Abstract: According to the defect of artificial slag adding and slagging in the machine,a slag adding robot with real-time slag thickness detection and feedback control is developed.That is,on the basis of the open-loop slag adding robot,the laser ranging sensor is applied.Then the real-time information of in-mold slag thickness can be obtained.And the coupling relation of three factors: real-time slag thickness,mold work slagging speed and robot slagging rate is taken into comprehensive consideration.Therefore fuzzy controller is built to realize the fuzzy PID control of the slagging robot feeding electro-mechanical system and achieve the intelligent control of slag thickness in the mold.The simulation and application results show that the slag adding robot based on fuzzy PID control has good effect and quick response.It can realize the protection of slag on demand.

Key words: continuous casting mold, protectable slag, slag thickness control, fuzzy PID control