CN107165875B - A kind of section steel cooling bed walking beam translation hydraulic cylinder synchronization control method - Google Patents
A kind of section steel cooling bed walking beam translation hydraulic cylinder synchronization control method Download PDFInfo
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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Abstract
The invention discloses a kind of section steel cooling bed walking beams to translate hydraulic cylinder synchronization control method, belongs to hydraulic pressure drive control system field.During the present invention is included in principal and subordinate's translation hydraulic cylinder synchronous movement, if actively translating hydraulic cylinder in sync bit deviation feasible value of the position deviation of desired moving direction and most slow driven translation hydraulic cylinder beyond setting, it is 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 within the scope of sync bit deviation feasible value.This method not only can to avoid because cold bed walking beam translate it is asynchronous due to influence the working efficiency of trolley under cold bed, but also can be greatly lowered cold bed walking beam translation hydraulic system plant maintenance workload and expense.
Description
Technical field
The present invention relates to hydraulic pressure drive control system fields, translate more specifically to a kind of section steel cooling bed walking beam hydraulic
Cylinder synchronisation control means.
Background technique
H profile steel cold bed (abbreviation cold bed) generallys use walking beam mode to put and move H profile steel, and cold bed walking beam is existing
Whole segmentation also has multisection type (usually four sections).For (such as four sections of the Ma Gang great H profile steel independent cold bed steppings of multisection type walking beam
Beam), every section of walking beam then is completed to be moved in translation using independent hydraulic cylinder.Cold bed walking beam independent for four sections of H profile steel is put down
Move synchronously control, currently used control mode are as follows: select one in four sections of independent section steel cooling bed walking beam translation hydraulic cylinders
Section steel cooling bed walking beam translates hydraulic cylinder as active cold bed walking beam and translates hydraulic cylinder (hereinafter referred to as actively translating hydraulic cylinder),
Remaining section steel cooling bed walking beam translates hydraulic cylinder and then translates hydraulic cylinder (hereinafter referred to as driven translation as driven cold bed walking beam
Hydraulic cylinder), it whether actively translates hydraulic cylinder or driven translation hydraulic cylinder, each hydraulic cylinder is all made of independent position and closes
Ring control,；The position given value of each hydraulic cylinder is identical, and actual position value is then given by the position sensor of each hydraulic cylinder
Out；For actively translating hydraulic cylinder, the output valve of the position control in position closed loop is after ramp generator exports
The control voltage of the hydraulic cylinder proportional control valve, and for driven translation hydraulic cylinder, then the position in its position closed loop is adjusted
Main control voltage of the output valve of device as its proportional control valve, and the physical location deviation that principal and subordinate translates hydraulic cylinder is multiplied by one
Additional control voltage after a fixed coefficient as driven translation hydraulic cylinder proportional control valve, the two accumulated value is through ramp generator
The control voltage total as driven translation hydraulic cylinder proportional control valve after output.It is attached to increase driven translation hydraulic cylinder proportional control valve
Add control voltage, the purpose is to the shiftings of the driven translation hydraulic cylinder of the physical location deviation dynamic corrections for translating hydraulic cylinder based on principal and subordinate
Dynamic speed translates the dynamic of hydraulic cylinder to realize that driven translation hydraulic cylinder follows its actively to translate hydraulic cylinder thus to obtain principal and subordinate
State synchronizing moving.However, synchronous control mode is translated for this conventional H profile steel cold bed walking beam, when any one is driven
Translation hydraulic cylinder occur in walking beam translation motion it is biggish in let out or walking beam occur in translation motion it is a degree of
When card group, which may there are of short duration or nonsynchronous always with hydraulic cylinder is actively translated in translation motion
Phenomenon.The translation of four sections of Ma Gang great H profile steel independent cold bed walking beams also uses this conventional synchronous control mode, in practical life
During production, there is also serious asynchrony phenomenons for the translation of this four sections independent cold bed walking beams, cause H profile steel in cold bed outlet end
There is serious skew, thus connecing steel automatically to trolley under cold bed makes troubles, and influences the working efficiency of trolley under cold bed.
