CN107168387B - Rocker arm lifting control method based on rocker arm lifting control system of profile steel saw - Google Patents
Rocker arm lifting control method based on rocker arm lifting control system of profile steel saw Download PDFInfo
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- CN107168387B CN107168387B CN201710530721.7A CN201710530721A CN107168387B CN 107168387 B CN107168387 B CN 107168387B CN 201710530721 A CN201710530721 A CN 201710530721A CN 107168387 B CN107168387 B CN 107168387B
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Abstract
The invention is suitable for the technical field of hydraulic transmission control, and provides a structural steel saw rocker arm lifting control method based on a hydraulic control device in the existing structural steel saw rocker arm lifting control system.
Description
Technical Field
The invention belongs to the technical field of hydraulic transmission control, and particularly relates to a method for controlling the lifting of a rocker arm of a section steel saw.
Background
The production line of the small H-shaped steel of the horse steel is provided with two H-shaped steel cold saws which are integrally provided by Dalinei company, Italian mechanical equipment manufacturer. The saw mainly comprises a saw blade hydraulic feeding mechanism, a saw blade hydraulic lifting mechanism (a rocker arm mechanism for short), a main drive motor and a main drive speed reducer thin oil lubricating system, wherein the rocker arm mechanism in the saw mainly comprises a rocker arm body, a rocker arm lifting swing bracket, a rocker arm lifting swing hydraulic cylinder arranged at one end of a rocker arm, a main drive gear box arranged at the other end of the rocker arm and a saw blade. Before the sawing machine starts to saw, the saw control system enables the saw blade to be automatically positioned at the height required by saw cutting through the rocker arm lifting and swinging hydraulic cylinder proportional control valve according to the actual diameter of the saw blade, and after the positioning is finished, the rocker arm lifting and swinging hydraulic cylinder proportional control valve is always in a middle position self-locking state until the sawing machine finishes saw cutting. Therefore, the saw machine keeps the sawing height of the saw blade through the self-locking of the proportional control valve of the rocker arm lifting and swinging hydraulic cylinder in the middle position, the control mode of the saw blade height (namely the height between the center of the saw blade and the roller surface of the saw machine) of the rocker arm mechanism has higher requirements on the internal leakage state of the rocker arm lifting and swinging hydraulic cylinder, and if the rocker arm lifting and swinging hydraulic cylinder is used for a certain time, the sealing performance of a piston and a cylinder inner cavity of the rocker arm lifting and swinging hydraulic cylinder is reduced, so that in the sawing process, as the saw blade bears the vertical upward reverse acting force from the sawn section steel, the rocker arm of the saw machine continuously upwarps and moves due to the internal leakage of the rocker arm lifting and swinging hydraulic cylinder, and the saw blade cannot saw.
Disclosure of Invention
The embodiment of the invention provides a lifting control method for a rocker arm of a section steel saw, and aims to solve the problem that in the sawing process, as a saw blade bears a vertical upward reverse acting force from sawed section steel, the rocker arm of the saw generates continuous upwarp movement due to internal leakage of a lifting swing hydraulic cylinder of the rocker arm, and the saw blade cannot saw the section steel due to high position.
