CN107314000A

CN107314000A - Synchronisation control means based on continuous casting production lifting hydraulic cylinder synchronous control system

Info

Publication number: CN107314000A
Application number: CN201710482377.9A
Authority: CN
Inventors: 叶光平; 王光亚; 钱晓斌; 吴坚; 张乐金; 詹峰; 汪志远; 顾仲俊; 徐洪; 汤寅波; 方长德; 吴胜; 薛峰; 強志刚
Original assignee: Maanshan Iron and Steel Co Ltd
Current assignee: Maanshan Iron and Steel Co Ltd
Priority date: 2017-06-22
Filing date: 2017-06-22
Publication date: 2017-11-03
Also published as: EP3643930A1; JP6961021B2; EP3643930A4; JP2020524608A; CN108869423B; EP3643930B1; CN108869423A; WO2018233649A1

Abstract

The present invention is applied to hydraulic pressure drive control system field, there is provided a kind of synchronisation control means based on continuous casting production lifting hydraulic cylinder synchronous control system, this method passes through master, Slave cylinder sync bit tolerance speed amending unit is modified to the position deviation between the main Slave cylinder of setting range, if position deviation is beyond the maximum allowable position deviation set between the two, pass through master, Slave cylinder sync bit deviation transfinites control unit and Slave cylinder sync bit deviation the transfinites fast active hydraulic cylinder of control unit control translational speed or Slave cylinder stop movement, until both position deviations are less than the maximum allowable position deviation of setting again, pass through master, Slave cylinder automated location keeps control unit to avoid main Slave cylinder that position skew occurs in the case of without manual command, therefore, the synchronisation control means is leaked in hydraulic cylinder, the Hydraulic Elements accuracy of manufacture is different, the uneven situation of load can realize the synchronizing moving of principal and subordinate's cylinder pressure.

Description

Synchronisation control means based on continuous casting production lifting hydraulic cylinder synchronous control system

Technical field

Synchronously controlled the invention belongs to hydraulic pressure drive control system field, more particularly to a kind of continuous casting production lifting hydraulic cylinder that is based on The synchronisation control means of system processed.

Background technology

Continuous casting tundish generally completes synchronous by four hydraulic cylinders (an active hydraulic cylinder and three Slave cylinders) Lifting moving, it is main using based on the syncmotor of hydraulic pressure four at present for the Synchronization Control of continuous casting production lifting hydraulic cylinder Hydraulic cylinder synchronous control mode or General Main based on independent pi regulator and ratio adjusting valve are from hydraulic cylinder synchronous controlling party Formula, the synchronous control accuracies of both multi-hydraulic-cylinder Synchronization Control schemes be vulnerable to hydraulic system leakage (such as hydraulic cylinder interior leakage), The Hydraulic Elements accuracy of manufacture is different and loads the influence of the factor such as uneven, is based especially on the hydraulic pressure of the syncmotor of hydraulic pressure four Cylinder synchronous control mode.Ma Gangchang materials division department South 1# and 2# continuous casting tundish completes hydraulic pressure using the syncmotor of hydraulic pressure four The synchronization lifting of cylinder, 4# continuous casting tundish then uses the General Main based on independent pi regulator and ratio adjusting valve from hydraulic pressure Cylinder synchronous control mode realizes the Synchronization Control of lifting hydraulic cylinder, in actual production process, during 1# and 2# continuous casting tundish Often occur lifting hydraulic cylinder because being let out in the syncmotor of hydraulic pressure four works abnormal or lifting hydraulic cylinder asynchronous, and 4# conticasters Thus tundish causes in continuous casting there is also there is the nonsynchronous phenomenon of lifting hydraulic cylinder because the factor such as letting out in lifting hydraulic cylinder Between bag there is crooked or serious crooked phenomenon.Continuous casting production is once appearance is serious crooked, and not only molten steel is easily produced in tundish Life is excessive, triggers the person and equipment safety accident, and tundish lower nozzle can not be with continuous cast mold water inlet centering, molten steel Easily flow to outside continuous cast mold, this will cause continuous casting is disconnected to pour, and big Baogang's water melts down, Metal in Tundish is into steel scrap；In addition, by continuous casting Technique understands that continuous casting production is crooked, and tundish immersed nozzle position is misaligned, and can make the flow regime of Mold Asymmetric, thermal center (-tre) is deviateed, and strand is produced longitudinal crack.