Summary of the invention
1. technical problems to be solved by the inivention
In view of the defects existing in the prior art with deficiency, the present invention provides a kind of section steel cooling bed walking beams to translate hydraulic cylinder
The synchronous translational of multistage independence cold bed walking beam not only may be implemented in synchronisation control means, this method, but also to cold bed walking beam
The performer for translating hydraulic control system has very high fault-tolerance, remains in the case where such as letting out in translating hydraulic cylinder and occurring
The synchronizing moving for realizing each translation hydraulic cylinder, thus makes the service life for translating hydraulic cylinder be increased dramatically.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention are as follows:
A kind of section steel cooling bed walking beam of the invention translates hydraulic cylinder synchronization control method, the steps include:
Step 1: during principal and subordinate translates hydraulic cylinder synchronous movement, if actively translating hydraulic cylinder in desired movement
Sync bit deviation feasible value of the position deviation of direction and most slow driven translation hydraulic cylinder beyond setting, is translated 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 with move most slowly from
Sync bit deviation between dynamic translation hydraulic cylinder, is within the scope of sync bit deviation feasible value；
Step 2: actively translate hydraulic cylinder in driven translation hydraulic cylinder synchronous moving process, if actively translating hydraulic
Position deviation between cylinder and most slow driven translation hydraulic cylinder exceeds setting range, is repaired by actively translating hydraulic cylinder synchronous tolerance speed
Positive unit is modified the movement speed for actively translate hydraulic cylinder, and any one of driven translation hydraulic cylinder with actively translate 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 movement speed of liquid relief cylinder pressure is modified；
Step 3: it during walking beam is manually advanced and provides with retrogressing instruction, is linked manually by actively translating hydraulic cylinder
Synchronous control unit and driven translation the hydraulic cylinder synchronous control unit that links manually control and actively translate hydraulic cylinder and driven translation
Hydraulic cylinder synchronizes movement；
Step 4: in cold bed walking beam auto-translating position given value Szcwg less or greater than actively translating hydraulic cylinder
It is same by actively translating hydraulic cylinder automatic linkage when the difference of actual position value Sm.act and the two exceeds position deviation feasible value
Step control unit actively to translate hydraulic cylinder actual position value Sm.act and cold bed walking beam auto-translating position given value
The difference of Szcwg is within the scope of position deviation feasible value；
Step 5: in cold bed walking beam auto-translating position given value Szcwg less or greater than driven translation hydraulic cylinder
When the difference of actual position value Ssn.act and the two exceeds position deviation feasible value, pass through driven translation hydraulic cylinder automatic linkage
Synchronous control unit makes driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position given value
The difference of Szcwg is within the scope of position deviation feasible value.
3. beneficial effect
Using technical solution provided by the invention, compared with prior art, have the following beneficial effects:
A kind of section steel cooling bed walking beam of the invention translates hydraulic cylinder synchronization control method, this method not only can to avoid because
Cold bed walking beam translates working efficiency that is asynchronous and influencing trolley under cold bed, but also cold bed walking beam can be greatly lowered
Translate the plant maintenance workload and expense of hydraulic system.
Specific embodiment
The present invention will be further described with reference to the examples below:
Embodiment 1
Step 1: during principal and subordinate translates hydraulic cylinder synchronous movement, if actively translating hydraulic cylinder in desired movement
Sync bit deviation feasible value of the position deviation of direction and most slow driven translation hydraulic cylinder beyond setting, is translated 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 with move most slowly from
Sync bit deviation between dynamic translation hydraulic cylinder, is within the scope of sync bit deviation feasible value；
Step 2: actively translate hydraulic cylinder in driven translation hydraulic cylinder synchronous moving process, if actively translating hydraulic
Position deviation between cylinder and most slow driven translation hydraulic cylinder exceeds setting range, is repaired by actively translating hydraulic cylinder synchronous tolerance speed
Positive unit is modified the movement speed for actively translate hydraulic cylinder, and any one of driven translation hydraulic cylinder with actively translate 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 movement speed of liquid relief cylinder pressure is modified；
Step 3: it during walking beam is manually advanced and provides with retrogressing instruction, is linked manually by actively translating hydraulic cylinder
Synchronous control unit and driven translation the hydraulic cylinder synchronous control unit that links manually control and actively translate hydraulic cylinder and driven translation
Hydraulic cylinder synchronizes movement；
Step 4: in cold bed walking beam auto-translating position given value Szcwg less or greater than actively translating hydraulic cylinder
It is same by actively translating hydraulic cylinder automatic linkage when the difference of actual position value Sm.act and the two exceeds position deviation feasible value
Step control unit actively to translate hydraulic cylinder actual position value Sm.act and cold bed walking beam auto-translating position given value
The difference of Szcwg is within the scope of position deviation feasible value；
Step 5: in cold bed walking beam auto-translating position given value Szcwg less or greater than driven translation hydraulic cylinder
When the difference of actual position value Ssn.act and the two exceeds position deviation feasible value, pass through driven translation hydraulic cylinder automatic linkage
Synchronous control unit makes driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position given value
The difference of Szcwg is within the scope of position deviation feasible value.
