The Development of a Charge Movement Model for Blast Furnace Based on Extended Kalman Filter

2018 ◽  
pp. 661-672
Author(s):  
Jingchu Duan ◽  
Weicun Zhang
Keyword(s):  
Blast Furnace ◽  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Charge Movement ◽  
Movement Model ◽  
A Charge

scholarly journals Investigation of the movement of charge materials in the tray-distributor of the cone-free loading device of the blast furnace

2020 ◽  
Vol 2,2020 (2,2020 (125)) ◽  
pp. 44-53
Author(s):  
Selegej A ◽  
Selegej S
Keyword(s):  
Blast Furnace ◽  
Flow Rate ◽  
Analytical Calculation ◽  
Particle Diameter ◽  
Practical Significance ◽  
Average Particle ◽  
Charge Movement ◽  
Charge Materials ◽  
Loading Device ◽  
A Charge

Objective.Determine the analytical dependence of the profile of granular materials moving on the tray-distributor of the cone-free loading device on the length coordinate. Method. Kinematic and geometrical regularities of movement of charge materials on the distributive body of the cone - free loading device of tray type are considered. It is shown that the dynamics of the flow of charge materials is significantly influenced by such factors as the value of the average particle diameter of the loaded material, physical and mechanical characteristics of the charge, its flow rate, angular velocity of the distributor tray and its angle. Results. The analysis of the obtained results makes it possible to calculate with sufficient accuracy the rate of charge rise from the tray-distributor in the furnace space of the blast furnace. This makes it possible to calculate the trajectory of the charge flow in the furnace space and to obtain the coordinate of the intersection of the trajectory with the surface of the charge backfill on the blast furnace grate. The obtained equation of the profile of the movement of charge materials on the tray-distributor makes it possible to recommend the position of the tray when loading the blast furnace, which prevents the transfer of the charge through the edge of the tray. Scientific novelty. A new method for solving the Cauchy problem for a differential equation describing the flow of a charge through a distributor tray is proposed. It is established that the change in the flow rate of charge materials passing through the tray-distributor significantly affects the configuration of the surface of the charge on the tray, and this, in turn, causes a change in the rate of flow into the furnace space. Studies have shown that the motion parameters are significantly affected by the initial height of the charge materials on the tray. Practical significance. The obtained results allow analytical calculation of the change in the dynamics of the charge movement under the condition of a constant angle of inclination of the tray of the loading device of the blast furnace. This makes it possible to expand the possibilities of automatic correction of the gas dynamics of the blast furnace zone in specific charge conditions.

scholarly journals Performance evaluation of GPS / BDS combined single-point positioning based on RTKLIB

2020 ◽  
Vol 165 ◽  
pp. 03009
Author(s):  
Li Yan-yi ◽  
Huang Jin ◽  
Tang Ming-xiu
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Single Point ◽  
Least Square Method ◽  
Least Square ◽  
Filter Method ◽  
Single System ◽  
Positioning Error ◽  
Dual Mode ◽  
Kalman Filter Method

In order to evaluate the performance of GPS / BDS, RTKLIB, an open-source software of GNSS, is used in this paper. In this paper, the least square method, the weighted least square method and the extended Kalman filter method are respectively applied to BDS / GPS single system for data solution. Then, the BDS system and GPS system are used for fusion positioning and the positioning results of the two systems are compared with that of the single system. Through the comparison of experiments, on the premise of using the extended Kalman filter method for positioning, when the GPS signal is not good, BDS data is introduced for dual-mode positioning, the positioning error in e direction is reduced by 36.97%, the positioning error in U direction is reduced by 22.95%, and the spatial positioning error is reduced by 16.01%, which further reflects the advantages of dual-mode positioning in improving a system robustness and reducing the error.

Comparison of different SLAM approaches for a driverless race car

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Nick Le Large ◽  
Frank Bieder ◽  
Martin Lauer
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Ground Truth ◽  
Time Constraints ◽  
Differential Gps ◽  
Real World Data ◽  
Race Car ◽  
Localization And Mapping ◽  
Slam Algorithm ◽  
Computational Resources

Abstract For the application of an automated, driverless race car, we aim to assure high map and localization quality for successful driving on previously unknown, narrow race tracks. To achieve this goal, it is essential to choose an algorithm that fulfills the requirements in terms of accuracy, computational resources and run time. We propose both a filter-based and a smoothing-based Simultaneous Localization and Mapping (SLAM) algorithm and evaluate them using real-world data collected by a Formula Student Driverless race car. The accuracy is measured by comparing the SLAM-generated map to a ground truth map which was acquired using high-precision Differential GPS (DGPS) measurements. The results of the evaluation show that both algorithms meet required time constraints thanks to a parallelized architecture, with GraphSLAM draining the computational resources much faster than Extended Kalman Filter (EKF) SLAM. However, the analysis of the maps generated by the algorithms shows that GraphSLAM outperforms EKF SLAM in terms of accuracy.

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