CN107165875A - A kind of section steel cooling bed step rate translates hydraulic cylinder synchronization control method - Google Patents
A kind of section steel cooling bed step rate translates hydraulic cylinder synchronization control method Download PDFInfo
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- CN107165875A CN107165875A CN201710594561.2A CN201710594561A CN107165875A CN 107165875 A CN107165875 A CN 107165875A CN 201710594561 A CN201710594561 A CN 201710594561A CN 107165875 A CN107165875 A CN 107165875A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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Abstract
Hydraulic cylinder synchronization control method is translated the invention discloses a kind of section steel cooling bed step rate, belongs to hydraulic pressure drive control system field.During principal and subordinate's translation hydraulic cylinder synchronous movement, if actively translating sync bit deviation feasible value of the position deviation beyond setting of hydraulic cylinder in desired moving direction and most slow driven translation hydraulic cylinder, transfinited by actively translating sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder and control unit and mobile most slow driven translation hydraulic cylinder and actively translate the control unit control of transfiniting of hydraulic cylinder synchronous position deviation and actively translate hydraulic cylinder and the movement most driven sync bit deviation translated between hydraulic cylinder slowly, it is in the range of sync bit deviation feasible value.This method can not only avoid influenceing the operating efficiency of trolley under cold bed because the translation of cold bed step rate is asynchronous, but also plant maintenance workload and expense that cold bed step rate translates hydraulic system can be greatly lowered.
Description
Technical field
The present invention relates to hydraulic pressure drive control system field, hydraulic pressure is translated more specifically to a kind of section steel cooling bed step rate
Cylinder synchronisation control means.
Background technology
H profile steel cold bed (abbreviation cold bed) is generally put and moved H profile steel using step rate mode, and cold bed step rate is existing
Whole segmentation also has multisection type (being usually four sections).For (such as independent cold bed stepping of four sections of Ma Gang great H profile steels of multisection type step rate
Beam), every section of step rate then completes translational movement using independent hydraulic cylinder.For the flat of four sections of independent cold bed step rates of H profile steel
Synchronization Control is moved, conventional control mode is at present：One is selected in four sections of independent section steel cooling bed step rate translation hydraulic cylinders
Section steel cooling bed step rate translates hydraulic cylinder as active cold bed step rate and translates hydraulic cylinder (hereinafter referred to as actively translating hydraulic cylinder),
Remaining section steel cooling bed step rate translation hydraulic cylinder then translates hydraulic cylinder (hereinafter referred to as driven translation as driven cold bed step rate
Hydraulic cylinder), hydraulic cylinder, or driven translation hydraulic cylinder are whether actively translated, each hydraulic cylinder is closed using independent position
Ring is controlled,；The position set-point of each hydraulic cylinder is identical, and actual position value is then given by the position sensor of each hydraulic cylinder
Go out；For actively translating hydraulic cylinder, the output valve of the position control in its position closed loop exported through ramp generator after be
The control voltage of the hydraulic cylinder proportional control valve, and for driven translation hydraulic cylinder, then by the position adjustments in its position closed loop
The output valve of device as its proportional control valve main control voltage, and by principal and subordinate translate hydraulic cylinder physical location deviation be multiplied by one
As the additional control voltage of driven translation hydraulic cylinder proportional control valve after individual fixed coefficient, both accumulated values are through ramp generator
The control voltage that driven translation hydraulic cylinder proportional control valve is total is used as after output.The driven translation hydraulic cylinder proportional control valve of increase is attached
Plus control voltage, the purpose is to the shifting of the driven translation hydraulic cylinder of the physical location deviation dynamic corrections that hydraulic cylinder is translated based on principal and subordinate
Dynamic speed, so as to realize that driven translation hydraulic cylinder follows its actively to translate hydraulic cylinder, is derived from the dynamic of principal and subordinate's translation hydraulic cylinder
State synchronizing moving.However, synchronous control mode is translated for this conventional H profile steel cold bed step rate, when any one is driven
Translation hydraulic cylinder occur letting out in larger in step rate translation motion or step rate occur in translation motion it is a certain degree of
During card group, this it is driven translation hydraulic cylinder in translation motion may with actively translate hydraulic cylinder exist it is of short duration or nonsynchronous all the time
Phenomenon.The translation of the independent cold bed step rate of four sections of Ma Gang great H profile steels also uses this conventional synchronous control mode, in actual life
During production, the translation of this four sections independent cold bed step rates causes H profile steel in the cold bed port of export there is also serious asynchrony phenomenon
Appearance is serious crooked, and thus connecing steel automatically to trolley under cold bed makes troubles, the operating efficiency of trolley under influence cold bed.
The content of the invention
1. the invention technical problem to be solved
The shortcomings and deficiencies existed for prior art, hydraulic cylinder is translated the invention provides a kind of section steel cooling bed step rate
Synchronisation control means, this method can not only realize the synchronous translational of multistage independence cold bed step rate, and to cold bed step rate
Translating the performer of hydraulic control system has very high fault-tolerance, is remained in the case of such as being let out in translation hydraulic cylinder occurs
The synchronizing moving of each translation hydraulic cylinder is realized, the service life of translation hydraulic cylinder is increased dramatically.
