CN101975202A - Hydraulic cylinder synchronous control system and control method thereof - Google Patents
Hydraulic cylinder synchronous control system and control method thereof Download PDFInfo
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- CN101975202A CN101975202A CN2010105104441A CN201010510444A CN101975202A CN 101975202 A CN101975202 A CN 101975202A CN 2010105104441 A CN2010105104441 A CN 2010105104441A CN 201010510444 A CN201010510444 A CN 201010510444A CN 101975202 A CN101975202 A CN 101975202A
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Abstract
The invention relates to a hydraulic cylinder synchronous control system and a control method thereof. The system comprises an equipment body, more than one hydraulic cylinder, a common proportioning valve and a common reversing valve, wherein the hydraulic cylinders are connected and drive the equipment body. At least one of the hydraulic cylinders is connected with and controlled by the common proportioning valve and at least one of the left hydraulic cylinders is connected with and controlled by the common reversing valve.
Description
Technical field
The present invention relates to hydraulic transmission control technique field, be specifically related to a kind of hydraulic cylinder synchronous control system and controlling method thereof.
Background technique
In industrial production, ubiquity adopts two hydraulic cylinder synchronous to drive the situation of an equipment, in order to realize two synchronizing functions between the oil hydraulic cylinder, usually each oil hydraulic cylinder all adopts ratio adjusting valve control, and according to the speed of equipment moving and the type that the requirement of hydraulic cylinder synchronous precision is come the selection percentage modulating valve, promptly common ratio adjusting valve and high response ratio adjusting valve.But ratio adjusting valve not only on the price than high times of common selector valve (generally more than ten times), and the rate of fault of ratio adjusting valve is also than high times of common selector valve.
Summary of the invention
For two hydraulic cylinder synchronous drive an equipment, in actual production process, not high and to the synchronous travelling speed (below 15mm/s) of oil hydraulic cylinder and synchronization accuracy (below 3mm) requirement neither be very high the time when the action frequency of equipment, in this case, by the given control technique of the present invention, one of them oil hydraulic cylinder only can be adopted a common three position four-way directional control valve (being called for short common selector valve) control, so not only can reduce the cost of investment and the operating cost of equipment, but also can reduce breakdown rate.It is exactly an example wherein that Ma Gangda H shaped steel rolled piece is worn the control experiment of water-cooling apparatus side nozzle movable frame hydraulic cylinder synchronous.
Concrete technological scheme is as follows:
A kind of hydraulic cylinder synchronous control system, comprise apparatus body, more than one oil hydraulic cylinder, common ratio adjusting valve, common selector valve, described a plurality of oil hydraulic cylinder connects and drives described apparatus body, and at least one in described a plurality of oil hydraulic cylinders connected and control by common ratio adjusting valve, and the another one at least in described a plurality of oil hydraulic cylinders is connected and control by common selector valve.
Further, described common ratio adjusting valve connect with it and the oil hydraulic cylinder of control between be provided with Pilot operated check valve, described common selector valve connect with it and the oil hydraulic cylinder of control between be provided with Pilot operated check valve.
Further, be provided with two pipelines behind the described common selector valve, described pipeline is attached to the oil hydraulic cylinder of described correspondence.
Further, described pipeline is provided with flow control valve, and described flow control valve is respectively equipped with the piston-retraction flow control valve on two pipelines and piston stretches out flow control valve.
Further, described common selector valve comprises selector valve left side electromagnetic coil and right side electromagnetic coil.
Further, be equipped with piston position on the described oil hydraulic cylinder and detect encoder.
Its controlling method of above-mentioned hydraulic cylinder synchronous control system, described oil hydraulic cylinder are two, are left side oil hydraulic cylinder and right side oil hydraulic cylinder, adopt following steps:
Dynamic synchronization control allowable deviation about two oil hydraulic cylinders is set, the synchronism deviation that this dynamic synchronization control allowable deviation is allowed less than equipment;
In the actual moving process of two oil hydraulic cylinders, described hydraulic synchronous control system is monitored the relative position of described two oil hydraulic cylinders;
When the relative position relative position deviation of two oil hydraulic cylinders exceeded dynamic synchronization control allowable deviation, synchronous control system made the leading oil hydraulic cylinder that moves stop to move;
The synchronous control system regulating and controlling is till the relative position deviation of two oil hydraulic cylinders is less than or equal to dynamic synchronization control allowable deviation.
Further, in the step (1), the dynamic synchronization control allowable deviation that two oil hydraulic cylinders are set is 1.5mm.