The content of the invention

The embodiment of the present invention provides a kind of Synchronization Control side based on continuous casting production lifting hydraulic cylinder synchronous control system Method, it is intended to solve the existing hydraulic cylinder synchronous control mode based on the syncmotor of hydraulic pressure four or based on independent pi regulator and The General Main of ratio adjusting valve is vulnerable to hydraulic system leakage (such as hydraulic pressure from the synchronous control accuracy of hydraulic cylinder synchronous control mode Let out in cylinder), the influence problem for the factor such as the Hydraulic Elements accuracy of manufacture is different and load is uneven.

The embodiments of the invention provide a kind of Synchronization Control based on continuous casting production lifting hydraulic cylinder synchronous control system Method, this method comprises the following steps：A kind of Synchronization Control side based on continuous casting production lifting hydraulic cylinder synchronous control system Method, the system includes:Continuous casting production lifts active hydraulic cylinder synchronous control subsystem and continuous casting production lifting from hydrodynamic Cylinder pressure Synchronization Control subsystem, the continuous casting production lifting active hydraulic cylinder synchronous control subsystem includes：Functional block The active hydraulic cylinder synchronous position deviation that LZSTC01~LZSTC11 and LZSTC24~LZSTC26 are constituted transfinites control unit, The active hydraulic cylinder synchronous position deviation speed that functional block LZSTC19~LZSTC23 and LZSTC51~LZSTC60 is constituted is repaiied Positive unit, principal and subordinate's hydraulic cylinder fault interrupting control unit that functional block LZSTC44~LZSTC46 is constituted, functional block LZSTC12~ The active hydraulic cylinder manual synchronization that LZSTC15, LZSTC27~LZSTC30, LZSTC34~LZSTC38 and LZSTC43 are constituted Elevating control unit, functional block LZSTC16~LZSTC18, LZSTC31~LZSTC33, LZSTC39~LZSTC43 and The active Position of Hydraulic Cylinder that LZSTC48~LZSTC50 is constituted keeps control unit, functional block LZSTC47 and LZSTC61 automatically The active hydraulic cylinder lifting speed Closed Loop Control Unit that~LZSTC63, LZSTC67 are constituted；The continuous casting production lifting is driven Hydraulic cylinder synchronous control subsystem includes：The Slave cylinder that functional block LZSTC100, LZSTC101 and LZSTC104 are constituted Sync bit deviation transfinites control unit, what functional block LZSTC116~LZSTC120 and LZSTC121~LZSTC130 were constituted Slave cylinder sync bit tolerance speed amending unit, functional block LZSTC102, LZSTC103, LZSTC105~ The Slave cylinder manual synchronization elevating control unit that LZSTC108, LZSTC134~LZSTC136 and LZSTC138 are constituted, Functional block LZSTC110~LZSTC115, LZSTC131~LZSTC133, LZSTC137 and LZSTC138 constitute from hydrodynamic Cylinder pressure position keeps control unit, the Slave cylinder liter that functional block LZSTC139~LZSTC142, LZSTC146 is constituted automatically Reduction of speed degree Closed Loop Control Unit, it is characterised in that in order to realize that the synchronization of active hydraulic cylinder and Slave cylinder rises or falls It is mobile, the continuous casting production lifting hydraulic cylinder Synchronization Control side based on continuous casting production lifting hydraulic cylinder synchronous control system Method includes：Continuous casting production lifts main hydraulic cylinder synchronisation control means and continuous casting production lifting from hydraulic cylinder synchronous controlling party Method, wherein,

The continuous casting production lifting main hydraulic cylinder synchronisation control means comprises the following steps：

A1, when continuous casting production declines mobile, the active hydraulic cylinder synchronous position deviation control unit that transfinites is obtained actively The minimum value △ Sms.b.min of Position of Hydraulic Cylinder value and the difference of each Slave cylinder positional value, if △ Sms.b.min numerical value is less than Or equal to the maximum allowable position deviation negative value of setting, then active hydraulic cylinder stopping declines, until active hydraulic cylinder is with declining most Position deviation value between slow Slave cylinder is more than the maximum allowable position deviation negative value of setting；Rise in continuous casting production and move During dynamic, the active hydraulic cylinder synchronous position deviation control unit that transfinites obtains active hydraulic cylinder actual position value with each from hydrodynamic The maximum △ Sms.f.max of the difference of cylinder pressure actual position value, if △ Sms.f.max numerical value is more than or equal to the maximum appearance of setting Perhaps position deviation is on the occasion of then active hydraulic cylinder stops rising, and until active hydraulic cylinder and rises between most slow Slave cylinder Position deviation value be less than setting maximum allowable position deviation on the occasion of；