2. technical scheme
To reach above-mentioned purpose, the technical scheme that the present invention is provided is：
A kind of section steel cooling bed step rate of the present invention translates hydraulic cylinder synchronization control method, and its step is：
Step one：During principal and subordinate's translation hydraulic cylinder synchronous movement, if actively translating hydraulic cylinder in desired movement
The position deviation of direction and most slow driven translation hydraulic cylinder is translated beyond the sync bit deviation feasible value of setting by active
Sync bit deviation transfinites control unit and mobile most slow driven translation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder
Hydraulic cylinder and actively translate hydraulic cylinder synchronous position deviation transfinite control unit control actively translate hydraulic cylinder and movement most slowly from
Sync bit deviation between dynamic translation hydraulic cylinder, is in the range of sync bit deviation feasible value；
Step 2：Actively translate hydraulic cylinder with it is driven translation hydraulic cylinder synchronous moving process in, if actively translating hydraulic pressure
Position deviation between cylinder and most slow driven translation hydraulic cylinder exceeds setting range, is repaiied by actively translating hydraulic cylinder synchronous tolerance speed
Positive unit is modified to the translational speed for actively translating hydraulic cylinder, and any one driven translation hydraulic cylinder is with actively translating liquid
Position deviation between cylinder pressure exceeds setting range, driven flat to this by the driven translation hydraulic cylinder synchronous tolerance speed amending unit
The translational speed of liquid relief cylinder pressure is modified；
Step 3：It is manually advanced in step rate and provides period with retreating instruction, is linked manually by actively translating hydraulic cylinder
Synchronous control unit with it is driven translation hydraulic cylinder link manually synchronous control unit control actively translate hydraulic cylinder and driven translation
Hydraulic cylinder synchronizes movement；
Step 4：In cold bed step rate auto-translating position set-point Szcwg less or greater than actively translating hydraulic cylinder
Actual position value Sm.act and both difference exceed position deviation feasible value when, it is same by actively translating hydraulic cylinder automatic linkage
Step control unit actively to translate hydraulic cylinder actual position value Sm.act and cold bed step rate auto-translating position set-point
Szcwg difference is in the range of position deviation feasible value；
Step 5：In cold bed step rate auto-translating position set-point Szcwg less or greater than driven translation hydraulic cylinder
Actual position value Ssn.act and both difference exceed position deviation feasible value when, pass through it is driven translation hydraulic cylinder automatic linkage
Synchronous control unit causes driven translation hydraulic cylinder actual position value Ssn.act and cold bed step rate auto-translating position set-point
Szcwg difference is in the range of position deviation feasible value.
Further, the described sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder that actively translates surpasses
Limit control unit include functional block XLBTC01~XLBTC11, XLBTC16~XLBTC18, XLBTC26, XLBTC27 and
XLBTC29~XLBTC31.
Further, the most slow driven translation hydraulic cylinder of described movement and sync bit deviation is super between actively translating hydraulic cylinder
Limiting control unit includes functional block XLBTC100~XLBTC102.
Further, it is described actively translate hydraulic cylinder synchronous tolerance speed amending unit including functional block XLBTC37~
XLBTC41。
Further, described driven translation hydraulic cylinder synchronous tolerance speed amending unit include functional block XLBTC119~
XLBTC123。
Further, it is described actively translate hydraulic cylinder link manually synchronous control unit including functional block XLBTC12~
XLBTC15, XLBTC20~XLBTC25, XLBTC33, XLBTC42~XLBTC47 and XLBTC50~XLBTC53.
Further, described driven translation hydraulic cylinder link manually synchronous control unit including functional block XLBTC103~
XLBTC107, XLBTC115, XLBTC124, XLBTC125 and XLBTC128~XLBTC132.
Further, it is described actively translate hydraulic cylinder automatic linkage synchronous control unit including functional block XLBTC26~
XLBTC36, XLBTC42~XLBTC46 and XLBTC48~XLBTC54.
Further, described driven translation hydraulic cylinder automatic linkage synchronous control unit include functional block XLBTC108~
XLBTC118, XLBTC124~XLBTC127 and XLBTC129~XLBTC133.
3. beneficial effect
The technical scheme provided using the present invention, compared with prior art, is had the advantages that：
The present invention a kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method, this method can not only avoid because
Cold bed step rate translates operating efficiency that is asynchronous and influenceing trolley under cold bed, but also cold bed step rate can be greatly lowered
Translate the plant maintenance workload and expense of hydraulic system.
Embodiment
With reference to embodiment, the invention will be further described：
Embodiment 1
Step one：During principal and subordinate's translation hydraulic cylinder synchronous movement, if actively translating hydraulic cylinder in desired movement
The position deviation of direction and most slow driven translation hydraulic cylinder is translated beyond the sync bit deviation feasible value of setting by active
Sync bit deviation transfinites control unit and mobile most slow driven translation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder
Hydraulic cylinder and actively translate hydraulic cylinder synchronous position deviation transfinite control unit control actively translate hydraulic cylinder and movement most slowly from
Sync bit deviation between dynamic translation hydraulic cylinder, is in the range of sync bit deviation feasible value；
Step 2：Actively translate hydraulic cylinder with it is driven translation hydraulic cylinder synchronous moving process in, if actively translating hydraulic pressure
Position deviation between cylinder and most slow driven translation hydraulic cylinder exceeds setting range, is repaiied by actively translating hydraulic cylinder synchronous tolerance speed
Positive unit is modified to the translational speed for actively translating hydraulic cylinder, and any one driven translation hydraulic cylinder is with actively translating liquid
Position deviation between cylinder pressure exceeds setting range, driven flat to this by the driven translation hydraulic cylinder synchronous tolerance speed amending unit
The translational speed of liquid relief cylinder pressure is modified；
Step 3：It is manually advanced in step rate and provides period with retreating instruction, is linked manually by actively translating hydraulic cylinder
Synchronous control unit with it is driven translation hydraulic cylinder link manually synchronous control unit control actively translate hydraulic cylinder and driven translation
Hydraulic cylinder synchronizes movement；
Step 4：In cold bed step rate auto-translating position set-point Szcwg less or greater than actively translating hydraulic cylinder
Actual position value Sm.act and both difference exceed position deviation feasible value when, it is same by actively translating hydraulic cylinder automatic linkage
Step control unit actively to translate hydraulic cylinder actual position value Sm.act and cold bed step rate auto-translating position set-point
Szcwg difference is in the range of position deviation feasible value；
Step 5：In cold bed step rate auto-translating position set-point Szcwg less or greater than driven translation hydraulic cylinder
Actual position value Ssn.act and both difference exceed position deviation feasible value when, pass through it is driven translation hydraulic cylinder automatic linkage
Synchronous control unit causes driven translation hydraulic cylinder actual position value Ssn.act and cold bed step rate auto-translating position set-point
Szcwg difference is in the range of position deviation feasible value.
A kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method of the present embodiment, it is same in principal and subordinate's translation hydraulic cylinder
During moved further, if the position for actively translating hydraulic cylinder in desired moving direction and most slow driven translation hydraulic cylinder is inclined
Difference is more than or equal to the sync bit deviation feasible value (such as 2 millimeters) of setting, most slow driven with movement actively translating hydraulic cylinder
During sync bit deviation transfinites control unit between translation hydraulic cylinder, section steel cooling bed is obtained by functional block XLBTC01~XLBTC07
Step rate actively translates minimum value (the i.e. △ of the difference of Position of Hydraulic Cylinder value and each driven translation Position of Hydraulic Cylinder value when retreating mobile
Sms.b.min)；Obtained by functional block XLBTC01~XLBTC03 and XLBTC08~XLBTC11 before section steel cooling bed step rate
Row actively translates maximum (the i.e. △ of the difference of hydraulic cylinder actual position value and each driven translation hydraulic cylinder actual position value when mobile
Sms.f.max).So, when section steel cooling bed step rate retreats mobile, if △ Sms.b.min numerical value is less than or equal to setting
Fallback synchronization position deviation feasible value (such as -2 millimeters), then functional block XLBTC18 output ends QU will be changed into ' 0 ' state from ' 1 ' state, this
Sample makes actively to translate hydraulic cylinder deceleration retrogressing, until actively translating hydraulic cylinder and retreating the position between most slow driven translation hydraulic cylinder
The fallback synchronization position deviation feasible value (such as -2 millimeters) that deviation is more than setting is put, afterwards, hydraulic cylinder raising speed again is actively translated
Retreat；When section steel cooling bed step rate moves ahead mobile, if △ Sms.f.max numerical value is more than or equal to the forward sync bit of setting
Deviation feasible value (such as 2 millimeters), then functional block XLBTC17 output ends QL will be changed into ' 0 ' state from ' 1 ' state, so make actively to translate
Hydraulic cylinder, which slows down, to move ahead, until the position deviation value for actively translating hydraulic cylinder between the most slow driven translation hydraulic cylinder that moves ahead is less than
The forward sync bit deviation feasible value (such as 2 millimeters) of setting, afterwards, actively translating hydraulic cylinder, raising speed moves ahead again.
If the sync bit that driven translation hydraulic cylinder is set with actively translating the position deviation of hydraulic cylinder to be more than or equal to is inclined
Poor feasible value (such as 2 millimeters), translates in driven translation hydraulic cylinder and actively sync bit deviation between hydraulic cylinder and transfinites control unit
In, driven translation hydraulic cylinder is obtained by functional block XLBTC100 and the alternate position spike (i.e. △ Ssnm) of hydraulic cylinder is actively translated.This
Sample, when section steel cooling bed step rate retreats mobile, if the fallback synchronization position deviation that △ Ssnm numerical value is less than or equal to setting is held
Perhaps it is worth (such as -2 millimeters), then functional block XLBTC102 output ends QU will be changed into ' 0 ' state from ' 1 ' state, so make driven translation hydraulic pressure
Cylinder, which slows down, to be retreated, until the driven position deviation value for translating hydraulic cylinder and actively translating between hydraulic cylinder is more than the fallback synchronization of setting
(i.e. driven translation hydraulic cylinder and the position deviation actively translated between hydraulic cylinder are less than 2 millis to position deviation feasible value (such as -2 millimeters)
Rice), afterwards, raising speed is retreated driven translation hydraulic cylinder again；When section steel cooling bed step rate moves ahead mobile, if △ Ssnm numerical value is more than
Or equal to the forward sync bit deviation feasible value (such as 2 millimeters) of setting, then functional block XLBTC101 output ends QL will be by ' 1 ' state
It is changed into ' 0 ' state, driven translation hydraulic cylinder is slowed down and move ahead, translates until driven translation hydraulic cylinder and actively between hydraulic cylinder
Position deviation value is less than the forward sync bit deviation feasible value (such as 2 millimeters) of setting, afterwards, driven to translate hydraulic cylinder raising speed again
Move ahead.
