CN102441589A - Temper mill on-line roll changing cylinder synchronous control system and control method - Google Patents
Temper mill on-line roll changing cylinder synchronous control system and control method Download PDFInfo
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- CN102441589A CN102441589A CN2011102580972A CN201110258097A CN102441589A CN 102441589 A CN102441589 A CN 102441589A CN 2011102580972 A CN2011102580972 A CN 2011102580972A CN 201110258097 A CN201110258097 A CN 201110258097A CN 102441589 A CN102441589 A CN 102441589A
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Abstract
The invention discloses a temper mill on-line roll changing cylinder synchronous control system and a control method. The system comprises a plurality of hydraulic cylinder position detection modules, an A/D (Analog/Digital) input module, a PLC (Programmable Logical Controller) controller, a D/A (Digital/Analog) output module, an amplifier and a plurality of control valves, wherein the plurality of hydraulic cylinder position detection modules are correspondingly arranged on a plurality of hydraulic cylinders respectively; the A/D input module is connected with the plurality of hydraulic cylinder position detection modules respectively; the PLC controller is connected with the A/D input module; the D/A output module is connected with the PLC controller; the amplifier is connected with the D/A output module for receiving an amplitude limiting output value transmitted from the D/A output module and amplifying the amplitude limiting output value; the plurality of control valves are correspondingly connected with the plurality of hydraulic cylinders respectively; the plurality of control valves are also connected with the amplifier respectively; and each control valve is used for adjusting the movement of a valve core of the control valve according to the amplified amplitude limiting output valve, so that lifting speed and position tracking of the hydraulic cylinder connected with the control valve are controlled. Through the system and the method, on-line roll changing cylinder can be precisely synchronous.
Description
Technical field
The present invention relates to synchronous operation control system and control method, specifically, relate to a kind of planisher online roll change cylinder synchronous control system and control method.
Background technology
The major function of planisher is the plate shape of improving steel plate with to eliminate local thickness overproof, thereby makes steel plate have good plate shape and surface quality preferably.
Existing planisher structure has as shown in Figure 1; Comprise smooth frame 1, workroll change 2, back-up roll extractor 3 and main drive 4, wherein, workroll change 2 comprises working roll storage rack 21, roll change track 22, roll change buggy 23 and roll change buggy track 24; During roll change; Roll change track 22 aligns with roll change buggy track 24, a plurality of roll change cylinder actions of workroll change 3, and the new working roll that its top will hang on transmission side roll change storage rack 21 pushes the planisher frame; With stylish roller old roller is ejected, deliver on the roll change buggy 23 of operation side.Above-mentioned in order to satisfy the requirement of online roll change; Need a plurality of hydraulic cylinders synchronous at the motion process medium velocity; And position synchronous also had very high requirement, and the changes in flow rate scope of hydraulic cylinder at a high speed with low cruise the time is bigger, so be that a unsteady flow amount, high precision synchronous are controlled system.
At present, in Hydraulic Power Transmission System, Synchronization Control requires very general.Method commonly used has methods such as flow divider synchronization loop, flow speed control valve synchronization loop and hydraulic cylinder series connection synchronization loop.But; Because liquid compression, the leakage of hydraulic system; Load inhomogeneous; Characteristics such as the difference of frictional resistance, the power of carrying especially outside is than under the influence of carrying factors such as continuous variation of power and equipment moving stroke are bigger greatly and outward, and said method has very big difficulty for a plurality of hydraulic cylinder higher synchronous precision in the online roll change of realization planisher.
Summary of the invention
A technical problem to be solved by this invention is to the existing relatively poor problem of the online roll change cylinder of planisher synchronization accuracy, and the control system that can make online roll change cylinder precise synchronization is provided.