Further, described hydraulic cylinder synchronous control system comprises a control program, and wherein parameter is set in the program:
Be the position setting value of oil hydraulic cylinder institute driving arrangement, i.e. the position setting value of two synchronous mobile hydraulic cylinders; s
Act.LAnd s
Act.RBe respectively the actual position value of the left side oil hydraulic cylinder and the right side oil hydraulic cylinder that corresponding common selector valve is controlled of corresponding common ratio adjusting valve control;
With
Be oil hydraulic cylinder given location value respectively with the deviation of left side oil hydraulic cylinder actual position value and right side oil hydraulic cylinder actual position value; Δ s
L-R(=s
Act.L-s
Act.R) be left and right sides oil hydraulic cylinder physical location deviate;
Be left side oil hydraulic cylinder ratio adjusting valve opening degree setting value, the i.e. input value of ratio adjusting valve power amplifier.
Further, following algorithm is adopted in control:
Stretch out mobile synchronization control for described right side oil hydraulic cylinder:
1) numerical value comparing unit YTC16 determines Δ s in control program
G-RGreater than 1mm, and numerical value comparing unit YTC17 determines Δ s
L-RDuring greater than-1.5mm, the condition of stretching out of right side oil hydraulic cylinder satisfies, and it is electric that synchronous control system gets the left side electromagnetic coil of right side oil hydraulic cylinder selector valve, and the right side hydraulic cylinder piston rod stretches out mobile, makes the physical location of right side oil hydraulic cylinder close to its given location;
2) determine Δ s as numerical value comparing unit YTC16
G-RBe less than or equal to 1mm, perhaps numerical value comparing unit YTC17 determines Δ s
L-RBe less than or equal to-during 1.5mm, synchronous control system will make the left side electromagnetic coil dead electricity of right side oil hydraulic cylinder selector valve, and at this moment, right side oil hydraulic cylinder selector valve will be in meta, the piston rod of right side oil hydraulic cylinder stops to move, and waits for that the physical location of left side oil hydraulic cylinder is close with it;
3) when the stretching out mobile condition and satisfy once more of right side hydraulic cylinder piston rod, the right side hydraulic cylinder piston rod could stretch out mobile once more;
The synchronization control that withdrawal is moved for the right side oil hydraulic cylinder:
Numerical value comparing unit YTC19 determines Δ s in control program
G-RLess than-1mm, and numerical value comparing unit YTC20 determines Δ s
L-RDuring less than 1.5mm, the retracting condition of right side hydraulic cylinder piston rod satisfies, it is electric that synchronous control system gets the right side electromagnetic coil of right side oil hydraulic cylinder selector valve, and the right side hydraulic cylinder piston rod is withdrawn mobile, makes the physical location of right side oil hydraulic cylinder close to its given location;
YTC19 determines Δ s when the numerical value comparing unit
G-RMore than or equal to-1mm, perhaps numerical value comparing unit YTC20 determines Δ s
L-RDuring more than or equal to 1.5mm, synchronous control system will make the right side electromagnetic coil dead electricity of right side oil hydraulic cylinder selector valve, the selector valve of right side oil hydraulic cylinder will be in meta this moment, and the piston rod of right side oil hydraulic cylinder will stop to move, and will be close with it with the physical location of waiting for the left side oil hydraulic cylinder;
When the withdrawal mobile condition of right side hydraulic cylinder piston rod satisfied once more, the right side hydraulic cylinder piston rod could be withdrawn mobile once more;
Stretch out mobile synchronization control for the left side oil hydraulic cylinder:
1) numerical value comparing unit YTC03 determines Δ s in control program
G-LGreater than 1mm, and numerical value comparing unit (YTC04) determines Δ s
L-RDuring less than 1.5mm, the mobile condition that stretches out of left side oil hydraulic cylinder satisfies, and synchronous control system enables left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator YTC14, and the ratio adjusting valve that makes the left side oil hydraulic cylinder is according to the given opening degree of synchronous control system
Open, the left side hydraulic cylinder piston rod will move according to the speed corresponding with the ratio adjusting valve opening degree is protruding, make the physical location of left side oil hydraulic cylinder close to its given location;
2) determine Δ s as numerical value comparing unit YTC03
G-LBe less than or equal to 1mm, perhaps numerical value comparing unit YTC04 determines Δ s
L-RDuring more than or equal to 1.5mm, synchronous control system will make left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator YTC14 not enable, the setting value vanishing of left side oil hydraulic cylinder ratio adjusting valve opening degree, the left side hydraulic cylinder piston rod will stop to move, and will be close with it with the physical location of waiting for the right side oil hydraulic cylinder;
3) when the stretching out mobile condition and satisfy once more of left side hydraulic cylinder piston rod, the speed that the left side hydraulic cylinder piston rod could be controlled according to given ratio adjusting valve opening degree is once more stretched out mobile;
The synchronization control that withdrawal is moved for the left side oil hydraulic cylinder:
1) numerical value competitive list YTC06 in control program) determines Δ s
G-LLess than-1mm, and numerical value comparing unit YTC04 determines Δ s
L-RGreater than-1.5mm, the withdrawal mobile condition of left side hydraulic cylinder piston rod satisfies, synchronous control system make the left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator (YTC14) enable, and make the left side oil hydraulic cylinder ratio adjusting valve according to the given opening degree of synchronous control system
Open, the left side hydraulic cylinder piston will inwardly withdrawal be mobile according to the speed corresponding with the ratio adjusting valve opening degree, makes the physical location of left side oil hydraulic cylinder close to its given location;
2) determine Δ s as numerical value comparing unit YTC06
G-LMore than or equal to-1mm, perhaps numerical value comparing unit YTC07 determines Δ s
L-RBe less than or equal to-during 1.5mm, synchronous control system will make left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator YTC14 not enable, the setting value vanishing of left side oil hydraulic cylinder ratio adjusting valve opening degree, the left side hydraulic cylinder piston rod will stop to move, and will be close with it with the physical location of waiting for the right side oil hydraulic cylinder;
3) when the withdrawal mobile condition of left side hydraulic cylinder piston rod satisfies once more, the speed that the left side hydraulic cylinder piston rod could be controlled according to given ratio adjusting valve opening degree is once more withdrawn mobile.