If in view of actively translate hydraulic cylinder with driven translation hydraulic cylinder synchronous moving process frequently because position deviation is super
Go out maximum allowable position deviation and slow down, actively translate hydraulic cylinder and easily position oscillation occur during synchronizing moving, and by
This induces driven translation Position of Hydraulic Cylinder vibration.During the synchronizing moving that principal and subordinate translates hydraulic cylinder, once actively translate liquid
Cylinder pressure sync bit deviation △ Sms then actively translate hydraulic cylinder synchronous beyond the scope (such as ± 0.5 millimeter) of setting by this
Tolerance speed amending unit is modified to the translational speed for actively translating hydraulic cylinder in time, until between principal and subordinate's translation hydraulic cylinder
Position deviation value can so greatly reduce that actively to translate Position of Hydraulic Cylinder deviation △ Sms super again in the setting range
The probability of out position deviation feasible value.Functional block XLBTC41 input X2, which is equal to, in the control unit actively translates hydraulic cylinder
Setting coefficient is multiplied by after sync bit deviation △ Sms are reverse, and (the setting coefficient is alternatively referred to as actively translating hydraulic cylinder synchronous inclined
Differential degree correction factor), when actively translating scopes of the hydraulic cylinder synchronous position deviation value △ Sms beyond setting, (such as ± 0.5 in the least
Rice), functional block XLBTC41 control end I ends will be changed into ' 1 ' state from ' 0 ' state, thus make functional block XLBTC41 output end Y's
Output valve (actively translating hydraulic cylinder synchronous tolerance speed correction value) is equal to its input X2 input value, so, the unit
One will be exported to actively translating the speed correction that hydraulic cylinder synchronous position deviation value △ Sms are reversely directly proportional, the speed is repaiied
It is gradually reduced on the occasion of that will make actively to translate the sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder, until
Actively translate scopes (such as ± 0.5 millimeter) of the Position of Hydraulic Cylinder deviation △ Sms again in setting.It follows that passing through this
Actively translating hydraulic cylinder synchronous tolerance speed amending unit and can making actively to translate hydraulic cylinder speed transfinites (such as in sync bit deviation
± 2 millimeters) before corrected in time.
If in view of driven translation hydraulic cylinder is with actively translating in hydraulic cylinder synchronous moving process frequently because position deviation exceeds
Position deviation feasible value and slow down, easily there is position oscillation during synchronizing moving in driven translation hydraulic cylinder, and thus lures
Hair actively translates Position of Hydraulic Cylinder vibration.During the synchronizing moving that principal and subordinate translates hydraulic cylinder, once driven translation hydraulic cylinder
Scopes (such as ± 0.5 millimeter) of the alternate position spike △ Ssnm beyond setting with actively translating hydraulic cylinder, then pass through the driven translation liquid
Translational speed of the cylinder pressure synchronism deviation speed amending unit in time to driven translation hydraulic cylinder is modified, until driven translation liquid
Cylinder pressure and the position deviation value actively translated between hydraulic cylinder are in setting range again, can so greatly reduce driven translation
Hydraulic cylinder and probability of the position deviation value △ Ssnm beyond maximum allowable position deviation for actively translating hydraulic cylinder.The control unit
Middle functional block XLBTC123 input X2 is equal to driven translation hydraulic cylinder and actively translates the position deviation value △ of hydraulic cylinder
Setting coefficient is multiplied by after Ssnm is reverse, and (it is inclined with actively translating hydraulic cylinder synchronous that the setting coefficient is alternatively referred to as driven translation hydraulic cylinder
Differential degree correction factor), when driven translation hydraulic cylinder is with actively translating the position deviation value △ Ssnm of hydraulic cylinder beyond setting
Scope (such as ± 0.5 millimeter), functional block XLBTC123 control end I ends will be changed into ' 1 ' state from ' 0 ' state, thus make functional block
XLBTC123 output end Y output valve (i.e. driven translation hydraulic cylinder synchronous tolerance speed correction value) is equal to its input X2's
Input value, so, the unit will export one and translate hydraulic cylinder and alternate position spike △ Ssnm are anti-between actively translating hydraulic cylinder with driven
To the speed correction being directly proportional, the speed correction will make driven translation hydraulic cylinder and actively translate the sync bit between hydraulic cylinder
Put deviation to be gradually reduced, translate until driven translation hydraulic cylinder and actively the position deviation value △ Ssnm of hydraulic cylinder and be in again and set
Fixed scope (such as ± 0.5 millimeter).It follows that by this it is driven translation hydraulic cylinder synchronous tolerance speed amending unit can make from
Dynamic translation hydraulic cylinder and actively translate alternate position spike △ Ssnm between hydraulic cylinder and transfinite and corrected in time before (such as ± 2 millimeters).