In order to solve the problems of the technologies described above; The online roll change cylinder of planisher of the present invention synchronous control system; Combine with the hydraulic system of the online roll change of planisher; Said hydraulic system comprises the hydraulic cylinder that a plurality of parallel connections are provided with, and said synchronous control system comprises a plurality of Position of Hydraulic Cylinder detection modules, an A/D input module, a PLC controller, a D/A output module, an amplifier and a plurality of control valve.A plurality of Position of Hydraulic Cylinder detection modules correspondence respectively are arranged on a plurality of hydraulic cylinders; The A/D input module is connected respectively with a plurality of Position of Hydraulic Cylinder detection modules, is used to gather the actual position value of each hydraulic cylinder; The PLC controller is connected with said A/D input module, and a said actual position value that is used for said A/D input module feedback is come and a setting value carry out the PID computing and operation result value and a limit range value compared obtaining an amplitude limit output valve; The D/A output module is connected with said PLC controller, is used for said amplitude limit output valve output; Amplifier is connected with said D/A output module, is used to receive said amplitude limit output valve that the transmission of D/A output module comes and said amplitude limit output valve is amplified; A plurality of control valves; Corresponding with a plurality of hydraulic cylinders respectively connection; Said a plurality of control valve is connected with said amplifier respectively again, and each control valve is used for adjusting moving of its spool according to the amplitude limit output valve after amplifying, with rising or falling speed and the location following of controlling connected hydraulic cylinder.
The online roll change cylinder of above-mentioned planisher synchronous control system, wherein, said PLC controller is the saturated PID controller of anti-integration.
The online roll change cylinder of above-mentioned planisher synchronous control system, wherein, said amplifier is that electro-hydraulic servo amplifies plate, said control valve is an electrohydraulic servo valve.
The online roll change cylinder of above-mentioned planisher synchronous control system, wherein, said setting value is the height value of the outside track of planisher.
Another technical problem to be solved by this invention is to the existing relatively poor problem of the online roll change cylinder of planisher synchronization accuracy, and the online roll change cylinder of planisher that can make online roll change cylinder precise synchronization synchronisation control means is provided, and it comprises:
Step S1: the actual position value of gathering each hydraulic cylinder;
Step S2:PLC controller carries out the PID computing with said actual position value and a setting value and operation result value and a limit range value is compared obtaining an amplitude limit output valve;
Step S3:D/A output module exports said amplitude limit output valve to amplifier;
Step S4: amplifier exports a plurality of control valves respectively to after said amplitude limit output valve is amplified;
Step S5: each control valve moves according to its spool of amplitude limit output valve adjustment after amplifying, with rising or falling speed and the location following of controlling connected hydraulic cylinder.
Above-mentioned method, wherein, in said step S2; The PLC controller is to a plurality of actual position value averaged; The actual position value of each hydraulic cylinder and said mean value carry out subtraction, multiply by a hydraulic cylinder synchronous coefficient again, and its end value are carried out normalization handle to obtain said limit range value; When said PID operation result value exceeds said limit range value; The higher limit that said amplitude limit output valve is said limit range value or be the lower limit of said limit range value, when said PID operation result value was in said limit range value, said amplitude limit output valve was said PID operation result value.
Above-mentioned method, wherein, the value of said hydraulic cylinder synchronous coefficient is: 0.5～3.0.
Above-mentioned method wherein, in said step S3, also comprises added value stack step.
Above-mentioned method, wherein, said PLC controller is the saturated PID controller of anti-integration.
Above-mentioned method, wherein, said amplifier is that electro-hydraulic servo amplifies plate, said control valve is an electrohydraulic servo valve.
Beneficial functional of the present invention is that the employing closed-loop control realizes the synchronous operation of a plurality of hydraulic cylinders, and is not only simple in structure, easily manufactured, and its precision is high, and reaction is fast, and insensitive to disturbing, response speed can be regulated according to technological requirement.Owing to accomplish closed-loop control,, can effectively improve system accuracy and performance simultaneously to satisfy process requirements through the PID computing through the PLC controller.
Describe the present invention below in conjunction with accompanying drawing and specific embodiment, but not as to qualification of the present invention.
Description of drawings
Fig. 1 is the structure chart of the planisher of prior art;
Fig. 2 is the structured flowchart of the online roll change cylinder of planisher of the present invention synchronous control system;
Fig. 3 is the flow chart of the online roll change cylinder of planisher of the present invention synchronisation control means.
Wherein, Reference numeral
The 1-frame
The 2-workroll change
21-working roll storage rack
22-roll change track
The 23-roll change buggy
24-roll change buggy track
The 3-back-up roll extractor
The 4-main drive
50-controls system
The 51-A/D input module
The 52-PLC controller
The 53-D/A output module
The 54-amplifier
551,552,553,554-Position of Hydraulic Cylinder detection module
561,562,563,564-hydraulic cylinder
571,572,573,574-control valve
S1～S5 step
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment technical scheme of the present invention being carried out detailed description, further understanding the object of the invention, scheme and effect, but is not the restriction as accompanying claims protection domain of the present invention.