Description of drawings
Fig. 1 is the exemplary hardware configuration schematic representation that common ratio adjusting valve and common selector valve constitute hydraulic synchronous control system
Fig. 2 is the control program structural drawing that common ratio adjusting valve and common selector valve constitute hydraulic synchronous control system
Fig. 3 is two synchronization control effects that drive oil hydraulic cylinder of rolled piece cooling unit side nozzle movable frame
Embodiment
Describe the present invention with reference to the accompanying drawings below, it is a kind of preferred embodiment in the numerous embodiments of the present invention.
Adopt common ratio adjusting valve and common selector valve to constitute hydraulic synchronous control system, its typical hardware configuration schematic representation as shown in Figure 1, the device hardware of this hydraulic synchronous control system mainly detects oil hydraulic cylinder, common selector valve, common ratio adjusting valve, a Pilot operated check valve of encoders by two band piston positions and the institutes such as flow control valve that are installed on common latter two pipeline of selector valve valve form.Consider that the characteristic and the response time of common selector valve and ratio adjusting valve make a world of difference, and the characteristic of a valve and response time neither be unalterable, but along with the variation of the on-line time of valve and behaviour in service and change.So control system can't guarantee that two oil hydraulic cylinders remain the same moved further of continuous uninterrupted from start to the whole moving process that stops.
Under the hardware configuration of this hydraulic synchronous control system, in the synchronism deviation scope that equipment is allowed, finish same moved further in order to realize two oil hydraulic cylinders, we have invented a kind of hydraulic cylinder synchronous controlling schemes that constitutes with common ratio adjusting valve and common selector valve, the control program structural drawing 2 of this scheme, for two oil hydraulic cylinders of controlling with common selector valve and common ratio adjusting valve respectively, hydraulic synchronous control system can't make both remain the same moved further of continuous uninterrupted from start to the whole moving process that stops.So hydraulic synchronous control system involved in the present invention adopts interrupted synchronous control theory to make two oil hydraulic cylinders finish same moved further in the synchronism deviation scope that equipment is allowed.For this reason, in the actual moving process of two oil hydraulic cylinders, this hydraulic synchronous control system is monitored the relative position of two oil hydraulic cylinders all the time, when both relative position deviations exceed dynamic synchronization control allowable deviation (synchronism deviation of allowing less than equipment usually), synchronous control system will make the leading oil hydraulic cylinder that moves stop to move, till the relative position deviation of two oil hydraulic cylinders is less than or equal to dynamic synchronization control allowable deviation.The control program of this hydraulic synchronous control system is as above shown in Figure 2, among the figure
Be the position setting value of oil hydraulic cylinder institute driving arrangement, i.e. the position setting value of two synchronous mobile hydraulic cylinders; s
Act.LAnd s
Act.RBe respectively the actual position value of left side oil hydraulic cylinder (common ratio adjusting valve control) and right side oil hydraulic cylinder (common selector valve control);
With
Be oil hydraulic cylinder given location value respectively with the deviation of left side oil hydraulic cylinder actual position value and right side oil hydraulic cylinder actual position value; Δ s
L-R(=s
Act.L-s
Act.R) be left and right sides oil hydraulic cylinder physical location deviate;
Be left side oil hydraulic cylinder ratio adjusting valve opening degree setting value (being the input value of ratio adjusting valve power amplifier).If positional value was 0mm when hydraulic cylinder piston rod was withdrawn fully, the positional value when hydraulic cylinder piston rod stretches out on the occasion of; If the static positioning precision of oil hydraulic cylinder is less than 1mm; Consider that there is certain response time (being the control hysteresis time) in hydraulic synchronous control system, for the dynamic synchronization precision that guarantees two oil hydraulic cylinders is not more than the dynamic synchronization precision (less than 3mm) that equipment is allowed, the dynamic synchronization control accuracy of two oil hydraulic cylinders is set at 1.5mm.Like this, stretch out mobile synchronization control for the right side oil hydraulic cylinder, numerical value comparing unit (YTC16) determines Δ s in control program
G-RGreater than 1mm (is that right side oil hydraulic cylinder physical location and its given location differ more than the 1mm, greater than the static positioning precision.), and numerical value comparing unit (YTC17) determines Δ s