Linked manually synchronous control unit for actively translating hydraulic cylinder, in the manual linked manner of section steel cooling bed step rate
Under, during the instruction of step rate manual retraction is provided, functional block XLBTC14 output ends Y (the A points i.e. in program) in the unit
Numerical value will be equal to the dynamic translation hydraulic cylinder astern speed setting value of principal and subordinate (such as -6V), and functional block XLBTC15 output ends QL will be ' 1 '
State, so, if actively translating hydraulic cylinder and retreating position deviation value (the i.e. △ between most slow driven translation hydraulic cylinder
Sms.b.min) it is more than the fallback synchronization position deviation feasible value (such as -2 millimeters) of setting, this actively translates hydraulic cylinder and linked manually
Functional block XLBTC22~XLBTC24 and XLBTC33 output end Q will be ' 1 ' state, functional block in synchronous control unit
By the numerical value exported equal to functional block XLBTC14 output ends Y, (i.e. principal and subordinate translates hydraulic cylinder to XLBTC25 output end Y numerical value
Manual retraction speed setting value (such as -6V)).So, in the equal fault-free of cold bed step rate translation hydraulic cylinder position sensor, cold bed
Step rate translation hydraulic system fault-free, cold bed be not in the case of operation blocking and cold bed be without tight stop, functional block
XLBTC50 output end Q will be ' 1 ' state, and principal and subordinate's translation hydraulic cylinder manual retraction speed setting value (such as -6V) will pass through " integration
Device " functional block XLBTC52 output end Y actively translates hydraulic cylinder proportional control valve to cold bed step rate and applies retrogressing control electricity
Pressure, meanwhile, the output end Q that the unit passes through functional block XLBTC50 is ' 1 ' state so that actively translate hydraulic cylinder hydraulic control one-way valve
In release conditions.During cold bed step rate retreats movement, hydraulic cylinder is actively translated with retreating most slow driven translation
Position deviation value between hydraulic cylinder is modified by actively translating hydraulic cylinder synchronous tolerance speed amending unit, if both positions
Deviation is less than or equal to the fallback synchronization position deviation feasible value (such as -2 millimeters) of setting, then actively translating hydraulic cylinder will slow down
Retreat, until both position deviation values are more than the fallback synchronization position deviation feasible value of setting again (such as -2 millimeters).In stepping
Forward instruction provides numerical value general of functional block XLBTC14 output ends Y (the A points i.e. in program) in period, the unit etc. to beam manually
In the forward speed setting value (such as 8V) of principal and subordinate's translation hydraulic cylinder, functional block XLBTC15 output ends QU will be ' 1 ' state, so, if main
Position deviation value (i.e. △ Sms.f.max) between dynamic translation hydraulic cylinder and the most slow driven translation hydraulic cylinder that moves ahead is less than setting
Move ahead sync bit deviation feasible value (such as 2 millimeters), and this actively translates hydraulic cylinder and linked manually functional block in synchronous control unit
XLBTC20, XLBTC23, XLBTC24 and XLBTC33 output end Q will be ' 1 ' state, functional block XLBTC25 output end Y's
By the numerical value exported equal to functional block XLBTC14 output ends Y, (i.e. principal and subordinate translates hydraulic cylinder forward speed setting value manually to numerical value
(such as 8V)).So, in the equal fault-free of cold bed step rate translation hydraulic cylinder position sensor, cold bed step rate translation hydraulic system
Fault-free, cold bed be not in the case of operation blocking and cold bed be without tight stop, and functional block XLBTC50 output end Q will be ' 1 '
State, principal and subordinate's translation hydraulic cylinder moves ahead speed setting value (such as 8V) manually will be by " integrator " functional block XLBTC52 output end Y
Hydraulic cylinder proportional control valve, which is actively translated, to cold bed step rate applies the control voltage that moves ahead, meanwhile, the unit passes through functional block
XLBTC50 output end Q is ' 1 ' state, makes actively to translate hydraulic cylinder hydraulic control one-way valve in release conditions.Before cold bed step rate
During row is mobile, the position deviation value for actively translating hydraulic cylinder between the most slow driven translation hydraulic cylinder that moves ahead passes through actively
Translation hydraulic cylinder synchronous tolerance speed amending unit is modified, if both position deviation values are more than or equal to the forward same of setting
Position deviation feasible value (such as 2 millimeters) is walked, then actively translates hydraulic cylinder and deceleration moves ahead, until both position deviation values are again small
In the forward sync bit deviation feasible value (such as 2 millimeters) of setting.
Linked manually synchronous control unit for driven translation hydraulic cylinder, in the manual linked manner of section steel cooling bed step rate
Under, during the instruction of step rate manual retraction is provided, functional block XLBTC104 inputs I2 (the C points i.e. in program) in the unit
State will be changed into ' 1 ' from ' 0 ', so, if driven translation hydraulic cylinder and actively translating between hydraulic cylinder alternate position spike △ Ssnm more than setting
Fixed fallback synchronization position deviation feasible value (such as -2 millimeters), the driven translation hydraulic cylinder links work(in synchronous control unit manually
Energy block XLBTC104~XLBTC106 and XLBTC115 output end Q will be ' 1 ' state, functional block XLBTC107 output end Y
Numerical value by the numerical value inputted equal to its input X2 (i.e. principal and subordinate translate hydraulic cylinder manual retraction speed setting value (as-
6V)).So, in the equal fault-free of cold bed step rate translation hydraulic cylinder position sensor, cold bed step rate translation hydraulic system without reason
Barrier, cold bed be not in the case of operation blocking and cold bed be without tight stop, and functional block XLBTC129 output end Q will be ' 1 ' state,
Principal and subordinate's translation hydraulic cylinder manual retraction speed setting value (such as -6V) will be by " integrator " functional block XLBTC132 output end Y
Apply to the driven translation hydraulic cylinder proportional control valve of cold bed step rate and retreat control voltage, meanwhile, the unit passes through functional block
XLBTC129 output end Q is ' 1 ' state, driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions.In cold bed step rate
During retreating movement, driven translation hydraulic cylinder and the position deviation value actively translated between hydraulic cylinder pass through driven translation hydraulic pressure
Cylinder synchronism deviation speed amending unit is modified, if the fallback synchronization position that both position deviation values are less than or equal to setting is inclined
Poor feasible value (such as -2 millimeters), then driven translation hydraulic cylinder, which will slow down, retreats, until both position deviation values are again more than setting
Fallback synchronization position deviation feasible value (as -2 millimeters).During forward instruction is provided step rate manually, function in the unit
Block XLBTC103 inputs I2 (the B points i.e. in program) state will be changed into ' 1 ' from ' 0 ', so, if driven translation hydraulic cylinder and master
Alternate position spike △ Ssnm are less than the forward sync bit deviation feasible value (such as 2 millimeters) of setting between dynamic translation hydraulic cylinder, and this is driven flat
Liquid relief cylinder pressure links functional block XLBTC103, XLBTC105, XLBTC106 and XLBTC115 in synchronous control unit manually
Output end Q will be ' 1 ' state, functional block XLBTC107 output end Y numerical value by the numerical value inputted equal to its input X2 (i.e.