A2, in continuous casting production rises or falls moving process, active hydraulic cylinder synchronous position deviation value △ Sms exceed The scope of setting, active hydraulic cylinder synchronous position deviation speed amending unit is modified to the translational speed of active hydraulic cylinder, Until the position deviation value △ Sms between principal and subordinate's hydraulic cylinder are in setting range again；

Active hydraulic cylinder synchronous position deviation speed amending unit includes active hydraulic cylinder speed revise subelemen and active The quick revise subelemen of hydraulic cylinder synchronous deviation；

When continuous casting production declines mobile, when active hydraulic cylinder synchronous position deviation value △ Sms are beyond the first setting During scope, active hydraulic cylinder speed revise subelemen by active hydraulic cylinder synchronous position deviation value △ Sms it is reverse after be multiplied by actively Hydraulic cylinder declines sync bit tolerance speed correction factor as the speed correction of active hydraulic cylinder, rises in continuous casting production When mobile, when scopes of the active hydraulic cylinder synchronous position deviation value △ Sms beyond the first setting, active hydraulic cylinder speed amendment Subelement by active hydraulic cylinder synchronous position deviation value △ Sms it is reverse after be multiplied by active hydraulic cylinder rising synchronous position deviation speed Correction factor as active hydraulic cylinder speed correction；

When continuous casting production is down or up mobile, if active hydraulic cylinder synchronous position deviation value △ Sms exceed second During setting range, the quick revise subelemen of active hydraulic cylinder synchronous deviation will be with active hydraulic cylinder synchronous position deviation value △ Sms Active hydraulic cylinder synchronous position deviation speed correction in opposite direction as active hydraulic cylinder speed correction；

A3, when continuous casting production lifting hydraulic control system occur tundish lifting actively or any Slave cylinder displacement Sensor fault, hydraulic system fault, continuous casting production descending operation are forbidden and the tight stopping time, principal and subordinate's hydraulic cylinder fault interrupting control Unit processed controls master/slave hydraulic cylinder lifting speed Closed Loop Control Unit output block, and principal and subordinate's hydraulic cylinder proportional valve control voltage begins It is zero eventually, i.e. principal and subordinate's hydraulic cylinder elevating control is blocked；

A4, in continuous casting at bag lifting hydraulic control system tundish down manual linked manner or tundish lifting hand In the case of dynamic/automatic linkage mode, during the instruction of continuous casting production Manual descending is provided, if active hydraulic cylinder synchronous position Deviation △ Sms are more than the maximum allowable position deviation negative value and active hydraulic cylinder of setting not in the case where declining final position, main Hydrodynamic cylinder pressure manual synchronization elevating control unit exports principal and subordinate's hydraulic cylinder Manual descending speed setting value to active hydraulic cylinder liter Reduction of speed degree Closed Loop Control Unit, while making active hydraulic cylinder lifting speed Closed Loop Control Unit be in release conditions, if active liquid Cylinder pressure and the position deviation declined between most slow Slave cylinder exceed setting range, and active hydraulic cylinder and decline are most slow driven Position deviation between hydraulic cylinder is modified by active hydraulic cylinder synchronous position deviation speed amending unit, if active hydraulic cylinder With declining maximum allowable position deviation negative value of the position deviation between most slow Slave cylinder less than or equal to setting, then actively Hydraulic cylinder stops declining movement, until both position deviation values are more than the maximum allowable position deviation negative value of setting again；Even During the casting manual climb command of tundish is provided, if active hydraulic cylinder synchronous position deviation value △ Sms are less than the maximum appearance of setting Perhaps position deviation on the occasion of and active hydraulic cylinder not rise final position in the case of, active hydraulic cylinder manual synchronization elevating control unit The manual rate of climb setting value of principal and subordinate's hydraulic cylinder is exported to active hydraulic cylinder lifting speed Closed Loop Control Unit, while making actively Hydraulic cylinder lifting speed Closed Loop Control Unit is in release conditions, if active hydraulic cylinder and rising between most slow Slave cylinder Position deviation exceeds setting range, and active hydraulic cylinder and the position deviation risen between most slow Slave cylinder pass through active hydraulic pressure Cylinder sync bit tolerance speed amending unit is modified, if active hydraulic cylinder and rising the position between most slow Slave cylinder Deviation is more than or equal to the maximum allowable position deviation of setting on the occasion of then active hydraulic cylinder stops rising movement, until both positions Put deviation again be less than setting maximum allowable position deviation on the occasion of；