The invention is realized in such a way, a rocker arm lifting control method based on a rocker arm lifting control system of a section steel saw machine comprises the following six units, namely a functional block XJYSJC01 and XJYSJC02 constitute a saw blade actual height calculation unit, functional blocks XJYSJC 03-XJYSJC 11 and XJYSJC37 constitute a rocker arm automatic descending positioning control unit, functional blocks XJYSJC 12-XJYSJC 18 and XJYSJC37 constitute a rocker arm automatic ascending positioning control unit, functional blocks XJYSJC 19-XJYSJC 22 and XJYSJC37 constitute a rocker arm manual descending positioning control unit, functional blocks XJYSJC 23-XJYSJC 25, XJYSJC17, XJYSJC18 and XJYSJC37 constitute a rocker arm manual ascending positioning control unit, and the functional blocks XJYSJC 26-XJYSJC 37 constitute a saw blade height automatic maintaining control unit, and the rocker arm lifting control method based on the rocker arm lifting control system comprises the following steps:
s1, the saw blade actual height calculating unit multiplies the actual position value of the piston rod of the swing lifting hydraulic cylinder of the saw machine rocker arm by a conversion coefficient k to obtain the maximum height H of the saw blademaxAnd the currentThe difference value of the actual height H of the saw blade is as follows, and the conversion coefficient value is
HmaxThe height value H of the saw blade when the piston rod of the rocker arm swing lifting hydraulic cylinder is fully retractedminThe height value L of the saw blade when the piston rod of the rocker arm swing lifting hydraulic cylinder is fully extendedmThe actual height calculation unit of the saw blade is the length of the full extension of the piston rod of the rocker arm swing lifting hydraulic cylindermaxMinus the maximum height H of the saw blademaxObtaining the actual height of the saw blade by the difference value of the actual height H of the saw blade and the current actual height H of the saw blade;
s2, under the condition that the saw blade of the saw machine is not at the sawing height and the saw machine is in an automatic mode, after an automatic sawing starting instruction of the saw machine is sent out, the rocker arm automatic descending positioning control unit outputs a control voltage corresponding to the automatic descending set speed of the rocker arm to the rocker arm lifting control proportional valve, and the rocker arm of the saw machine automatically descends according to the set descending speed until the saw blade reaches the sawing height;
s3, under the condition that the rocker arm of the saw is not in the high position and the saw is in an automatic mode, when the feeding position of the saw reaches the horizontal saw cutting final position set by the saw, the rocker arm automatic rising positioning control unit outputs a control voltage corresponding to the rocker arm automatic rising set speed to the rocker arm lifting control proportional valve, and the rocker arm of the saw automatically rises according to the set rising speed until the saw blade reaches the high position;
s4, under the condition that a saw hydraulic system and a saw rocker arm swing lifting hydraulic cylinder position encoder have no faults, the saw has no emergency stop signal, the saw rocker arm is not at a low position and the saw is in a manual mode, when the saw rocker arm lifting control system sends a rocker arm manual descending instruction, the rocker arm manual descending positioning control unit outputs a control voltage corresponding to a rocker arm manual descending set speed to the rocker arm lifting control proportional valve, and the saw rocker arm carries out descending operation according to the set manual descending speed until the rocker arm manual descending instruction is ended or a saw blade reaches a low position;
s5, under the condition that a saw hydraulic system and a saw rocker arm swing lifting hydraulic cylinder position encoder have no faults, the saw has no emergency stop signal, the rocker arm is not in a high position and the saw is in a manual mode, when the rocker arm lifting control system sends a rocker arm manual lifting command, the rocker arm manual lifting positioning control unit outputs a control voltage corresponding to a set speed of manual lifting of the rocker arm to the rocker arm lifting control proportional valve, and the saw rocker arm carries out lifting operation according to the set manual lifting speed until the rocker arm manual lifting command is ended or the saw blade reaches the high position;
s6, when the manual operation of the saw arm or the automatic lifting operation of the saw arm is terminated, the saw blade height automatic keeping control unit obtains the actual height value of the saw blade when the manual operation of the saw arm or the automatic lifting operation of the saw arm is terminated, and sets the actual height value of the saw blade as the position set value of the PI regulator function block in the control unit, namely the saw blade height keeping value, in addition, when the hydraulic system of the saw and the position encoder of the swing lifting hydraulic cylinder of the saw arm do not have failure, the saw does not have a close stop signal, the saw is in an automatic or manual mode, and the difference between the actual height value of the saw blade and the saw blade height keeping value exceeds the set range, the PI regulator function block is enabled, the PI regulator function block gives the rocker arm lifting control proportional valve control voltage required by the saw blade height correction according to the difference between the actual height value of the saw blade and the saw blade height keeping value, so that the difference between the actual height of the saw blade and the height of the saw blade is within the allowable range.
The embodiment of the invention designs a lifting control method of a rocker arm of a section steel saw based on the existing hydraulic control device of the rocker arm of the section steel saw, when the difference between the actual height value of a saw blade and the height holding value of the saw blade exceeds a set range, a PI regulator functional block in the control method provides a control voltage of a rocker arm lifting control proportional valve required by the height correction of the saw blade, so that the difference between the actual height value of the saw blade and the height holding value of the saw blade is maintained within an allowable range, therefore, the normal work of the rocker arm can be maintained under a certain internal leakage state of a lifting swing hydraulic cylinder of the rocker arm of the saw, and the service cycle of the lifting swing hydraulic cylinder of the rocker arm of the saw can be greatly prolonged.