Consult the structured flowchart of the online roll change cylinder of Fig. 2 planisher of the present invention synchronous control system; As shown in the figure; The online roll change cylinder of planisher of the present invention synchronous control system 50 combines with the hydraulic system of the online roll change of planisher, and said hydraulic system comprises the hydraulic cylinder 61,62,63,64 that a plurality of parallel connections are provided with, and control system 50 comprises a plurality of Position of Hydraulic Cylinder detection modules 551,552,553,554; A/D input module 51; PLC controller 52, D/A output module 53, amplifier 54 and a plurality of control valves 561,562,563,564.Position of Hydraulic Cylinder detection module 551,552,553,554 correspondence respectively is arranged on the hydraulic cylinder 61,62,63,64, and the Position of Hydraulic Cylinder detection module 551,552,553,554 here can adopt common sensor; A/D input module 51 is connected respectively with Position of Hydraulic Cylinder detection module 551,552,553,554, is used to gather the actual position value of each hydraulic cylinder; PLC controller 52 is connected with A/D input module 51, and an actual position value that is used for A/D input module 51 feedback is come and a setting value carry out the PID computing and operation result value and a limit range value compared obtaining an amplitude limit output valve; D/A output module 53 is connected with PLC controller 52, is used for the amplitude limit output valve is exported; Amplifier 54 is connected with D/A output module 53, is used to receive amplitude limit output valve that 53 transmission of D/A output module come and said amplitude limit output valve is amplified; Control valve 561,562,563,564 respectively with hydraulic cylinder 61,62,63,64 corresponding connections; Control valve 561,562,563,564 is connected with amplifier 54 respectively again; Each control valve is used for adjusting moving of its spool according to the amplitude limit output valve after amplifying, with rising or falling speed and the location following of controlling connected hydraulic cylinder.Wherein, the PLC controller is to a plurality of actual position value averaged, and the actual position value of each hydraulic cylinder and said mean value carry out subtraction; Multiply by a hydraulic cylinder synchronous coefficient again, and its end value is carried out normalization handle, need to prove to obtain said limit range value; The limit range value here is meant the finger between a lower limit and a higher limit, as-10～10, when said PID operation result value exceeds said limit range value; The higher limit that said amplitude limit output valve is said limit range value or be the lower limit of said limit range value for instance, is example with the limit range value for-10～10; When PID operation result value is 12; The amplitude limit output valve is 10, and when PID operation result value was-12, the amplitude limit output valve was-10.When said PID operation result value was in said limit range value, said amplitude limit output valve was said PID operation result value.
Preferably, PLC controller 52 is the saturated PID controller of anti-integration.Amplifier 54 amplifies plate for electro-hydraulic servo, and control valve 561,562,563,564 is an electrohydraulic servo valve.
Further, above-mentioned setting value is the height value of the outside track of planisher, and the outside track of the planisher here is the roll change buggy track 24 during background technology is introduced.
As shown in Figure 3, when adopting above-mentioned control system that the online roll change cylinder of planisher is carried out Synchronization Control, comprising:
Step S1: the actual position value of gathering each hydraulic cylinder;
Step S2:PLC controller carries out the PID computing with said actual position value and a setting value and operation result value and a limit range value is compared obtaining an amplitude limit output valve (corresponding to above-mentioned hydraulic cylinder 61,62,63,64; The LC controller will be respectively carries out each actual position value and a setting value PID computing and operation result value and a limit range value is compared obtaining an amplitude limit output valve; That is to say four each self-forming close loop control circuits of hydraulic cylinder);
Step S3:D/A output module exports said amplitude limit output valve to amplifier;
Step S4: amplifier exports a plurality of control valves respectively to after said amplitude limit output valve is amplified;
Step S5: each control valve moves according to its spool of amplitude limit output valve adjustment after amplifying, with rising or falling speed and the location following of controlling connected hydraulic cylinder.