A5, when continuous casting production hand-operated lifting is instructed and terminated, if main after the instruction of continuous casting production hand-operated lifting is terminated From Position of Hydraulic Cylinder retention value S_ZWBZAnd the position deviation that the difference of active hydraulic cylinder actual position value is more than setting is allowed on the occasion of main Hydrodynamic pressure cylinder position adjuster and active hydraulic cylinder lifting speed Closed Loop Control Unit will be in release conditions, active hydraulic cylinder position Corresponding active Position of Hydraulic Cylinder erection rate a reference value will be exported by putting adjuster, to reduce principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith the difference between active hydraulic cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith active hydraulic cylinder The position deviation that difference between actual position value is less than or equal to setting is allowed on the occasion of if in the instruction of continuous casting production hand-operated lifting Principal and subordinate's Position of Hydraulic Cylinder retention value S after termination_ZWBZAnd the position deviation that the difference of active hydraulic cylinder actual position value is less than setting is held Perhaps negative value, active position control of hydraulic cylinder device and active hydraulic cylinder lifting speed Closed Loop Control Unit will be in release conditions, main Hydrodynamic pressure cylinder position adjuster will export corresponding active Position of Hydraulic Cylinder erection rate a reference value, to increase principal and subordinate's hydraulic cylinder position Put retention value S_ZWBZWith the difference between active hydraulic cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith master The position deviation that the difference of hydrodynamic cylinder pressure actual position value is more than or equal to setting allows negative value；

A6, in the case where principal and subordinate's hydraulic cylinder fault-free is interrupted, when active hydraulic cylinder manual synchronization elevating control unit or When active hydraulic cylinder automated location holding control unit sends active hydraulic cylinder elevating speed control unit release signal, active liquid The speed preset of input is converted into corresponding active hydraulic cylinder ratio adjusting valve control by cylinder pressure lifting speed closed-loop control subelement Voltage output processed, after active hydraulic cylinder reaches desired position and is in the range of the position deviation allowed, its hand The active hydraulic cylinder lifting speed control that dynamic synchronization lifting control unit or active hydraulic cylinder automated location holding unit are sent is single Untill member enable signal is blocked.

The continuous casting production lifting comprises the following steps from the control method of hydraulic cylinder control method：

B1, when continuous casting production declines mobile, Slave cylinder sync bit deviation transfinite control unit obtain it is each from The difference △ Ssnm of hydrodynamic pressure cylinder position value and active Position of Hydraulic Cylinder value, if △ Ssnm numerical value is less than or equal to the maximum appearance of setting Perhaps position deviation negative value, then Slave cylinder stop declining, until Slave cylinder sync bit deviation position deviation value △ Ssnm is more than the maximum allowable position deviation negative value of setting；

In continuous casting production rises moving process, Slave cylinder sync bit deviation transfinite control unit obtain it is each from The difference △ Ssnm of hydrodynamic pressure cylinder position value and active Position of Hydraulic Cylinder value, if △ Ssnm numerical value is more than or equal to the maximum appearance of setting Perhaps position deviation is on the occasion of then Slave cylinder stops rising, until Slave cylinder sync bit deviation position deviation value △ Ssnm be less than setting maximum allowable position deviation on the occasion of；

B2, in continuous casting production rises or falls moving process, if Slave cylinder sync bit deviation △ Ssnm Beyond the scope of setting, Slave cylinder sync bit tolerance speed amending unit is repaiied to the translational speed of Slave cylinder Just, until the position deviation value △ Ssnm between Slave cylinder and active hydraulic cylinder are in setting range again；

Slave cylinder sync bit tolerance speed amending unit includes Slave cylinder speed revise subelemen and driven The quick revise subelemen of hydraulic cylinder synchronous deviation；