A kind of section steel cooling bed walking beam of the present embodiment translates hydraulic cylinder synchronization control method, and it is same to translate hydraulic cylinder in principal and subordinate
During moved further, if it is inclined in the position of desired moving direction and most slow driven translation hydraulic cylinder actively to translate hydraulic cylinder
Difference is greater 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
Walking beam 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)；Before obtaining section steel cooling bed walking beam by functional block XLBTC01~XLBTC03 and XLBTC08~XLBTC11
Row actively translates maximum value (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).In this way, when section steel cooling bed walking beam 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 end QU will become ' 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 greater than setting is set, later, actively translates hydraulic cylinder raising speed again
It retreats；When section steel cooling bed walking beam moves ahead mobile, if △ Sms.f.max numerical value is greater than or equal to the forward sync bit of setting
Deviation feasible value (such as 2 millimeters), then functional block XLBTC17 output end QL will become ' 0 ' state from ' 1 ' state, make actively to translate in this way
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, later, actively translating hydraulic cylinder, raising speed moves ahead again.
If driven translation hydraulic cylinder and the sync bit that the position deviation for actively translating hydraulic cylinder is greater than or equal to setting are inclined
Poor feasible value (such as 2 millimeters), in driven translation hydraulic cylinder and actively translating sync bit deviation between hydraulic cylinder transfinites control unit
In, driven translation hydraulic cylinder is obtained by functional block XLBTC100 and actively translates the alternate position spike (i.e. △ Ssnm) of hydraulic cylinder.This
Sample, when section steel cooling bed walking beam retreats mobile, if the fallback synchronization position deviation that △ Ssnm numerical value is less than or equal to setting is held
Perhaps value (such as -2 millimeters), then functional block XLBTC102 output end QU will become ' 0 ' state from ' 1 ' state, make driven translation hydraulic in this way
Cylinder, which slows down, to be retreated, and until driven translation hydraulic cylinder and is actively translated the position deviation value between hydraulic cylinder and is greater than the fallback synchronization set
Position deviation feasible value (as -2 millimeters) (i.e. driven translation hydraulic cylinder and actively translates position deviation between hydraulic cylinder in the least less than 2
Rice), later, raising speed retreats driven translation hydraulic cylinder again；When section steel cooling bed walking beam moves ahead mobile, if △ Ssnm numerical value is greater than
Or the forward sync bit deviation feasible value (such as 2 millimeters) equal to setting, then functional block XLBTC101 output end QL will be by ' 1 ' state
Become ' 0 ' state, so that driven translation hydraulic cylinder is slowed down in this way and move ahead, until driven translation hydraulic cylinder and actively translates between hydraulic cylinder
Position deviation value is less than the forward sync bit deviation feasible value (such as 2 millimeters) of setting, later, driven translation hydraulic cylinder raising speed again
It moves ahead.