Principal and subordinate translates hydraulic cylinder forward speed setting value (such as 8V) manually).So, hydraulic cylinder position sensor is translated in cold bed step rate
Equal fault-free, cold bed step rate translation hydraulic system fault-free, cold bed be not in operation blocking and cold bed without tightly stopping situation
Under, functional block XLBTC129 output end Q will be ' 1 ' state, and principal and subordinate's translation hydraulic cylinder moves ahead speed setting value (such as 8V) manually will
Before being applied by " integrator " functional block XLBTC132 output end Y to the driven translation hydraulic cylinder proportional control valve of cold bed step rate
Row control voltage, meanwhile, the output end Q that the unit passes through functional block XLBTC129 is ' 1 ' state, makes driven translation hydraulic cylinder hydraulic control
Check valve is in release conditions.During cold bed step rate moves ahead movement, driven translation hydraulic cylinder is with actively translating hydraulic pressure
Position deviation value between cylinder is modified by driven translation hydraulic cylinder synchronous tolerance speed amending unit, if both position deviations
Value will be slowed down and be moved ahead more than or equal to the forward sync bit deviation feasible value (such as 2 millimeters) set, then driven translation hydraulic cylinder,
Until both position deviation values are less than the forward sync bit deviation feasible value (such as 2 millimeters) of setting again.
For actively translating hydraulic cylinder automatic linkage synchronous control unit, in section steel cooling bed step rate automatic linkage mode
Under, cold bed step rate auto-translating position set-point Szcwg be less than actively translate hydraulic cylinder actual position value Sm.act and
During both differences are less than position deviation feasible value (such as -1 millimeter), work(in the active hydraulic cylinder automatic linkage synchronous control unit
Energy block XLBTC28 output end QL and XLBTC34 output ends Q (the F points i.e. in program) will be ' 1 ' state, so, in cold bed stepping
The equal fault-free of hydraulic cylinder position sensor, cold bed step rate translation hydraulic system fault-free, cold bed are moved not in operation locking in Liangping
In the case of state and cold bed are without tight stop, functional block XLBTC35 output end Q will be ' 1 ' state in the unit, thus make the unit
In " pi regulator " functional block XLBTC36 be in release conditions, meanwhile, the output end Q that the unit passes through functional block XLBTC50 is
' 1 ' state, makes actively to translate hydraulic cylinder hydraulic control one-way valve in release conditions.So, " pi regulator " functional block in the unit
XLBTC36 output ends Y will be according to cold bed step rate auto-translating position set-point Szcwg with actively translating hydraulic cylinder physical location
Value Sm.act difference export it is certain actively translate hydraulic cylinder proportional control valve control voltage, make actively to translate hydraulic cylinder it is automatic after
Retire dynamic.During hydraulic cylinder is actively translated towards the given position retrogressing movements of auto-translating position set-point Szcwg,
If actively translating hydraulic cylinder and retreating position deviation value (i.e. △ Sms.b.min) between most slow driven translation hydraulic cylinder more than setting
Functional block in fixed fallback synchronization position deviation feasible value (such as -2 millimeters), the active hydraulic cylinder automatic linkage synchronous control unit
XLBTC51 output ends Q will be ' 1 ' state.So, what " pi regulator " functional block XLBTC36 output ends Y was exported actively translates hydraulic pressure
Cylinder proportional control valve control voltage is applied to through " integrator " functional block XLBTC52 and actively translates hydraulic cylinder proportional control valve, makes
Hydraulic cylinder actual position value Sm.act must actively be translated and cold bed step rate auto-translating position set-point Szcwg difference gradually contracts
It is small until both differences be in ± 1 millimeter between.Equally, under section steel cooling bed step rate automatic linkage mode, in cold bed stepping
Beam auto-translating position set-point Szcwg be more than actively translate hydraulic cylinder actual position value Sm.act and both difference more than position
During putting deviation feasible value (such as 1 millimeter), functional block XLBTC27 is exported in the active hydraulic cylinder automatic linkage synchronous control unit
It will be ' 1 ' state to hold QU and XLBTC34 output ends Q (the F points i.e. in program), now, in cold bed step rate translation hydraulic cylinder position
Put the equal fault-free of sensor, cold bed step rate translation hydraulic system fault-free, cold bed not operation blocking and cold bed without
In the case of tightly stopping, functional block XLBTC35 output end Q will be ' 1 ' state in the unit, thus make in the unit " pi regulator " work(
Energy block XLBTC36 is in release conditions, meanwhile, the output end Q that the unit passes through functional block XLBTC50 is ' 1 ' state, is made actively flat
Liquid relief cylinder pressure hydraulic control one-way valve is in release conditions.So, " pi regulator " functional block XLBTC36 output ends Y will in the unit
Exported according to cold bed step rate auto-translating position set-point Szcwg and the difference for actively translating hydraulic cylinder actual position value Sm.act
Certain actively translates hydraulic cylinder proportional control valve control voltage, makes actively to translate hydraulic cylinder forward movement automatically.It is flat in active
Liquid relief cylinder pressure is moved ahead towards the auto-translating position given positions of set-point Szcwg during movement, if actively translating hydraulic pressure
Position deviation value (i.e. △ Sms.f.max) between cylinder and the most slow driven translation hydraulic cylinder that moves ahead is less than the forward sync bit of setting
Deviation feasible value (such as 2 millimeters) is put, functional block XLBTC51 output ends Q in the active hydraulic cylinder automatic linkage synchronous control unit
It will be ' 1 ' state.So, what " pi regulator " functional block XLBTC36 output ends Y was exported actively translates hydraulic cylinder proportional control valve control
Voltage processed is applied to through " integrator " functional block XLBTC52 and actively translates hydraulic cylinder proportional control valve so that actively translate hydraulic pressure
The difference until both is gradually reduced in cylinder actual position value Sm.act and cold bed step rate auto-translating position set-point Szcwg difference
Between ± 1 millimeter.