In said step S2, the PLC controller is to a plurality of actual position value averaged, that is, and and S
On average=(S1+S2+S3+S4)/4, the actual position value of each hydraulic cylinder and said mean value carry out subtraction, multiply by a hydraulic cylinder synchronous coefficient k again; And its end value is carried out normalization handle to obtain said limit range value; When said PID operation result value exceeded said limit range value, the higher limit that said amplitude limit output valve is said limit range value or be the lower limit of said limit range value was when said PID operation result value is in said limit range value; Said amplitude limit output valve is said PID operation result value; Wherein, the value of hydraulic cylinder synchronous coefficient k can be adjusted according to reality, as can in 0.5～3.0 scope, adjusting.Can find out that from obtaining of top limit range value though four each self-forming close loop control circuits of hydraulic cylinder, four hydraulic cylinders condition each other again each other.
Preferably, in said step S3, also comprise added value stack step, in this added value stack step, can in above-mentioned operation result value, add an added value according to the actual corresponding speed of hydraulic cylinder, to eliminate null offset, influences such as output characteristics difference.
Can find out from above-mentioned, be example with four hydraulic cylinders shown in Figure 2, and during the control system works, each electrohydraulic servo valve forms a close loop control circuit with corresponding hydraulic cylinder and Position of Hydraulic Cylinder detection module.The hydraulic cylinder physical location that A/D input module 51 is gathered the detection of Position of Hydraulic Cylinder detection module is input to PLC controller 52; PLC controller 52 carries out the PID computing with its setting value as value of feedback and hydraulic cylinder; Its operation result outputs to electro-hydraulic servo through D/A output module 53 and amplifies plate 54; After processing and amplifying, be sent to electrohydraulic servo valve 561,562,563,564; The spool that electrohydraulic servo valve 561,562,563,564 drives separately respectively moves, thus the rising or falling speed and the location following of control hydraulic cylinder 61,62,63,64.When carrying out Synchronization Control; 52 pairs four hydraulic cylinder actual position value averaged of PLC controller are as regulating benchmark; The actual position value of each hydraulic cylinder and mean value carry out subtraction; Multiply by this hydraulic cylinder synchronous coefficient again, its end value is carried out normalization and is handled the back to the control of corresponding electrohydraulic servo valve output carrying out amplitude limit, to coordinate four hydraulic cylinder rising or falling speeds.Like this, four each self-forming close loop control circuits of hydraulic cylinder, and four hydraulic cylinders condition each other each other; When the actual position value of any hydraulic cylinder during greater than the mean place detected value; The control system reduces its D/A output automatically through control algolithm, in like manner, and when the actual position value of any hydraulic cylinder during less than mean value; System strengthens its rate of climb automatically, thereby keeps the speed and the position synchronous of four hydraulic cylinders.Wherein, synchronization factor can be adjusted its synchronization accuracy and response speed.
Need to prove that the number of hydraulic cylinder is not limited to four among the present invention, it can be adjusted according to the actual requirements, and is same, and the number of control valve also is not limited to four, and the number of control valve is as long as equate with the number of hydraulic cylinder.
Certainly; The present invention also can have other various embodiments; Under the situation that does not deviate from spirit of the present invention and essence thereof; Those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (10)
1. the online roll change cylinder of planisher synchronous control system combines with the hydraulic system of the online roll change of planisher, and said hydraulic system comprises the hydraulic cylinders that a plurality of parallel connections are provided with, and it is characterized in that said synchronous control system comprises
A plurality of Position of Hydraulic Cylinder detection modules, correspondence is arranged on a plurality of hydraulic cylinders respectively;
One A/D input module, it is connected respectively with a plurality of Position of Hydraulic Cylinder detection modules, is used to gather the actual position value of each hydraulic cylinder;
One PLC controller, it is connected with said A/D input module, and a said actual position value that is used for said A/D input module feedback is come and a setting value carry out the PID computing and operation result value and a limit range value are compared obtaining an amplitude limit output valve;
One D/A output module, it is connected with said PLC controller, is used for said amplitude limit output valve output;
One amplifier, it is connected with said D/A output module, is used to receive said amplitude limit output valve that the transmission of D/A output module comes and said amplitude limit output valve is amplified; And
A plurality of control valves; Corresponding with a plurality of hydraulic cylinders respectively connection; Said a plurality of control valve is connected with said amplifier respectively again, and each control valve is used for adjusting moving of its spool according to the amplitude limit output valve after amplifying, with rising or falling speed and the location following of controlling connected hydraulic cylinder.
2. the online roll change cylinder of planisher according to claim 1 synchronous control system is characterized in that, said PLC controller is the saturated PID controller of anti-integration.