When continuous casting production declines mobile, when Slave cylinder sync bit deviation △ Ssnm are beyond the first setting During scope, Slave cylinder speed revise subelemen by Slave cylinder sync bit deviation △ Ssnm it is reverse after be multiplied by it is driven Hydraulic cylinder declines sync bit tolerance speed correction factor as the speed correction of Slave cylinder, rises in continuous casting production When mobile, when scopes of the Slave cylinder sync bit deviation △ Ssnm beyond the first setting, Slave cylinder speed is repaiied Syndromes unit by Slave cylinder sync bit deviation △ Ssnm it is reverse after be multiplied by Slave cylinder rising synchronous position deviation Speed correction factor as Slave cylinder speed correction；

When continuous casting production is down or up mobile, if Slave cylinder sync bit deviation △ Ssnm exceed second During setting range, the quick revise subelemen of Slave cylinder synchronism deviation will be with Slave cylinder sync bit deviation △ Ssnm Slave cylinder sync bit tolerance speed correction value in opposite direction as Slave cylinder speed correction；

B3, in continuous casting at bag lifting hydraulic control system tundish down manual linked manner or tundish lifting hand In the case of dynamic/automatic linkage mode, during the instruction of continuous casting production Manual descending is provided, if Slave cylinder sync bit Deviation △ Ssnm are more than the maximum allowable position deviation negative value and active hydraulic cylinder of setting not in the case where declining final position, from Hydrodynamic cylinder pressure manual synchronization elevating control unit exports principal and subordinate's hydraulic cylinder Manual descending speed setting value to Slave cylinder liter Reduction of speed degree Closed Loop Control Unit, while making Slave cylinder lifting speed Closed Loop Control Unit be in release conditions, if from hydrodynamic Cylinder pressure sync bit deviation △ Ssnm exceed setting range, and Slave cylinder sync bit deviation △ Ssnm pass through active liquid Cylinder pressure sync bit tolerance speed amending unit is modified, if Slave cylinder sync bit deviation △ Ssnm are less than or waited In the maximum allowable position deviation negative value of setting, then Slave cylinder stops declining movement, until both position deviation values again More than the maximum allowable position deviation negative value of setting；During the manual climb command of continuous casting production is provided, if Slave cylinder Sync bit deviation △ Ssnm be less than the maximum allowable position deviation of setting on the occasion of and active hydraulic cylinder is not rising final position In the case of, Slave cylinder manual synchronization elevating control unit exports the manual rate of climb setting value of principal and subordinate's hydraulic cylinder to driven Hydraulic cylinder lifting speed Closed Loop Control Unit, while Slave cylinder lifting speed Closed Loop Control Unit is in release conditions, If Slave cylinder sync bit deviation △ Ssnm exceed setting range, Slave cylinder sync bit deviation △ Ssnm lead to Cross Slave cylinder sync bit tolerance speed amending unit to be modified, if Slave cylinder sync bit deviation △ Ssnm More than or equal to setting maximum allowable position deviation on the occasion of, then Slave cylinder stop rise movement, until both positions are inclined Difference again be less than setting maximum allowable position deviation on the occasion of；

B4, when continuous casting production hand-operated lifting is instructed and terminated, if main after the instruction of continuous casting production hand-operated lifting is terminated From Position of Hydraulic Cylinder retention value S_ZWBZAnd the difference of Slave cylinder actual position value be more than setting position deviation allow on the occasion of, from Hydrodynamic pressure cylinder position adjuster and Slave cylinder lifting speed Closed Loop Control Unit will be in release conditions, Slave cylinder position Corresponding Slave cylinder position correction Velocity Reference value will be exported by putting adjuster, to reduce principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith the difference between Slave cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith Slave cylinder The position deviation that difference between actual position value is less than or equal to setting is allowed on the occasion of if in the instruction of continuous casting production hand-operated lifting Principal and subordinate's Position of Hydraulic Cylinder retention value S after termination_ZWBZAnd the position deviation that the difference of Slave cylinder actual position value is less than setting is held Perhaps negative value, Slave cylinder position control and Slave cylinder lifting speed Closed Loop Control Unit will be in release conditions, from Hydrodynamic pressure cylinder position adjuster will export corresponding Slave cylinder position correction Velocity Reference value, to increase principal and subordinate's hydraulic cylinder position Put retention value S_ZWBZWith the difference between Slave cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith from The position deviation that the difference of hydrodynamic cylinder pressure actual position value is more than or equal to setting allows negative value；

B5, in the case where principal and subordinate's hydraulic cylinder fault-free is interrupted, when Slave cylinder manual synchronization elevating control unit or When Slave cylinder automated location holding control unit sends Slave cylinder elevating speed control unit release signal, from hydrodynamic The speed preset of input is converted into corresponding Slave cylinder ratio adjusting valve control by cylinder pressure lifting speed closed-loop control subelement Voltage output processed, until Slave cylinder reach desired position and in the range of the position deviation allowed after, its from The Slave cylinder lifting that hydrodynamic cylinder pressure manual synchronization elevating control unit or Slave cylinder automated location holding unit are sent Untill speed control unit enable signal is blocked.