If in view of actively translate hydraulic cylinder in driven translation hydraulic cylinder synchronous moving process frequently because position deviation is super
Out maximum allowable position deviation and slow down, actively translate hydraulic cylinder and be easy to appear position oscillation during synchronizing moving, and by
This induces driven translation Position of Hydraulic Cylinder oscillation.During principal and subordinate translates the synchronizing moving of hydraulic cylinder, once actively translate liquid
Range (such as ± 0.5 millimeter) of the cylinder pressure sync bit deviation △ Sms beyond setting, then actively translate hydraulic cylinder synchronous by this
Tolerance speed amending unit is in time modified the movement speed for actively translating hydraulic cylinder, between principal and subordinate translates hydraulic cylinder
Position deviation value is in setting range again, can greatly reduce that actively to translate Position of Hydraulic Cylinder deviation △ Sms super in this way
The probability of out position deviation feasible value.The input terminal X2 of functional block XLBTC41, which is equal to, in the control unit actively translates hydraulic cylinder
Multiplied by setting coefficient, (it is inclined that the setting coefficient alternatively referred to as actively translates hydraulic cylinder synchronous after sync bit deviation △ Sms is reversed
Differential degree correction factor), when actively translating range of the hydraulic cylinder synchronous position deviation value △ Sms beyond setting, (such as ± 0.5 in the least
Rice), the end control terminal I of functional block XLBTC41 will become ' 1 ' state from ' 0 ' state, thus make the output end Y's of functional block XLBTC41
Output valve (actively translating hydraulic cylinder synchronous tolerance speed correction value) is equal to the input value of its input terminal X2, in this way, the unit
One will be exported, and reversely directly proportional speed correction, the speed are repaired with hydraulic cylinder synchronous position deviation value △ Sms is actively translated
The sync bit deviation that positive value will make actively to translate hydraulic cylinder and move between most slow driven translation hydraulic cylinder is gradually reduced, until
Actively translate the range that Position of Hydraulic Cylinder deviation △ Sms is in setting again (such as ± 0.5 millimeter).It follows that by should
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 with actively translate in hydraulic cylinder synchronous moving process frequently because position deviation exceeds
Position deviation feasible value and slow down, driven translation hydraulic cylinder is easy to appear position oscillation during synchronizing moving, and thus lures
Hair actively translates Position of Hydraulic Cylinder oscillation.During principal and subordinate translates the synchronizing moving of hydraulic cylinder, once driven translation hydraulic cylinder
The range (such as ± 0.5 millimeter) for exceeding setting with the alternate position spike △ Ssnm for actively translating hydraulic cylinder, then pass through the driven translation liquid
Cylinder pressure synchronism deviation speed amending unit is in time modified the movement speed of driven translation hydraulic cylinder, until driven translation liquid
Cylinder pressure and the position deviation value actively translated between hydraulic cylinder are in setting range again, can greatly reduce driven translation in this way
Hydraulic cylinder exceeds the probability of maximum allowable position deviation with the position deviation value △ Ssnm for actively translating hydraulic cylinder.The control unit
The input terminal X2 of middle functional block XLBTC123 is equal to driven translation hydraulic cylinder and actively translates the position deviation value △ of hydraulic cylinder
Multiplied by setting coefficient, (the setting coefficient is alternatively referred to as driven translation hydraulic cylinder and actively to translate hydraulic cylinder synchronous inclined after Ssnm is reversed
Differential degree correction factor), when driven translation hydraulic cylinder exceeds setting with the position deviation value △ Ssnm for actively translating hydraulic cylinder
Range (such as ± 0.5 millimeter), the end control terminal I of functional block XLBTC123 will become ' 1 ' state from ' 0 ' state, thus make functional block
The output valve (i.e. driven translation hydraulic cylinder synchronous tolerance speed correction value) of the output end Y of XLBTC123 is equal to its input terminal X2's
Input value, in this way, the unit is by output one and driven translation hydraulic cylinder and between actively translating hydraulic cylinder, alternate position spike △ Ssnm is anti-
To directly proportional speed correction, which will make driven translation hydraulic cylinder and actively translates the sync bit between hydraulic cylinder
It sets deviation to be gradually reduced, be set until driven translation hydraulic cylinder is in again with the position deviation value △ Ssnm for actively translating hydraulic cylinder
Fixed range (such as ± 0.5 millimeter).It follows that by the driven translation hydraulic cylinder synchronous tolerance speed amending unit can make from
It dynamic translation hydraulic cylinder and actively translates alternate position spike △ Ssnm between hydraulic cylinder and transfinites and corrected before (such as ± 2 millimeters) in time.