3. the online roll change cylinder of planisher according to claim 1 synchronous control system is characterized in that, said amplifier is that electro-hydraulic servo amplifies plate, and said control valve is an electrohydraulic servo valve.
4. the online roll change cylinder of planisher according to claim 1 synchronous control system is characterized in that said setting value is the height value of the outside track of planisher.
5. a method that adopts the online roll change cylinder of planisher as claimed in claim 1 synchronous control system to carry out Synchronization Control is characterized in that, comprises
Step S1: the actual position value of gathering each hydraulic cylinder;
Step S2:PLC controller carries out the PID computing with said actual position value and a setting value and operation result value and a limit range value is compared obtaining an amplitude limit output valve;
Step S3:D/A output module exports said amplitude limit output valve to amplifier;
Step S4: amplifier exports a plurality of control valves respectively to after said amplitude limit output valve is amplified;
Step S5: each control valve moves according to its spool of amplitude limit output valve adjustment after amplifying, with rising or falling speed and the location following of controlling connected hydraulic cylinder.
6. method according to claim 5 is characterized in that, in said step S2; The PLC controller is to a plurality of actual position value averaged; The actual position value of each hydraulic cylinder and said mean value carry out subtraction, multiply by a hydraulic cylinder synchronous coefficient again, and its end value are carried out normalization handle to obtain said limit range value; When said PID operation result value exceeds said limit range value; The higher limit that said amplitude limit output valve is said limit range value or be the lower limit of said limit range value, when said PID operation result value was in said limit range value, said amplitude limit output valve was said PID operation result value.
7. method according to claim 6 is characterized in that the value of said hydraulic cylinder synchronous coefficient is: 0.5～3.0.
8. according to any described method among the claim 5-7, it is characterized in that, in said step S3, also comprise added value stack step.
9. method according to claim 8 is characterized in that, said PLC controller is the saturated PID controller of anti-integration.
10. method according to claim 8 is characterized in that, said amplifier is that electro-hydraulic servo amplifies plate, and said control valve is an electrohydraulic servo valve.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104246240A (en) * | 2012-04-19 | 2014-12-24 | 卡斯卡特公司 | Fluid power control system for mobile load handling equipment |
| CN105298961A (en) * | 2015-12-11 | 2016-02-03 | 天津市天锻压力机有限公司 | Multi-oil-cylinder synchronous traction control system and method applied to marine engineering field |
| CN110523778A (en) * | 2019-09-25 | 2019-12-03 | 马鞍山钢铁股份有限公司 | A kind of control method of universal profiled rolling mill upper roller compensating cylinder roll change position |
| CN111412187A (en) * | 2020-04-03 | 2020-07-14 | 东方电气集团东方汽轮机有限公司 | Automatic control method and system for multi-oil-cylinder synchronous motion |
| CN112230539A (en) * | 2020-09-11 | 2021-01-15 | 湖南联智智能科技有限公司 | Bridge prestress tension frequency conversion control method |
| CN113503276A (en) * | 2020-09-23 | 2021-10-15 | 南京迈瑞生物医疗电子有限公司 | Hydraulic control system of medical bed, medical bed and control method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104246240A (en) * | 2012-04-19 | 2014-12-24 | 卡斯卡特公司 | Fluid power control system for mobile load handling equipment |
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| CN110523778A (en) * | 2019-09-25 | 2019-12-03 | 马鞍山钢铁股份有限公司 | A kind of control method of universal profiled rolling mill upper roller compensating cylinder roll change position |
| CN110523778B (en) * | 2019-09-25 | 2020-09-04 | 马鞍山钢铁股份有限公司 | Control method for roll changing position of upper roll balance cylinder of universal section mill |
| CN111412187A (en) * | 2020-04-03 | 2020-07-14 | 东方电气集团东方汽轮机有限公司 | Automatic control method and system for multi-oil-cylinder synchronous motion |
| CN111412187B (en) * | 2020-04-03 | 2022-05-10 | 东方电气集团东方汽轮机有限公司 | Automatic control method and system for multi-oil-cylinder synchronous motion |
| CN112230539A (en) * | 2020-09-11 | 2021-01-15 | 湖南联智智能科技有限公司 | Bridge prestress tension frequency conversion control method |
| CN113503276A (en) * | 2020-09-23 | 2021-10-15 | 南京迈瑞生物医疗电子有限公司 | Hydraulic control system of medical bed, medical bed and control method |
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