L-RDuring greater than-1.5mm (the relative position difference that is left and right sides oil hydraulic cylinder is still in dynamic synchronization control accuracy scope), the condition of stretching out of right side oil hydraulic cylinder satisfies, synchronous control system gets the left side electromagnetic coil of right side oil hydraulic cylinder selector valve, like this, the right side hydraulic cylinder piston rod stretches out mobile, makes the physical location of right side oil hydraulic cylinder close to its given location.But, in case numerical value comparing unit (YTC16) determines Δ s
G-RBe less than or equal to 1mm (being the static accuracy that the deviation of right side oil hydraulic cylinder physical location and given location is less than or equal to setting), perhaps numerical value comparing unit (YTC17) determines Δ s
L-RWhen being less than or equal to-1.5mm (the relative position difference that is left and right sides oil hydraulic cylinder has exceeded the dynamic synchronization control accuracy scope of setting), synchronous control system will make the left side electromagnetic coil dead electricity of right side oil hydraulic cylinder selector valve, because in the moving process that oil hydraulic cylinder intermittently stretches out, the right side electromagnetic coil of right side oil hydraulic cylinder selector valve will all the time must not, so, right side oil hydraulic cylinder selector valve will be in meta this moment, the piston rod of right side oil hydraulic cylinder will stop to move, and will be close with it with the physical location of waiting for the left side oil hydraulic cylinder; When the stretching out mobile condition and satisfy once more of right side hydraulic cylinder piston rod, the right side hydraulic cylinder piston rod could stretch out mobile once more.Equally, the synchronization control that withdrawal is moved for the right side oil hydraulic cylinder, numerical value comparing unit (YTC19) determines Δ s in control program
G-RLess than-1mm (is that right side oil hydraulic cylinder physical location and its given location differ more than the 1mm, greater than the static positioning precision.), and numerical value comparing unit (YTC20) determines Δ s
L-RDuring less than 1.5mm (the relative position difference that is left and right sides oil hydraulic cylinder is still in dynamic synchronization control accuracy scope), the retracting condition of right side hydraulic cylinder piston rod satisfies, synchronous control system gets the right side electromagnetic coil of right side oil hydraulic cylinder selector valve, like this, the right side hydraulic cylinder piston rod is withdrawn mobile, makes the physical location of right side oil hydraulic cylinder close to its given location.But, in case numerical value comparing unit (YTC19) determines Δ s
G-RMore than or equal to-1mm (being the static accuracy that the deviation of right side oil hydraulic cylinder physical location and given location is less than or equal to setting), perhaps numerical value comparing unit (YTC20) determines Δ s
L-RMore than or equal to 1.5mm when (the relative position difference that is left and right sides oil hydraulic cylinder has exceeded the dynamic synchronization control accuracy scope of setting), synchronous control system will make the right side electromagnetic coil dead electricity of right side oil hydraulic cylinder selector valve, because in the moving process of the interrupted withdrawal of oil hydraulic cylinder, the left side electromagnetic coil of right side oil hydraulic cylinder selector valve will all the time must not, so, the selector valve of right side oil hydraulic cylinder will be in meta this moment, the piston rod of right side oil hydraulic cylinder will stop to move, and will be close with it with the physical location of waiting for the left side oil hydraulic cylinder; When the withdrawal mobile condition of right side hydraulic cylinder piston rod satisfied once more, the right side hydraulic cylinder piston rod could be withdrawn mobile once more.Stretch out mobile synchronization control for the left side oil hydraulic cylinder, numerical value comparing unit (YTC03) determines Δ s in control program
G-L(promptly left side oil hydraulic cylinder physical location and its given location differ more than the 1mm, greater than the static positioning precision greater than 1mm.), and numerical value comparing unit (YTC04) determines Δ s
L-RDuring less than 1.5mm (the relative position difference that is left and right sides oil hydraulic cylinder is still in dynamic synchronization control accuracy scope), the mobile condition that stretches out of left side oil hydraulic cylinder satisfies, synchronous control system make the left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator (YTC14) enable, and make the left side oil hydraulic cylinder ratio adjusting valve according to the given opening degree of synchronous control system
Open, like this, the left side hydraulic cylinder piston rod will move according to the speed corresponding with the ratio adjusting valve opening degree is protruding, make the physical location of left side oil hydraulic cylinder close to its given location.But, in case numerical value comparing unit (YTC03) determines Δ s
G-LBe less than or equal to 1mm (promptly the deviation of left side oil hydraulic cylinder physical location and given location is less than or equal to the static positioning precision of setting), perhaps numerical value comparing unit (YTC04) determines Δ s