The present invention is that the continuous casting production lifting hydraulic cylinder synchronisation control means in embodiment passes through active hydraulic cylinder synchronous Position deviation speed amending unit and Slave cylinder sync bit tolerance speed amending unit are in real time to beyond setting range Position deviation between main Slave cylinder is modified, if deviation between the two continues to increase to the maximum appearance beyond setting Perhaps position deviation, transfinites control unit by active hydraulic cylinder synchronous position deviation and Slave cylinder sync bit deviation transfinites The fast active hydraulic cylinder of control unit control translational speed or Slave cylinder stop movement, until both position deviations are again Less than the maximum allowable position deviation of setting, in addition, also keeping control unit and from hydrodynamic by active hydraulic cylinder automated location Cylinder pressure automated location keeps control unit to avoid main Slave cylinder that position skew occurs in the case of without manual command, because This, the continuous casting production lifting hydraulic cylinder synchronisation control means can not only realize the synchronous shifting of continuous casting production lifting hydraulic cylinder It is dynamic, and there is higher fault-tolerance during continuous casting production lifting hydraulic cylinder is run, there is leakage, hydraulic pressure member in hydraulic cylinder The situation that the part accuracy of manufacture is different, load is uneven can realize the synchronizing moving of the lifting hydraulic cylinder of continuous casting production.

Brief description of the drawings

Fig. 1 is continuous casting production elevating mechanism hydraulic system figure provided in an embodiment of the present invention；

Fig. 2 is that the structure of continuous casting production provided in an embodiment of the present invention lifting active hydraulic cylinder synchronous control subsystem is shown It is intended to；

Fig. 3 is that the structure of continuous casting production provided in an embodiment of the present invention lifting Slave cylinder Synchronization Control subsystem is shown It is intended to.

Embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

Fig. 1 is continuous casting production elevating mechanism hydraulic system figure provided in an embodiment of the present invention；Fig. 2 is the embodiment of the present invention The continuous casting production of offer lifts the structural representation of active hydraulic cylinder synchronous control subsystem, and Fig. 3 carries for the embodiment of the present invention The continuous casting production of confession lifts the structural representation of Slave cylinder Synchronization Control subsystem, for convenience of description, only show with The related part of the embodiment of the present invention.

In figure 2 above and Fig. 3, SUB is subtracter；NSW is " digital quantity input switching switch " functional block, as I=' 1 ' When, Y=X2, as I=' 0 ', Y=X1；NCM is " numeric ratio compared with " functional block, as X1 ＞ X2, and QU is ' 1 ', works as X1=X2 When, QE is ' 1 ', as X1 ＜ X2, and QL is ' 1 '；RSR is " rest-set flip-flop preferential reset terminal R " functional block, when S is that ' 1 ', R is When ' 0 ', Q is that ' 1 ', QN is ' 0 ', when it is ' 1 ' that S, which is ' 1 ', R, and Q is that ' 0 ', QN is ' 1 ', when it is ' 0 ' that S, which is ' 0 ', R, Q and QN Ortho states is kept, when it is ' 1 ' that S, which is ' 0 ', R, Q is that ' 0 ' QN is ' 1 '；RGJ is " integrator " functional block；PIC is pi regulator work( Can block；ADD is adder；OR is OR-gate；AND is AND gate；NOT is inverter；S_ZWBZPrincipal and subordinate is lifted for continuous casting production The position retention value of hydraulic cylinder；Sm.act is the actual position value of main hydrodynamic cylinder pressure；Ss1.act, Ss2.act and Ss3.act Respectively continuous casting production lifts the actual position value of first, second and the 3rd Slave cylinder；△Sms.b.min The minimum of the difference of active hydraulic cylinder actual position value and each Slave cylinder actual position value when declining mobile for continuous casting production Value (position deviation value when i.e. continuous casting production declines mobile between active hydraulic cylinder and decline most slow Slave cylinder)；△ Sms.f.max be when continuous casting production rises mobile active hydraulic cylinder actual position value and each Slave cylinder actual position value it Maximum (position deviation when i.e. continuous casting production rises mobile between active hydraulic cylinder and rising most slow Slave cylinder of difference Value)；△ Sms are that main hydrodynamic cylinder pressure sync bit deviation (active hydraulic cylinder and lifts the position between most slow Slave cylinder Put deviation)；△ Ssnm are Slave cylinder (Sn) sync bit deviation (position i.e. between Slave cylinder and active hydraulic cylinder Put deviation).