It links manually synchronous control unit for actively translating hydraulic cylinder, in the manual linked manner of section steel cooling bed walking beam
Under, during the instruction of walking beam manual retraction provides, functional block XLBTC14 output end Y (the A point 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 end QL will be ' 1 '
State, in this way, 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 greater than the fallback synchronization position deviation feasible value (such as -2 millimeters) of setting, this actively translates hydraulic cylinder and links manually
The output end Q of functional block XLBTC22~XLBTC24 and XLBTC33 will be ' 1 ' state, functional block in synchronous control unit
The numerical value of the output end Y of XLBTC25 will be equal to the numerical value that functional block XLBTC14 output end Y is exported, and (i.e. principal and subordinate translates hydraulic cylinder
Manual retraction speed setting value (such as -6V)).In this way, in the equal fault-free of cold bed walking beam translation hydraulic cylinder position sensor, cold bed
Walking beam translation hydraulic system fault-free, cold bed be not when operating blocking and cold bed without tightly stopping, functional block
The output end Q of XLBTC50 will be ' 1 ' state, and principal and subordinate translates hydraulic cylinder manual retraction speed setting value (such as -6V) will be by " integral
The output end Y of device " functional block XLBTC52 actively translates hydraulic cylinder proportional control valve to cold bed walking beam and applies retrogressing control electricity
Pressure, meanwhile, the output end Q which passes through functional block XLBTC50 is ' 1 ' state, so that actively translating hydraulic cylinder hydraulic control one-way valve
In release conditions.During cold bed walking beam retreats mobile, actively translates hydraulic cylinder and retreat most slow driven translation
Position deviation value between hydraulic cylinder is modified by actively translating hydraulic cylinder synchronous tolerance speed amending unit, if the two position
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
It retreats, until the two position deviation value is greater than the fallback synchronization position deviation feasible value of setting again (such as -2 millimeters).In stepping
Beam, which moves ahead to instruct manually, provides period, and the numerical value of functional block XLBTC14 output end Y (the A point i.e. in program) will wait in the unit
It translates hydraulic cylinder in principal and subordinate to move ahead speed setting value (such as 8V), functional block XLBTC15 output end QU will be ' 1 ' state, in this way, 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
It moves ahead sync bit deviation feasible value (such as 2 millimeters), this actively translates hydraulic cylinder and links manually functional block in synchronous control unit
The output end Q of XLBTC20, XLBTC23, XLBTC24 and XLBTC33 will be ' 1 ' state, the output end Y's of functional block XLBTC25
Numerical value will be equal to the numerical value that functional block XLBTC14 output end Y is exported, and (i.e. principal and subordinate translates hydraulic cylinder forward speed setting value manually
(such as 8V)).In this way, translating hydraulic system in the equal fault-free of cold bed walking beam translation hydraulic cylinder position sensor, cold bed walking beam
Not when operating blocking and cold bed without tightly stopping, the output end Q of functional block XLBTC50 will be ' 1 ' for fault-free, cold bed
State, principal and subordinate, which translates hydraulic cylinder, will pass through the output end Y of " integrator " functional block XLBTC52 manually forward speed setting value (such as 8V)
Hydraulic cylinder proportional control valve, which is actively translated, to cold bed walking beam applies the control voltage that moves ahead, meanwhile, which passes through functional block
The output end Q of XLBTC50 is ' 1 ' state, makes actively to translate hydraulic cylinder hydraulic control one-way valve and is in release conditions.Before cold bed walking beam
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 the two position deviation value is greater than or equal to the forward same of setting
It walks position deviation feasible value (such as 2 millimeters), then actively translates hydraulic cylinder and deceleration moves ahead, until the two position deviation value is again small
In the forward sync bit deviation feasible value (such as 2 millimeters) of setting.
It links manually synchronous control unit for driven translation hydraulic cylinder, in the manual linked manner of section steel cooling bed walking beam
Under, during the instruction of walking beam manual retraction provides, functional block XLBTC104 input terminal I2 (the C point i.e. in program) in the unit
State will become ' 1 ' from ' 0 ', in this way, if driven translation hydraulic cylinder and actively translating alternate position spike △ Ssnm between hydraulic cylinder and being greater than and set
Fixed fallback synchronization position deviation feasible value (such as -2 millimeters), the driven translation hydraulic cylinder link function in synchronous control unit manually
The output end Q of energy block XLBTC104~XLBTC106 and XLBTC115 will be ' 1 ' state, the output end Y of functional block XLBTC107
Numerical value by be equal to its input terminal X2 inputted numerical value (i.e. principal and subordinate translate hydraulic cylinder manual retraction speed setting value (as-
6V)).In this way, translating hydraulic system without reason in the equal fault-free of cold bed walking beam translation hydraulic cylinder position sensor, cold bed walking beam
Not when operating blocking and cold bed without tightly stopping, the output end Q of functional block XLBTC129 will be ' 1 ' state for barrier, cold bed,
Principal and subordinate, which translates hydraulic cylinder manual retraction speed setting value (such as -6V), will pass through the output end Y of " integrator " functional block XLBTC132
Apply to the driven translation hydraulic cylinder proportional control valve of cold bed walking beam and retreats control voltage, meanwhile, which passes through functional block
The output end Q of XLBTC129 is ' 1 ' state, and driven translation hydraulic cylinder hydraulic control one-way valve is made to be in release conditions.In cold bed walking beam
During retreating movement, driven translation hydraulic cylinder and the position deviation value actively translated between hydraulic cylinder are hydraulic by driven translation
Cylinder synchronism deviation speed amending unit is modified, if the fallback synchronization position that the two position deviation value is less than or equal to setting is inclined
Poor feasible value (such as -2 millimeters), then driven translation hydraulic cylinder will slow down and retreat, until the two position deviation value is greater than setting again
Fallback synchronization position deviation feasible value (as -2 millimeters).It moves ahead to instruct manually in walking beam and provides period, function in the unit
Block XLBTC103 input terminal I2 (the B point i.e. in program) state will become ' 1 ' from ' 0 ', in this way, if driven translation hydraulic cylinder and master
Alternate position spike △ Ssnm is less than the forward sync bit deviation feasible value (such as 2 millimeters) of setting between dynamic translation hydraulic cylinder, 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, and the numerical value of the output end Y of functional block XLBTC107 will be equal to numerical value that its input terminal X2 is inputted (i.e.