L-RMore than or equal to 1.5mm when (the relative position difference that is left and right sides oil hydraulic cylinder has exceeded the dynamic synchronization control accuracy scope of setting), synchronous control system will make left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator (YTC14) not enable, like this, the setting value vanishing of left side oil hydraulic cylinder ratio adjusting valve opening degree, the left side hydraulic cylinder piston rod will stop to move, and will be close with it with the physical location of waiting for the right side oil hydraulic cylinder; When the stretching out mobile condition and satisfy once more of left side hydraulic cylinder piston rod, the speed that the left side hydraulic cylinder piston rod could be controlled according to given ratio adjusting valve opening degree is once more stretched out mobile.The synchronization control that withdrawal is moved for the left side oil hydraulic cylinder, numerical value comparing unit (YTC06) determines Δ s in control program
G-LLess than-(promptly left side oil hydraulic cylinder physical location and its given location differ more than the 1mm 1mm, greater than the static positioning precision.), and numerical value comparing unit (YTC04) determines Δ s
L-RDuring greater than-1.5mm (the relative position difference that is left and right sides oil hydraulic cylinder is still in dynamic synchronization control accuracy scope), the withdrawal mobile condition of left side hydraulic cylinder piston rod satisfies, synchronous control system make the left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator (YTC14) enable, and make the left side oil hydraulic cylinder ratio adjusting valve according to the given opening degree of synchronous control system
Open, like this, the left side hydraulic cylinder piston will inwardly withdrawal be mobile according to the speed corresponding with the ratio adjusting valve opening degree, makes the physical location of left side oil hydraulic cylinder close to its given location.But, in case numerical value comparing unit (YTC06) determines Δ s
G-LMore than or equal to-1mm (promptly the deviation of left side oil hydraulic cylinder physical location and given location is less than or equal to the static positioning precision of setting), perhaps numerical value comparing unit (YTC07) determines Δ s
L-RWhen being less than or equal to-1.5mm (the relative position difference that is left and right sides oil hydraulic cylinder has exceeded the dynamic synchronization control accuracy scope of setting), synchronous control system will make left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator (YTC14) not enable, like this, the setting value vanishing of left side oil hydraulic cylinder ratio adjusting valve opening degree, the left side hydraulic cylinder piston rod will stop to move, and will be close with it with the physical location of waiting for the right side oil hydraulic cylinder; When the withdrawal mobile condition of left side hydraulic cylinder piston rod satisfied once more, the speed that the left side hydraulic cylinder piston rod could be controlled according to given ratio adjusting valve opening degree was once more withdrawn mobile.In order to shorten the interrupted stand-by period of two oil hydraulic cylinders in interrupted moving process synchronously, the ratio adjusting valve opening degree that the left side hydraulic cylinder piston rod that switch selected cell (YTC09) in the control program sets should be stretched out basis setting value equals the right side hydraulic cylinder piston rod and stretches out the opening degree that flow control valve determines, this moment the left side hydraulic cylinder piston rod under this ratio adjusting valve opening degree stretch out travelling speed roughly with the right side hydraulic cylinder piston rod to stretch out travelling speed identical.Equally, the ratio adjusting valve opening degree basis setting value of the left side hydraulic cylinder piston rod withdrawal that switch selected cell (YTC10) in the control program should be set equals the right side hydraulic cylinder piston rod withdrawal opening degree that flow control valve determined, roughly the withdrawal travelling speed with the right side hydraulic cylinder piston rod is identical for the withdrawal travelling speed of left side hydraulic cylinder piston rod this moment under this ratio adjusting valve opening degree.In addition, be provided with left side oil hydraulic cylinder and hydraulic cylinder synchronous drift correction unit, right side in the synchronization control program, this synchronism deviation amending unit is finished by proportioner in the program (YTC11), and it is input as positional deviation (the Δ s of left and right sides oil hydraulic cylinder
L-R), its output is stretched out with the left side hydraulic cylinder piston rod or the ratio adjusting valve opening degree of withdraw basis setting value adds up afterwards stretches out as the left side hydraulic cylinder piston rod or the setting value of the ratio adjusting valve opening degree of withdrawing
Promptly when two oil hydraulic cylinder location synchronism deviations, this synchronism deviation amending unit will produce certain reduction value to the opening degree of left side oil hydraulic cylinder ratio adjusting valve, make the physical location of left and right sides oil hydraulic cylinder close fast, to eliminate dynamic synchronization deviation between the two.This function not only can shorten the interrupted stand-by period of two oil hydraulic cylinders in interrupted moving process synchronously, but also can reduce the dynamic synchronization deviation of two oil hydraulic cylinders.