Drawings
FIG. 1 is a schematic diagram of a swing arm lifting hydraulic system of a steel saw machine according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a program of a swing arm lifting control system of a steel saw machine according to an embodiment of the present invention;
2-1, a rocker arm swing lifting hydraulic cylinder, 2-2, a balance valve, 2-3, a hydraulic one-way valve, 2-4, a rocker arm lifting control proportional valve, and 2-5, a filter.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a schematic diagram of a swing arm lifting hydraulic system of a steel saw according to an embodiment of the present invention, and fig. 2 is a schematic diagram of a program structure of a swing arm lifting control system of a steel saw according to an embodiment of the present invention, and for convenience of description, only parts related to the embodiment of the present invention are shown.
As shown in fig. 2, NSW is a "digital converter" function block, and when I is equal to '1', Y is equal to X2, and when I is equal to '0', Y is equal to X1; RSR is an RS trigger function block with preferential reset end R, when S is '1' and R is '0', Q is '1', QN is '0', when S is '1' and R is '1', Q is '0', QN is '1', when S is '0' and R is '0', Q and QN are kept in original states, when S is '0' and R is '0', Q is '0' and QN is '1'; LVM2 is a function block of 'numerical value out-of-tolerance detection', when HY is 0, when X is larger than or equal to M + L, QU is '1', when M-L is smaller than X and smaller than M + L, QM is '1', when X is smaller than or equal to M-L, QL is '1'; NCM is the "numerical comparison" function block, QU is ' 1 ' when X1 > X2, ' QE is ' 1 ' when X1 ═ X2, and QL is ' 1 ' when X1 < X2; SUB is a subtracter functional block; ADD is an adder function block; MUL is a 'multiplier' functional block; PIC is PI regulator function block; OR is OR gate; AND is AND gate; NOT is a NOT gate, the section steel rocker arm lifting control system comprises six units, namely a functional block XJYSJC01 and XJYSJC02 form a saw blade actual height calculation unit, functional blocks XJYSJC 03-XJYSJC 11 and XJYSJC37 form a rocker arm automatic descending positioning control unit, functional blocks XJYSJC 12-XJYSJC 18 and XJYSJC37 form a rocker arm automatic ascending positioning control unit, functional blocks XJYSJC 19-XJYSJC 22 and XJYSJC37 form a rocker arm manual descending positioning control unit, functional blocks XJYSJC 23-XJJC 25, XJYSJC17, XJYSJC18 and XJYSJC37 form a rocker arm manual ascending positioning control unit, and functional blocks XJYSJC 26-XJYSJC 37 form a saw blade height automatic maintaining control unit.
The rocker arm lifting control method based on the rocker arm lifting control system of the section steel saw comprises the following steps:
the saw blade actual height calculating unit consists of functional blocks XJYSJC01 and XJYSJC02, and the maximum height H of the saw blade is obtained by multiplying the actual position value of the piston rod of the swing lifting hydraulic cylinder of the saw (when the piston rod of the swing lifting hydraulic cylinder of the saw is completely retracted, the piston rod is in a zero position) by a conversion coefficient k through a multiplier functional block XJYSJC01maxThe difference value of the actual height H of the saw blade and the current actual height H of the saw blade is obtained, and the conversion coefficient value is
HmaxThe height value H of the saw blade when the piston rod of the rocker arm swing lifting hydraulic cylinder is fully retractedminThe height value L of the saw blade when the piston rod of the rocker arm swing lifting hydraulic cylinder is fully extendedmThe length of the rocker arm swinging lifting hydraulic cylinder piston rod is fully extended. In this way, the current blade actual height value H is available at the output Y of the subtractor function XJYSJC 02.