For driven translation hydraulic cylinder automatic linkage synchronous control unit, in section steel cooling bed step rate automatic linkage mode
Under, cold bed step rate auto-translating position set-point Szcwg be less than driven translation hydraulic cylinder actual position value Ssn.act and
During both differences are less than position deviation feasible value (such as -1 millimeter), the driven translation hydraulic cylinder automatic linkage synchronous control unit
Middle functional block XLBTC110 output ends QL and XLBTC116 output end Q (the G points i.e. in program) will be ' 1 ' state, so, cold
The equal fault-free of bed step rate translation hydraulic cylinder position sensor, cold bed step rate translation hydraulic system fault-free, cold bed be not in behaviour
In the case of making blocking and cold bed without tight stop, functional block XLBTC117 output end Q will be ' 1 ' state in the unit, thus
" pi regulator " functional block XLBTC118 is set in the unit to be in release conditions, meanwhile, the unit passes through functional block XLBTC129
Output end Q be ' 1 ' state, driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions.So, " PI is adjusted in the unit
Device " functional block XLBTC118 output ends Y will be according to cold bed step rate auto-translating position set-point Szcwg and driven translation hydraulic pressure
The driven translation hydraulic cylinder proportional control valve control voltage of cylinder actual position value Ssn.act difference output necessarily, makes driven translation
Hydraulic cylinder automatic backing is moved.Retreated in driven translation hydraulic cylinder towards the given positions of auto-translating position set-point Szcwg
In mobile process, if driven translation hydraulic cylinder and the position deviation value (i.e. △ Ssnm) actively translated between hydraulic cylinder are more than setting
Fallback synchronization position deviation feasible value (as -2 millimeters), function in the driven translation hydraulic cylinder automatic linkage synchronous control unit
Block XLBTC130 output ends Q will be ' 1 ' state.So, the driven translation of " pi regulator " functional block XLBTC118 output ends Y outputs
Hydraulic cylinder proportional control valve control voltage is applied to driven translation hydraulic cylinder ratio control through " integrator " functional block XLBTC131
Valve so that driven translation hydraulic cylinder actual position value Ssn.act and cold bed step rate auto-translating position set-point Szcwg difference
It is gradually reduced until both differences are between ± 1 millimeter.Equally, under section steel cooling bed step rate automatic linkage mode, cold
Bed step rate auto-translating position set-point Szcwg be more than driven translation hydraulic cylinder actual position value Ssn.act and both it
During difference is more than position deviation feasible value (such as 1 millimeter), function in the driven translation hydraulic cylinder automatic linkage synchronous control unit
Block XLBTC109 output end QU and XLBTC116 output ends Q (the G points i.e. in program) will be ' 1 ' state, so, in cold bed stepping
The equal fault-free of hydraulic cylinder position sensor, cold bed step rate translation hydraulic system fault-free, cold bed are moved not in operation locking in Liangping
In the case of state and cold bed are without tight stop, functional block XLBTC117 output end Q will be ' 1 ' state in the unit, thus make the list
" pi regulator " functional block XLBTC118 is in release conditions in member, meanwhile, the output that the unit passes through functional block XLBTC129
End Q is ' 1 ' state, driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions.So, " pi regulator " function in the unit
Block XLBTC118 output ends Y will be actual according to cold bed step rate auto-translating position set-point Szcwg and driven translation hydraulic cylinder
The driven translation hydraulic cylinder proportional control valve control voltage of positional value Ssn.act difference output necessarily, makes driven translation hydraulic cylinder
The automatic movement that moves ahead.In the driven hydraulic cylinder that translates towards the forward movement in the auto-translating position given positions of set-point Szcwg
During, if driven translation hydraulic cylinder and the position deviation value (i.e. △ Ssnm) actively translated between hydraulic cylinder are less than moving ahead for setting
Functional block in sync bit deviation feasible value (such as 2 millimeters), the driven translation hydraulic cylinder automatic linkage synchronous control unit
XLBTC130 output ends Q will be ' 1 ' state.So, the driven translation liquid of " pi regulator " functional block XLBTC118 output ends Y outputs
Cylinder pressure proportional control valve control voltage is applied to driven translation hydraulic cylinder proportional control valve through " integrator " functional block XLBTC131,
So that driven translation hydraulic cylinder actual position value Ssn.act and cold bed step rate auto-translating position set-point Szcwg difference by
It is tapered small until both differences are between ± 1 millimeter.