Experiment effect: Ma Gang company has installed a rolled piece and has worn water-cooling apparatus behind big H type steel production line finishing mill machine, this rolled piece is worn water-cooling apparatus and had 4 side nozzle movable frames, and each side nozzle movable frame all adopts two hydraulic cylinder synchronous to drive.The hydraulic control system hardware and software of 4 side nozzle movable frames is by common design of Northeastern University and Guangzhou Inst. of Machinery Science hydraulic pressure research institute and debugging, in order to reduce the device fabrication cost, this hydraulic cylinder synchronous control system adopts common ratio adjusting valve and common selector valve to control two same moved further that drive oil hydraulic cylinder about the nozzle movable frame respectively.Yet this hydraulic cylinder synchronous control system has been debugged the nearly bimestrial time at the scene can not realize the same moved further of two oil hydraulic cylinders all the time, and the normal use of wearing water-cooling apparatus to rolled piece brings very big difficulty thus.In this case, wear the hydraulic hardware configuration of water-cooling apparatus side nozzle movable frame with regard to existing rolled piece, after the hydraulic cylinder synchronous control system that this rolled piece is worn water cooling dress side nozzle movable frame is used the given hydraulic cylinder synchronous controlling schemes of the present invention instead, the hydraulic cylinder synchronous control of side nozzle movable frame has obtained success, and its Hydraulic Synchronizing control effect as shown in Figure 3.By last Fig. 3 as can be known, about the side nozzle movable frame dynamic synchronization travelling speed of two oil hydraulic cylinders reach 13.5mm/s, dynamic synchronization move deviation less than 3mm, static positioning precision less than 1mm, satisfy equipment fully to two requirements that drive hydraulic cylinder synchronous control rate and precision, practical effect is very good, thus, obtained equipment supply unit, steel rolling operator and plant maintenance personnel's consistent favorable comment.
In conjunction with the accompanying drawings the present invention has been carried out exemplary description above; obviously specific implementation of the present invention is not subjected to the restriction of aforesaid way; as long as the various improvement of having adopted method design of the present invention and technological scheme to carry out; or directly apply to other occasion without improvement, all within protection scope of the present invention.
Claims (10)
1. hydraulic cylinder synchronous control system, it is characterized in that, comprise apparatus body, more than one oil hydraulic cylinder, common ratio adjusting valve and common selector valve, described a plurality of oil hydraulic cylinder connects and drives described apparatus body, and at least one in described a plurality of oil hydraulic cylinders connected and control by common ratio adjusting valve, and the another one at least in described a plurality of oil hydraulic cylinders is connected and control by common selector valve.
2. hydraulic cylinder synchronous control system as claimed in claim 1, it is characterized in that, described common ratio adjusting valve connect with it and the oil hydraulic cylinder of control between be provided with Pilot operated check valve, described common selector valve connect with it and the oil hydraulic cylinder of control between be provided with Pilot operated check valve.
3. hydraulic cylinder synchronous control system as claimed in claim 1 or 2 is characterized in that, is provided with two pipelines behind the described common selector valve, and described pipeline is attached to the oil hydraulic cylinder of described correspondence.
4. as each described hydraulic cylinder synchronous control system among the claim 1-3, it is characterized in that described pipeline is provided with flow control valve, described flow control valve is respectively equipped with the piston-retraction flow control valve on two pipelines and piston stretches out flow control valve.
5. as each described hydraulic cylinder synchronous control system among the claim 1-4, it is characterized in that described common selector valve comprises selector valve left side electromagnetic coil and right side electromagnetic coil.
6. as each described hydraulic cylinder synchronous control system among the claim 1-5, it is characterized in that, be equipped with piston position on the described oil hydraulic cylinder and detect encoder.
7. as its controlling method of hydraulic cylinder synchronous control system as described in the claim 1-6, it is characterized in that described oil hydraulic cylinder is two, be left side oil hydraulic cylinder and right side oil hydraulic cylinder, adopt following steps:
(1) a dynamic synchronization control allowable deviation about two oil hydraulic cylinders, the synchronism deviation that this dynamic synchronization control allowable deviation is allowed less than equipment are set;
(2) in the actual moving process of two oil hydraulic cylinders, described hydraulic synchronous control system is monitored the relative position of described two oil hydraulic cylinders;
(3) when the relative position relative position deviation of two oil hydraulic cylinders exceeded dynamic synchronization control allowable deviation, synchronous control system made the leading oil hydraulic cylinder that moves stop to move;
(4) the synchronous control system regulating and controlling is till the relative position deviation of two oil hydraulic cylinders is less than or equal to dynamic synchronization control allowable deviation.
8. as its controlling method of hydraulic cylinder synchronous control system as described in the claim 7, it is characterized in that in the step (1), the dynamic synchronization control allowable deviation that two oil hydraulic cylinders are set is 1.5mm.
9. as its controlling method of hydraulic cylinder synchronous control system as described in claim 7 or 8, it is characterized in that described hydraulic cylinder synchronous control system comprises a control program, wherein parameter is set in the program:
Be the position setting value of oil hydraulic cylinder institute driving arrangement, i.e. the position setting value of two synchronous mobile hydraulic cylinders; s
Act.LAnd s
Act.RBe respectively the actual position value of the left side oil hydraulic cylinder and the right side oil hydraulic cylinder that corresponding common selector valve is controlled of corresponding common ratio adjusting valve control;
With
Be oil hydraulic cylinder given location value respectively with the deviation of left side oil hydraulic cylinder actual position value and right side oil hydraulic cylinder actual position value; Δ s
L-R(=s
Act.L-s
Act.R) be left and right sides oil hydraulic cylinder physical location deviate;
Be left side oil hydraulic cylinder ratio adjusting valve opening degree setting value, the i.e. input value of ratio adjusting valve power amplifier.