For example, when the rocker arm swing lift cylinder rod is fully retracted (i.e., 0 mm position), the blade height is 1400 mm, and when the rocker arm swing lift cylinder rod is fully extended (i.e., 215 mm), the blade height is 1050 mm, and the conversion coefficient value is 1.628 ═ 1400 + 1050 ÷ 215, so that the actual blade height is calculated as: and H is 1400-1.628L, wherein L is the extending length of the piston rod of the rocker arm swing lifting hydraulic cylinder.
For the rocker arm automatic descending and positioning control unit, when the main transmission of the saw machine, the hydraulic and lubricating system of the saw machine and the position encoder of the swing lifting hydraulic cylinder of the saw machine have no faults, the rolled piece supporting device of the saw machine is supported, the clamping on the saw machine is clamped, the clamping arm on the inlet/outlet side of the saw machine is clamped, the speed of a saw machine roller way is zero, the saw machine has no tight stop signal, the saw blade is not at the sawing height, and the saw machine is in an automatic mode, after the starting command of the saw machine automatic sawing is sent, the state of the output end Q of a functional block XJYSJC10 in the rocker arm automatic descending and positioning control unit is changed from '0' to '1', therefore, a control voltage corresponding to the set speed of the automatic descending of the rocker arm is output to the lifting control proportional valve of the rocker arm through the functional blocks XJYSJC11 and XJJC 37, so that the rocker arm of the saw machine automatically descends according to the set descending speed until, i.e. the sawing height.
Under the conditions that a saw hydraulic system and a saw rocker swing lifting hydraulic cylinder position encoder have no faults, a saw has no emergency stop signal, a saw rocker is not in a high position and the saw is in an automatic mode, when the horizontal sawing position (the saw feeding position) of the saw reaches the horizontal sawing final position set by the saw, the state of an output end Q of a functional block XJYSJC16 in the rocker automatic lifting positioning control unit is changed from '0' to '1', so that a control voltage corresponding to the automatic lifting set speed of the rocker is output to a rocker lifting control proportional valve through the functional blocks XJYSJC17, XJYSJC18 and XJYSJC37, and the saw rocker automatically rises according to the set lifting speed until the saw blade reaches the high position.
For personal and equipment safety, the rocker arm of the saw machine prohibits manual lifting operation in the process of sawing the rolled piece, thereby, the rocker arm manual descending control unit is only used for descending operation of the rocker arm in a non-sawing state, under the conditions that the position encoders of the hydraulic system of the saw and the swing lifting hydraulic cylinder of the rocker arm of the saw have no faults, the saw has no emergency stop signal, the rocker arm is not in a low position and the saw is in a manual mode, when the rocker arm lifting control system of the saw machine sends a rocker arm manual descending instruction, the state of the output end Q of the functional block XJYSJC21 in the rocker arm manual descending control unit is changed from '0' to '1', therefore, a control voltage corresponding to the set speed of the manual descending of the rocker arm is output to the rocker arm lifting control proportional valve through the functional blocks XJYSJC22 and XJYSJC37, thus, the saw arm will descend at the set manual descent speed until the manual descent command for the arm is terminated or the saw blade reaches the low position.
The rocker arm manual lifting control unit is only used for the lifting operation of the rocker arm in the non-sawing state, when the rocker arm lifting control system sends out a rocker arm manual lifting command under the conditions that a saw hydraulic system and a saw rocker arm swing lifting hydraulic cylinder position encoder have no faults, the saw has no emergency stop signals, the rocker arm is not in a high position and the saw is in a manual mode, the state of an output end Q of a functional block XJYSJC25 in the rocker arm manual lifting control unit is changed from '0' to '1', therefore, a control voltage corresponding to the set speed of the manual lifting of the rocker arm is output to the rocker arm lifting control proportional valve through the functional blocks XJYSJC17, XJYSJC18 and XJYSJC37, and the rocker arm of the saw can be lifted according to the set manual lifting speed until the manual lifting command of the rocker arm is ended or the saw blade reaches the high position.