Principal and subordinate translates hydraulic cylinder and moves ahead speed setting value (such as 8V) manually).In this way, translating hydraulic cylinder position sensor in cold bed walking beam
Equal fault-free, cold bed walking beam translation hydraulic system fault-free, cold bed do not stop situation without tight in operation blocking and cold bed
Under, the output end Q of functional block XLBTC129 will be ' 1 ' state, and principal and subordinate translates hydraulic cylinder, and forward speed setting value (such as 8V) will manually
Before being applied by the output end Y of " integrator " functional block XLBTC132 to the driven translation hydraulic cylinder proportional control valve of cold bed walking beam
Row control voltage, meanwhile, the output end Q which passes through functional block XLBTC129 is ' 1 ' state, makes driven translation hydraulic cylinder hydraulic control
Check valve is in release conditions.During cold bed walking beam moves ahead mobile, driven translation hydraulic cylinder with actively translate it is hydraulic
Position deviation value between cylinder is modified by driven translation hydraulic cylinder synchronous tolerance speed amending unit, if the two position deviation
Value is greater than or equal to the forward sync bit deviation feasible value (such as 2 millimeters) of setting, then driven translation hydraulic cylinder will slow down and move ahead,
Until the two position deviation value is 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 walking beam automatic linkage mode
Under, cold bed walking beam auto-translating position given value Szcwg be less than actively translate hydraulic cylinder actual position value Sm.act and
During the difference of the two is less than position deviation feasible value (such as -1 millimeter), function in the active hydraulic cylinder automatic linkage synchronous control unit
Energy block XLBTC28 output end QL and XLBTC34 output end Q (the F point i.e. in program) will be ' 1 ' state, in this way, in cold bed stepping
Liangping is moved the equal fault-free of hydraulic cylinder position sensor, cold bed walking beam translation hydraulic system fault-free, cold bed and is not latched in operation
In the case of state and cold bed are without tightly stopping, the output end Q of functional block XLBTC35 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 which passes through functional block XLBTC50 is
' 1 ' state, makes actively to translate hydraulic cylinder hydraulic control one-way valve and is in release conditions.In this way, " pi regulator " functional block in the unit
XLBTC36 output end Y will be according to cold bed walking beam auto-translating position given value Szcwg and actively translating hydraulic cylinder physical location
The difference of value Sm.act export it is certain actively translate hydraulic cylinder proportional control valve control voltage, make actively to translate hydraulic cylinder it is automatic after
It retires dynamic.During actively translating hydraulic cylinder and retreating mobile towards the given position auto-translating position given value Szcwg,
If actively translating hydraulic cylinder and the position deviation value (i.e. △ Sms.b.min) that retreats between most slow driven translation hydraulic cylinder being greater than and sets
Fixed fallback synchronization position deviation feasible value (such as -2 millimeters), functional block in the active hydraulic cylinder automatic linkage synchronous control unit
XLBTC51 output end Q will be ' 1 ' state.In this way, actively translating for " pi regulator " functional block XLBTC36 output end Y output is hydraulic
Cylinder proportional control valve control voltage is applied to through " integrator " functional block XLBTC52 actively translates hydraulic cylinder proportional control valve, makes
Hydraulic cylinder actual position value Sm.act must actively be translated and the difference of cold bed walking beam auto-translating position given value Szcwg gradually contracts
The small difference until the two is between ± 1 millimeter.Equally, under section steel cooling bed walking beam automatic linkage mode, in cold bed stepping
Beam auto-translating position given value Szcwg is greater than the difference for actively translating hydraulic cylinder actual position value Sm.act and the two greater than position
During setting deviation feasible value (such as 1 millimeter), functional block XLBTC27 output in the active hydraulic cylinder automatic linkage synchronous control unit
Holding QU and XLBTC34 output end Q (the F point i.e. in program) will be ' 1 ' state, at this point, translating hydraulic cylinder position in cold bed walking beam
Set the equal fault-free of sensor, cold bed walking beam translation hydraulic system fault-free, cold bed not operation blocking and cold bed without
In the case of tightly stopping, the output end Q of functional block XLBTC35 will be ' 1 ' state in the unit, thus make in the unit " pi regulator " function
Energy block XLBTC36 is in release conditions, meanwhile, the output end Q which 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.In this way, " pi regulator " functional block XLBTC36 output end Y will in the unit
The difference for according to cold bed walking beam auto-translating position given value Szcwg and actively translating hydraulic cylinder actual position value Sm.act exports