Schematical above that the present invention and embodiments thereof are described, the description does not have restricted, actual side
Method is not limited thereto.So, if one of ordinary skill in the art is enlightened by it, do not departing from the invention objective
In the case of, the frame mode similar to the technical scheme and embodiment are designed without creative, all should belong to the present invention's
Protection domain.
Claims (9)
1. a kind of section steel cooling bed step rate translates hydraulic cylinder synchronization control method, it is characterised in that：Its step is：
Step one：During principal and subordinate's translation hydraulic cylinder synchronous movement, if actively translating hydraulic cylinder in desired moving direction
And the position deviation of most slow driven translation hydraulic cylinder is beyond the sync bit deviation feasible value of setting, by actively translating hydraulic pressure
Sync bit deviation transfinites control unit and mobile most slow driven translation hydraulic pressure between cylinder and mobile most slow driven translation hydraulic cylinder
Cylinder and actively translate hydraulic cylinder synchronous position deviation transfinite control unit control actively translate hydraulic cylinder and movement most slowly it is driven put down
Sync bit deviation between liquid relief cylinder pressure, is in the range of sync bit deviation feasible value；
Step 2：Actively translate hydraulic cylinder with it is driven translation hydraulic cylinder synchronous moving process in, if actively translate hydraulic cylinder and
Position deviation between most slow driven translation hydraulic cylinder exceeds setting range, by actively translating hydraulic cylinder synchronous tolerance speed amendment list
Member is modified to the translational speed for actively translating hydraulic cylinder, and any one driven translation hydraulic cylinder is with actively translating hydraulic cylinder
Between position deviation exceed setting range, by this it is driven translation hydraulic cylinder synchronous tolerance speed amending unit to the driven translation liquid
The translational speed of cylinder pressure is modified；
Step 3：It is manually advanced with retreating during instruction provides, is linked manually synchronization by actively translating hydraulic cylinder in step rate
Control unit with it is driven translation hydraulic cylinder link manually synchronous control unit control actively translate hydraulic cylinder and driven translation hydraulic pressure
Cylinder synchronizes movement；
Step 4：It is actual less or greater than hydraulic cylinder is actively translated in cold bed step rate auto-translating position set-point Szcwg
Positional value Sm.act and when both differences exceed position deviation feasible value, by actively translate, hydraulic cylinder automatic linkage is synchronous to be controlled
Unit processed actively to translate hydraulic cylinder actual position value Sm.act and cold bed step rate auto-translating position set-point Szcwg it
Difference is in the range of position deviation feasible value；
Step 5：It is actual less or greater than driven translation hydraulic cylinder in cold bed step rate auto-translating position set-point Szcwg
Positional value Ssn.act and when both differences exceed position deviation feasible value, passes through driven translation hydraulic cylinder automatic linkage synchronous
Control unit causes driven translation hydraulic cylinder actual position value Ssn.act and cold bed step rate auto-translating position set-point
Szcwg difference is in the range of position deviation feasible value.
2. a kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method according to claim 1, it is characterised in that：
The described control unit that transfinites of sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder that actively translates includes work(
Can block XLBTC01~XLBTC11, XLBTC16~XLBTC18, XLBTC26, XLBTC27 and XLBTC29~XLBTC31.
3. a kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method according to claim 1 or 2, its feature exists
In：The most slow driven translation hydraulic cylinder of described movement and actively translate the control unit that transfinites of sync bit deviation between hydraulic cylinder and include
Functional block XLBTC100~XLBTC102.
4. a kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method according to claim 3, it is characterised in that：
The described hydraulic cylinder synchronous tolerance speed amending unit that actively translates includes functional block XLBTC37~XLBTC41.
5. a kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method according to claim 4, it is characterised in that：
Described driven translation hydraulic cylinder synchronous tolerance speed amending unit includes functional block XLBTC119~XLBTC123.
6. a kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method according to claim 5, it is characterised in that：
It is described actively translate hydraulic cylinder link manually synchronous control unit including functional block XLBTC12~XLBTC15, XLBTC20~
XLBTC25, XLBTC33, XLBTC42~XLBTC47 and XLBTC50~XLBTC53.
7. a kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method according to claim 6, it is characterised in that：
Described driven translation hydraulic cylinder link manually synchronous control unit including functional block XLBTC103~XLBTC107,
XLBTC115, XLBTC124, XLBTC125 and XLBTC128~XLBTC132.
8. a kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method according to claim 7, it is characterised in that：
It is described actively translate hydraulic cylinder automatic linkage synchronous control unit including functional block XLBTC26~XLBTC36, XLBTC42~
XLBTC46 and XLBTC48~XLBTC54.
9. a kind of section steel cooling bed step rate translation hydraulic cylinder synchronization control method according to claim 8, it is characterised in that：
Described driven translation hydraulic cylinder automatic linkage synchronous control unit includes functional block XLBTC108~XLBTC118, XLBTC124
~XLBTC127 and XLBTC129~XLBTC133.
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| CN109022754A (en) * | 2018-09-12 | 2018-12-18 | 马鞍山钢铁股份有限公司 | Stepped billet heating furnace moves beam lift cylinder lifting position and keeps control method |
| CN113477721A (en) * | 2021-07-14 | 2021-10-08 | 宝钢日铁汽车板有限公司 | Method for monitoring working states of steel coil trolley and walking beam |
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