to a specific weight of outflow, and the operation of rearward tilting of the ladle is started on the basis of the result of the determination.
摘要翻译：通过倾斜钢包将熔融金属从浇包自动浇注到模具中的方法。在该方法中，使用扩展卡尔曼滤波器估计位于熔融金属出口上方的熔融金属的高度和从钢包流出的熔融金属的重量，其基于：从钢包流出的熔融金属的重量，所述重量使用称重传感器测量; 输入到伺服电机的电压; 由旋转编码器测量的钢包的倾斜角度; 以及钢包在其提升和降低方向上的位置。当钢包向后倾斜时，从浇包中流出的熔融金属的重量的总和，所述重量是根据钢包的倾斜角度和位于熔融金属出口上方的熔融金属的高度来估计的卡尔曼滤波器和由膨胀卡尔曼滤波器估计的从钢包流出的熔融金属的重量被估计为流出熔融金属的最终重量。确定流出的熔融金属的估计最终重量是否大于或等于流出的特定重量，并且基于确定的结果开始钢包的向后倾斜的操作。

9. 发明授权

US09248498B2 Method for automatically pouring molten metal by tilting a ladle and a medium for recording programs for controlling a tilt of a ladle 有权
标题翻译：通过倾斜浇包和用于记录用于控制浇包倾斜的程序的介质来自动浇注熔融金属的方法
公开(公告)号：US09248498B2
公开(公告)日：2016-02-02
申请号：US13642316
申请日：2011-01-26
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Ryusuke Fukushima , Makio Suzuki , Kazuhiro Ota , Hiroyasu Makino
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Ryusuke Fukushima , Makio Suzuki , Kazuhiro Ota , Hiroyasu Makino
IPC分类号： G06F19/00 , C21B15/00 , C21B7/12 , C21B7/24 , B67D7/84 , B22D35/00 , B22D45/00 , B22D41/00 , B22D37/00 , G04C1/12 , G04C23/00 , B22D23/00 , B22D41/06 , B22D35/04
CPC分类号： B22D41/06 , B22D35/04 , B22D37/00
摘要： A method for controlling the respective input voltages transmitted to a servomotor that tilts the ladle such that the molten metal that flows from the ladle drops accurately into the pouring gate in the mold, a servomotor that moves the ladle back and forth, and a servomotor that moves the ladle up and down, by using a computer. In the method, a mathematical model of the area on which the molten metal that flows from the ladle will drop is produced, and then the inverse problem of the produced mathematical model is solved. In view of the effect of a contracted flow, the position on which molten metal drops is estimated by the estimating device for estimating the pouring rate and the estimating device for estimating the position on which molten metal will drop.
摘要翻译：一种用于控制传输到伺服电机的各个输入电压的方法，该伺服电动机倾斜钢包，使得从钢包流出的熔融金属精确地落入模具中的浇注浇口中，来回移动钢包的伺服电动机和伺服电动机，通过使用电脑将钢包上下移动。在该方法中，产生从钢包流出的熔融金属落下的区域的数学模型，然后解决所产生的数学模型的逆问题。鉴于收缩流的影响，通过用于估计浇注速率的估计装置估计熔融金属液滴的位置和用于估计熔融金属将下降的位置的估计装置。

10. 发明授权

US08875960B2 Tilting-type automatic molten metal pouring method, tilting control system, and storage medium having tilting control program stored therein 有权
标题翻译：倾斜式自动熔融金属浇注方法，倾斜控制系统和存储有倾斜控制程序的存储介质
公开(公告)号：US08875960B2
公开(公告)日：2014-11-04
申请号：US13266756
申请日：2010-03-31
申请人： Kazuhiko Terashima , Yoshiyuki Noda , Makio Suzuki , Hiroyasu Makino , Kazuhiro Ota
发明人： Kazuhiko Terashima , Yoshiyuki Noda , Makio Suzuki , Hiroyasu Makino , Kazuhiro Ota
IPC分类号： G06F17/00 , B22D41/04 , B22D41/06 , B22D39/04 , B22D37/00
CPC分类号： B22D39/04 , B22D37/00 , B22D41/06
摘要： A method of automatically pouring molten metal from a ladle into a mold by tilting the ladle. In the method, the height of molten metal located above a molten metal outlet and the weight of molten metal flowing out of the ladle are estimated using an expanded Kalman filter on the basis of: the weight of the molten metal flowing out of the ladle, said weight being measured using a load cell; the voltage inputted to a servo motor; the angle of tilt of the ladle measured by a rotary encoder; and the position of the ladle in the lifting and lowering direction thereof. The sum of the weight of the molten metal flowing out of the ladle when the ladle is tilted rearward, said weight being estimated from the angle of tilt of the ladle and the height of the molten metal located above the molten metal outlet estimated by the expanded Kalman filter, and the weight of the molten metal flowing out of the ladle estimated by the expanded Kalman filter are estimated as the final weight of outflowing molten metal. The estimated final weight of outflowing molten metal is determined whether or not to be greater than or equal to a specific weight of outflow, and the operation of rearward tilting of the ladle is started on the basis of the result of the determination.
摘要翻译：通过倾斜钢包将熔融金属从浇包自动浇注到模具中的方法。在该方法中，使用扩展卡尔曼滤波器估计位于熔融金属出口上方的熔融金属的高度和从钢包流出的熔融金属的重量，其基于：从钢包流出的熔融金属的重量，所述重量使用称重传感器测量; 输入到伺服电机的电压; 由旋转编码器测量的钢包的倾斜角度; 以及钢包在其提升和降低方向上的位置。当钢包向后倾斜时，从浇包中流出的熔融金属的重量的总和，所述重量是根据钢包的倾斜角度和位于熔融金属出口上方的熔融金属的高度来估计的卡尔曼滤波器和由膨胀卡尔曼滤波器估计的从钢包流出的熔融金属的重量被估计为流出熔融金属的最终重量。确定流出的熔融金属的估计最终重量是否大于或等于流出的特定重量，并且基于确定的结果开始钢包的向后倾斜的操作。

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