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 position given value Szcwg during movement, if actively translating hydraulic
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) are set, functional block XLBTC51 output end Q in the active hydraulic cylinder automatic linkage synchronous control unit
It will be ' 1 ' state.In this way, " pi regulator " functional block XLBTC36 output end Y output 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 translating hydraulic
The difference until the two is gradually reduced in the difference of cylinder actual position value Sm.act and cold bed walking beam auto-translating position given value Szcwg
Between ± 1 millimeter.
For driven translation hydraulic cylinder automatic linkage synchronous control unit, in section steel cooling bed walking beam automatic linkage mode
Under, cold bed walking beam auto-translating position given value Szcwg be less than driven translation hydraulic cylinder actual position value Ssn.act and
During the difference of the two is 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 end QL and XLBTC116 output end Q (the G point i.e. in program) will be ' 1 ' state, in this way, cold
The equal fault-free of bed walking beam translation hydraulic cylinder position sensor, cold bed walking beam translation hydraulic system fault-free, cold bed are not being grasped
In the case of making blocking and cold bed without tightly stopping, the output end Q of functional block XLBTC117 will be ' 1 ' state in the unit, thus
" pi regulator " functional block XLBTC118 is set in the unit to be in release conditions, meanwhile, which passes through functional block XLBTC129
Output end Q be ' 1 ' state, so that driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions.In this way, " PI is adjusted in the unit
Device " functional block XLBTC118 output end Y will be hydraulic according to cold bed walking beam auto-translating position given value Szcwg and driven translation
The driven translation hydraulic cylinder proportional control valve that the difference output of cylinder actual position value Ssn.act is certain controls voltage, makes driven translation
Hydraulic cylinder automatic backing is mobile.It is retreated in driven translation hydraulic cylinder towards the given position auto-translating position given value Szcwg
In mobile process, if driven translation hydraulic cylinder and the position deviation value (i.e. △ Ssnm) actively translated between hydraulic cylinder are greater 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 end Q will be ' 1 ' state.In this way, the driven translation of " pi regulator " functional block XLBTC118 output end Y output
Hydraulic cylinder proportional control valve control voltage is applied to driven translation hydraulic cylinder ratio control through " integrator " functional block XLBTC131
Valve, so that the difference of driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position given value Szcwg
It is gradually reduced until the difference of the two is between ± 1 millimeter.Equally, under section steel cooling bed walking beam automatic linkage mode, cold
Bed walking beam auto-translating position given value Szcwg be greater than driven translation hydraulic cylinder actual position value Ssn.act and the two it
During difference is greater 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 end Q (the G point i.e. in program) will be ' 1 ' state, in this way, in cold bed stepping
Liangping is moved the equal fault-free of hydraulic cylinder position sensor, cold bed walking beam translation hydraulic system fault-free, cold bed and is not latched in operation
In the case of state and cold bed are without tightly stopping, the output end Q of functional block XLBTC117 will be ' 1 ' state in the unit, thus make the list
" pi regulator " functional block XLBTC118 is in release conditions in member, meanwhile, which passes through the output of functional block XLBTC129
End Q is ' 1 ' state, and driven translation hydraulic cylinder hydraulic control one-way valve is made to be in release conditions.In this way, " pi regulator " function in the unit
Block XLBTC118 output end Y will be practical according to cold bed walking beam auto-translating position given value Szcwg and driven translation hydraulic cylinder
The driven translation hydraulic cylinder proportional control valve that the difference output of positional value Ssn.act is certain controls voltage, 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 position given value Szcwg
In the process, if driven translation hydraulic cylinder and the position deviation value (i.e. △ Ssnm) actively translated between hydraulic cylinder are forward less than setting
Sync bit deviation feasible value (such as 2 millimeters), functional block in the driven translation hydraulic cylinder automatic linkage synchronous control unit
XLBTC130 output end Q will be ' 1 ' state.In this way, the driven translation liquid of " pi regulator " functional block XLBTC118 output end Y output
Cylinder pressure proportional control valve control voltage is applied to driven translation hydraulic cylinder proportional control valve through " integrator " functional block XLBTC131,
So that the difference of driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position given value Szcwg by
It is tapered small until the difference of the two is between ± 1 millimeter.