10. as its controlling method of hydraulic cylinder synchronous control system as described in each among the claim 7-9, it is characterized in that following algorithm is adopted in control:
Stretch out mobile synchronization control for described right side oil hydraulic cylinder:
1) numerical value comparing unit YTC16 determines Δ s in control program
G-RGreater than 1mm, and numerical value comparing unit YTC17 determines Δ s
L-RDuring greater than-1.5mm, the condition of stretching out of right side oil hydraulic cylinder satisfies, and it is electric that synchronous control system gets the left side electromagnetic coil of right side oil hydraulic cylinder selector valve, and the right side hydraulic cylinder piston rod stretches out mobile, makes the physical location of right side oil hydraulic cylinder close to its given location;
2) determine Δ s as numerical value comparing unit YTC16
G-RBe less than or equal to 1mm, perhaps numerical value comparing unit YTC17 determines Δ s
L-RBe less than or equal to-during 1.5mm, synchronous control system will make the left side electromagnetic coil dead electricity of right side oil hydraulic cylinder selector valve, and at this moment, right side oil hydraulic cylinder selector valve will be in meta, the piston rod of right side oil hydraulic cylinder stops to move, and waits for that the physical location of left side oil hydraulic cylinder is close with it;
3) when the stretching out mobile condition and satisfy once more of right side hydraulic cylinder piston rod, the right side hydraulic cylinder piston rod could stretch out mobile once more;
The synchronization control that withdrawal is moved for the right side oil hydraulic cylinder:
Numerical value comparing unit YTC19 determines Δ s in control program
G-RLess than-1mm, and numerical value comparing unit YTC20 determines Δ s
L-RDuring less than 1.5mm, the retracting condition of right side hydraulic cylinder piston rod satisfies, it is electric that synchronous control system gets the right side electromagnetic coil of right side oil hydraulic cylinder selector valve, and the right side hydraulic cylinder piston rod is withdrawn mobile, makes the physical location of right side oil hydraulic cylinder close to its given location;
YTC19 determines Δ s when the numerical value comparing unit
G-RMore than or equal to-1mm, perhaps numerical value comparing unit YTC20 determines Δ s
L-RDuring more than or equal to 1.5mm, synchronous control system will make the right side electromagnetic coil dead electricity of right side oil hydraulic cylinder selector valve, the selector valve of right side oil hydraulic cylinder will be in meta this moment, and the piston rod of right side oil hydraulic cylinder will stop to move, and will be close with it with the physical location of waiting for the left side oil hydraulic cylinder;
When the withdrawal mobile condition of right side hydraulic cylinder piston rod satisfied once more, the right side hydraulic cylinder piston rod could be withdrawn mobile once more;
Stretch out mobile synchronization control for the left side oil hydraulic cylinder:
1) numerical value comparing unit YTC03 determines Δ s in control program
G-LGreater than 1mm, and numerical value comparing unit (YTC04) determines Δ s
L-RDuring less than 1.5mm, the mobile condition that stretches out of left side oil hydraulic cylinder satisfies, and synchronous control system enables left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator YTC14, and the ratio adjusting valve that makes the left side oil hydraulic cylinder is according to the given opening degree of synchronous control system
Open the left side hydraulic cylinder piston
Bar will move according to the speed corresponding with the ratio adjusting valve opening degree is protruding, make the physical location of left side oil hydraulic cylinder close to its given location;
2) determine Δ s as numerical value comparing unit YTC03
G-LBe less than or equal to 1mm, perhaps numerical value comparing unit YTC04 determines Δ s
L-RDuring more than or equal to 1.5mm, synchronous control system will make left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator YTC14 not enable, the setting value vanishing of left side oil hydraulic cylinder ratio adjusting valve opening degree, the left side hydraulic cylinder piston rod will stop to move, and will be close with it with the physical location of waiting for the right side oil hydraulic cylinder;
3) when the stretching out mobile condition and satisfy once more of left side hydraulic cylinder piston rod, the speed that the left side hydraulic cylinder piston rod could be controlled according to given ratio adjusting valve opening degree is once more stretched out mobile;
The synchronization control that withdrawal is moved for the left side oil hydraulic cylinder:
1) numerical value competitive list YTC06 in control program) determines Δ s
G-LLess than-1mm, and numerical value comparing unit YTC04 determines Δ s
L-RGreater than-1.5mm, the withdrawal mobile condition of left side hydraulic cylinder piston rod satisfies, synchronous control system make the left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator (YTC14) enable, and make the left side oil hydraulic cylinder ratio adjusting valve according to the given opening degree of synchronous control system
Open, the left side hydraulic cylinder piston will inwardly withdrawal be mobile according to the speed corresponding with the ratio adjusting valve opening degree, makes the physical location of left side oil hydraulic cylinder close to its given location;
2) determine Δ s as numerical value comparing unit YTC06
G-LMore than or equal to-1mm, perhaps numerical value comparing unit YTC07 determines Δ s
L-RBe less than or equal to-during 1.5mm, synchronous control system will make left side oil hydraulic cylinder ratio adjusting valve opening degree reference integrator YTC14 not enable, the setting value vanishing of left side oil hydraulic cylinder ratio adjusting valve opening degree, the left side hydraulic cylinder piston rod will stop to move, and will be close with it with the physical location of waiting for the right side oil hydraulic cylinder;
3) when the withdrawal mobile condition of left side hydraulic cylinder piston rod satisfies once more, the speed that the left side hydraulic cylinder piston rod could be controlled according to given ratio adjusting valve opening degree is once more withdrawn mobile.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102328888A (en) * | 2011-09-15 | 2012-01-25 | 莱芜钢铁集团有限公司 | Hydraulic servo synchronous lifting device and control method thereof |
| CN102952937A (en) * | 2012-11-19 | 2013-03-06 | 苏州新长光热能科技有限公司 | Material stirring device with double-hydraulic-cylinder follow-up control |
| CN103742467A (en) * | 2014-01-07 | 2014-04-23 | 马钢(集团)控股有限公司 | Synchronous control system for master and salve hydraulic cylinders with fixed potential difference and control method therefor |
| CN104747516A (en) * | 2015-01-30 | 2015-07-01 | 四川南骏汽车集团有限公司 | Synchronous lifting control system for hydraulic cylinders |
| CN104912856A (en) * | 2015-06-16 | 2015-09-16 | 南通市腾达锻压机床厂 | Double oil cylinder synchronous servo control system device |
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| CN102328888B (en) * | 2011-09-15 | 2013-12-25 | 莱芜钢铁集团有限公司 | Hydraulic servo synchronous lifting device and control method thereof |
| CN102328888A (en) * | 2011-09-15 | 2012-01-25 | 莱芜钢铁集团有限公司 | Hydraulic servo synchronous lifting device and control method thereof |
| CN102952937A (en) * | 2012-11-19 | 2013-03-06 | 苏州新长光热能科技有限公司 | Material stirring device with double-hydraulic-cylinder follow-up control |
| CN103742467A (en) * | 2014-01-07 | 2014-04-23 | 马钢(集团)控股有限公司 | Synchronous control system for master and salve hydraulic cylinders with fixed potential difference and control method therefor |
| CN106574640A (en) * | 2014-10-23 | 2017-04-19 | 南京迈瑞生物医疗电子有限公司 | Hydraulic drive system for operating table |
| CN104747516A (en) * | 2015-01-30 | 2015-07-01 | 四川南骏汽车集团有限公司 | Synchronous lifting control system for hydraulic cylinders |
| CN104747516B (en) * | 2015-01-30 | 2017-03-22 | 四川南骏汽车集团有限公司 | Synchronous lifting control system for hydraulic cylinders |
| CN104912856A (en) * | 2015-06-16 | 2015-09-16 | 南通市腾达锻压机床厂 | Double oil cylinder synchronous servo control system device |
| CN105292144A (en) * | 2015-09-24 | 2016-02-03 | 北京天地玛珂电液控制系统有限公司 | Coal mine underground stepping-type equipment train control method |
| CN106704279A (en) * | 2015-11-13 | 2017-05-24 | 昆明顺吉科技有限公司 | Hydraulic control system and main control valve thereof for seedling transplanter |
| CN106704279B (en) * | 2015-11-13 | 2018-05-29 | 昆明顺吉科技有限公司 | Seeding transplant machine hydraulic control system |
| CN107314000A (en) * | 2017-06-22 | 2017-11-03 | 马鞍山钢铁股份有限公司 | Synchronisation control means based on continuous casting production lifting hydraulic cylinder synchronous control system |
| CN107165875A (en) * | 2017-07-20 | 2017-09-15 | 马鞍山钢铁股份有限公司 | A kind of section steel cooling bed step rate translates hydraulic cylinder synchronization control method |
| CN107165875B (en) * | 2017-07-20 | 2019-01-25 | 马鞍山钢铁股份有限公司 | A kind of section steel cooling bed walking beam translation hydraulic cylinder synchronization control method |
| CN107830016A (en) * | 2017-11-28 | 2018-03-23 | 马鞍山钢铁股份有限公司 | A kind of synchronisation control means of continuous casting production lifting hydraulic cylinder synchronous control system |
| CN108167243A (en) * | 2017-12-29 | 2018-06-15 | 四川共享铸造有限公司 | RGV hydraulicefficiency elevation structures synchronous lifting control system and control method |
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