When the manual or automatic lifting operation of the rocker arm of the saw machine is terminated, the state of the output end Q of the functional block XJYSJC27 in the saw blade height automatic maintaining control unit is changed from '0' to '1', the output end Y of the functional block XJYSJC28 is the actual height value of the saw blade at the moment, and the position set value of the PI regulator functional block XJYSJC35 used for maintaining and controlling the height of the rocker arm in the control unit is also the actual height value of the saw blade at the moment, which is called the saw blade height maintaining value for short. In addition, the PI regulator function XJYSJC35 for the swing arm height hold control in the control unit is enabled in case there is no failure in both the saw hydraulic system and the saw swing arm lift cylinder position encoder, there is no emergency stop signal for the saw, the saw is in automatic or manual mode and the difference between the inter-blade swing height value and the blade height hold value is outside the set range. Thus, the rocker height holding control PI regulator block XJYSJC35 provides a rocker lifting control proportional valve control voltage required by the saw blade height correction at the output end Y according to the difference between the actual saw blade height and the saw blade height holding value, so as to maintain the difference between the actual saw blade height and the saw blade height holding value within an allowable range.
The embodiment of the invention designs a lifting control method of a rocker arm of a section steel saw based on the existing hydraulic control device of the rocker arm of the section steel saw, when the difference between the actual height value of a saw blade and the height holding value of the saw blade exceeds a set range, a PI regulator functional block in the control method provides a control voltage of a rocker arm lifting control proportional valve required by the height correction of the saw blade, so that the difference between the actual height value of the saw blade and the height holding value of the saw blade is maintained within an allowable range, therefore, the normal work of the rocker arm can be maintained under a certain internal leakage state of a lifting swing hydraulic cylinder of the rocker arm of the saw, and the service cycle of the lifting swing hydraulic cylinder of the rocker arm of the saw can be greatly prolonged.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (1)
1. A rocker arm lifting control method based on a rocker arm lifting control system of a steel saw machine is characterized in that the rocker arm lifting control system of the steel saw machine comprises six units, namely a functional block XJYSJC01 and XJYSJC02 form a saw blade actual height calculation unit, functional blocks XJYSJC 03-XJYSJC 11 and XJYSJC37 form a rocker arm automatic descending positioning control unit, functional blocks XJYSJC 12-XJYSJC 18 and XJYSJC37 form a rocker arm automatic ascending positioning control unit, functional blocks XJYSJC 19-XJYSJC 22 and XJYSJC37 form a rocker arm manual descending positioning control unit, functional blocks XJYSJC 23-XJYSJC 25, XJYSJC17, XJYSJC18 and XJYSJC37 form a rocker arm manual ascending positioning control unit, and the functional blocks XJYSJC 26-XJYSJC 37 form the saw blade height automatic maintaining control unit, and the rocker arm lifting control method based on the rocker arm lifting control system of the steel saw machine comprises the following steps:
s1, the saw blade actual height calculating unit multiplies the actual position value of the piston rod of the swing lifting hydraulic cylinder of the saw machine rocker arm by a conversion coefficient k to obtain the maximum height H of the saw blademaxThe difference value of the actual height H of the saw blade and the current actual height H of the saw blade is obtained, and the conversion coefficient value is
HmaxThe height value H of the saw blade when the piston rod of the rocker arm swing lifting hydraulic cylinder is fully retractedminThe height value L of the saw blade when the piston rod of the rocker arm swing lifting hydraulic cylinder is fully extendedmThe actual height calculation unit of the saw blade is the length of the full extension of the piston rod of the rocker arm swing lifting hydraulic cylindermaxMinus the maximum height H of the saw blademaxObtaining the actual height of the saw blade by the difference value of the actual height H of the saw blade and the current actual height H of the saw blade;
s2, under the condition that the saw blade of the saw machine is not at the sawing height and the saw machine is in an automatic mode, after an automatic sawing starting instruction of the saw machine is sent out, the rocker arm automatic descending positioning control unit outputs a control voltage corresponding to the automatic descending set speed of the rocker arm to the rocker arm lifting control proportional valve, and the rocker arm of the saw machine automatically descends according to the set descending speed until the saw blade reaches the sawing height;