Schematically the present invention and embodiments thereof are described above, description is not limiting, actual side
Method is not limited thereto.So not departing from the invention objective if those of ordinary skill in the art are inspired by it
In the case of, frame mode similar with the technical solution and embodiment are not inventively designed, should belong to of the invention
Protection scope.
Claims (1)
1. a kind of section steel cooling bed walking beam translates hydraulic cylinder synchronization control method, it is characterised in that: the steps include:
Step 1: during principal and subordinate translates hydraulic cylinder synchronous movement, if actively translating hydraulic cylinder in desired moving direction
And sync bit deviation feasible value of the position deviation of most slow driven translation hydraulic cylinder beyond setting, it is hydraulic by actively translating
Between cylinder and mobile most slow driven translation hydraulic cylinder sync bit deviation transfinite control unit and it is mobile most it is slow it is driven translate it is hydraulic
Cylinder and actively translate hydraulic cylinder synchronous position deviation transfinite control unit control actively translate hydraulic cylinder with movement most slowly it is driven put down
Sync bit deviation between liquid relief cylinder pressure is within the scope of sync bit deviation feasible value；
Step 2: in actively translating hydraulic cylinder and driven translation hydraulic cylinder synchronous moving process, if actively translate hydraulic cylinder and
Position deviation between most slow driven translation hydraulic cylinder exceeds setting range, single by actively translating the amendment of hydraulic cylinder synchronous tolerance speed
Member is modified the movement speed for actively translating hydraulic cylinder, and any one driven translation hydraulic cylinder with actively translate hydraulic cylinder
Between position deviation exceed setting range, by the driven translation hydraulic cylinder synchronous tolerance speed amending unit to the driven translation liquid
The movement speed of cylinder pressure is modified；
Step 3: it is manually advanced and is retreated during instruction provides in walking beam, linked manually synchronization by actively translating hydraulic cylinder
Control unit and driven translation hydraulic cylinder link manually synchronous control unit control actively translate hydraulic cylinder and it is driven translate it is hydraulic
Cylinder synchronizes movement；
Step 4: practical less or greater than hydraulic cylinder is actively translated in cold bed walking beam auto-translating position given value Szcwg
When the difference of positional value Sm.act and the two exceeds position deviation feasible value, by actively translating the synchronous control of hydraulic cylinder automatic linkage
Unit processed actively to translate hydraulic cylinder actual position value Sm.act and cold bed walking beam auto-translating position given value Szcwg it
Difference is within the scope of position deviation feasible value；
Step 5: practical less or greater than driven translation hydraulic cylinder in cold bed walking beam auto-translating position given value Szcwg
It is synchronous by driven translation hydraulic cylinder automatic linkage when the difference of positional value Ssn.act and the two exceeds position deviation feasible value
Control unit makes driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position given value
The difference of Szcwg is within the scope of position deviation feasible value.
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| CN109022754B (en) * | 2018-09-12 | 2020-02-07 | 马鞍山钢铁股份有限公司 | Lifting position maintaining control method for movable beam lifting cylinder of walking beam type billet heating furnace |
| CN113477721B (en) * | 2021-07-14 | 2022-11-01 | 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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