s3, under the condition that the rocker arm of the saw is not in the high position and the saw is in an automatic mode, when the feeding position of the saw reaches the horizontal saw cutting final position set by the saw, the rocker arm automatic rising positioning control unit outputs a control voltage corresponding to the rocker arm automatic rising set speed to the rocker arm lifting control proportional valve, and the rocker arm of the saw automatically rises according to the set rising speed until the saw blade reaches the high position;
s4, under the condition that a saw hydraulic system and a saw rocker arm swing lifting hydraulic cylinder position encoder have no faults, the saw has no emergency stop signal, the saw rocker arm is not at a low position and the saw is in a manual mode, when the saw rocker arm lifting control system sends a rocker arm manual descending instruction, the rocker arm manual descending positioning control unit outputs a control voltage corresponding to a rocker arm manual descending set speed to the rocker arm lifting control proportional valve, and the saw rocker arm carries out descending operation according to the set manual descending speed until the rocker arm manual descending instruction is ended or a saw blade reaches a low position;
s5, under the condition that a saw hydraulic system and a saw rocker arm swing lifting hydraulic cylinder position encoder have no faults, the saw has no emergency stop signal, the rocker arm is not in a high position and the saw is in a manual mode, when the rocker arm lifting control system sends a rocker arm manual lifting command, the rocker arm manual lifting positioning control unit outputs a control voltage corresponding to a set speed of manual lifting of the rocker arm to the rocker arm lifting control proportional valve, and the saw rocker arm carries out lifting operation according to the set manual lifting speed until the rocker arm manual lifting command is ended or the saw blade reaches the high position;
s6, when the manual operation of the saw arm or the automatic lifting operation of the saw arm is terminated, the saw blade height automatic keeping control unit obtains the actual height value of the saw blade when the manual operation of the saw arm or the automatic lifting operation of the saw arm is terminated, and sets the actual height value of the saw blade as the position set value of the PI regulator function block in the control unit, namely the saw blade height keeping value, in addition, when the hydraulic system of the saw and the position encoder of the swing lifting hydraulic cylinder of the saw arm do not have failure, the saw does not have a close stop signal, the saw is in an automatic or manual mode, and the difference between the actual height value of the saw blade and the saw blade height keeping value exceeds the set range, the PI regulator function block is enabled, the PI regulator function block gives the rocker arm lifting control proportional valve control voltage required by the saw blade height correction according to the difference between the actual height value of the saw blade and the saw blade height keeping value, so that the difference between the actual height of the saw blade and the height of the saw blade is within the allowable range.
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| CN112809690B (en) * | 2017-11-30 | 2022-12-02 | 马鞍山钢铁股份有限公司 | Control method for clamping arm of profile steel sawing machine |
| 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 |
| CN110315140B (en) * | 2019-07-25 | 2020-11-27 | 马鞍山钢铁股份有限公司 | Control method for angle steel sawing of section steel sawing machine |
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| JPS60233703A (en) * | 1984-05-04 | 1985-11-20 | Kawasaki Heavy Ind Ltd | Feed speed controller of hydraulic drive mechanism |
| US5701793A (en) * | 1996-06-24 | 1997-12-30 | Catepillar Inc. | Method and apparatus for controlling an implement of a work machine |
| CN101369154B (en) * | 2008-05-17 | 2010-09-01 | 马鞍山钢铁股份有限公司 | Walking beam parallel movement control method |
| CN201989198U (en) * | 2010-12-30 | 2011-09-28 | 青岛前进船厂 | Lifting control system for main saw blade of sliding table saw |
| CN202031898U (en) * | 2011-05-06 | 2011-11-09 | 莱芜钢铁股份有限公司 | Heating furnace walking beam elevation hydraulic control device |
| CN104090580B (en) * | 2013-12-30 | 2016-09-14 | 马钢(集团)控股有限公司 | The translation control system of furnace charge arm and method |
| CN104815849B (en) * | 2015-04-07 | 2016-11-30 | 首钢京唐钢铁联合有限责任公司 | Method for compensating precision of pinch roll position control system of sizing machine |
| CN105836422B (en) * | 2016-06-06 | 2019-02-19 | 马鞍山钢铁股份有限公司 | The synchronisation control means of two independent motor driven fashioned iron carrier chains |
| CN106623508B (en) * | 2016-12-19 | 2018-04-24 | 马钢(集团)控股有限公司 | Section straightener pinch roller upper roller fluid power system and its control method |
| CN106424221B (en) * | 2016-12-19 | 2018-04-20 | 马钢(集团)控股有限公司 | Section straightener pinch roller lower roll fluid power system and its control method |
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