This continuous casting production lifting principal and subordinate's hydraulic cylinder synchronous control system as shown in Figures 2 and 3, in the control system with The terminal location value that principal and subordinate's hydraulic cylinder declines is 0mm, principal and subordinate's Position of Hydraulic Cylinder retention value and actual position value be on the occasion of or Zero.

The continuous casting production lifting hydraulic cylinder synchronous control system includes：Continuous casting production lifts active hydraulic cylinder synchronous control Subsystem and continuous casting production lifting Slave cylinder Synchronization Control subsystem, continuous casting production lifting active hydraulic pressure Cylinder Synchronization Control subsystem is mainly made up of six control units, i.e. functional block LZSTC01~LZSTC11 and LZSTC24 ~LZSTC26, which constitutes active hydraulic cylinder synchronous position deviation, to transfinite control unit；Functional block LZSTC19~LZSTC23 and LZSTC51~LZSTC60 constitutes active hydraulic cylinder synchronous position deviation speed amending unit；Functional block LZSTC12~ LZSTC15, LZSTC27~LZSTC30, LZSTC34~LZSTC38 and LZSTC43 constitute active hydraulic cylinder manual synchronization liter Control unit drops；Functional block LZSTC16~LZSTC18, LZSTC31~LZSTC33, LZSTC39~LZSTC43 and LZSTC48~LZSTC50 constitutes active Position of Hydraulic Cylinder and keeps control unit automatically；Functional block LZSTC44~LZSTC46 is constituted Principal and subordinate's hydraulic cylinder fault interrupting control unit；Functional block LZSTC47, LZSTC61~LZSTC63 and LZSTC67 is constituted actively Hydraulic cylinder lifting speed Closed Loop Control Unit constitutes active hydraulic cylinder lifting speed Closed Loop Control Unit.

In order to realize that the synchronization of active hydraulic cylinder and Slave cylinder rises or falls movement, continuous casting production liter should be based on The continuous casting production lifting hydraulic cylinder synchronisation control means of descending liquid cylinder pressure synchronous control system includes：Continuous casting production lifts main liquid Cylinder pressure synchronisation control means and continuous casting production are lifted from hydraulic cylinder synchronization control method；Wherein, continuous casting production lifts main liquid Cylinder pressure synchronisation control means comprises the following steps：

A1, principal and subordinate's hydraulic cylinder rise or fall it is mobile during, if the active hydraulic pressure in mobile moving process is risen Cylinder is inclined in the maximum allowable position that the position deviation of desired moving direction and most slow Slave cylinder is more than or equal to setting Difference on the occasion of (such as 6 millimeters) or in moving process is declined active hydraulic cylinder in desired moving direction and most slow Slave cylinder Position deviation be less than or equal to the maximum allowable position deviation value (as -6 millimeters) of setting, then control active hydraulic cylinder to stop Mobile, until within maximum allowable position deviation of both position deviations again in setting, afterwards, active hydraulic cylinder is to set Fixed acceleration raising speed is to setting speed and continues to move to towards a desired direction, makes active hydraulic cylinder in desired movement side with this Controlled to the position deviation of most slow Slave cylinder within maximum allowable position deviation.Based on this, in active hydraulic cylinder Active hydraulic cylinder synchronous position deviation is devised in Synchronization Control subsystem to transfinite control unit.In the unit, pass through function Block LZSTC01~LZSTC07 obtains active Position of Hydraulic Cylinder value and each Slave cylinder position when continuous casting production declines mobile The minimum value (i.e. △ Sms.b.min) of the difference of value；Pass through functional block LZSTC01~LZSTC03 and LZSTC08~LZSTC11 Obtain the difference of active hydraulic cylinder actual position value and each Slave cylinder actual position value when continuous casting production rises mobile most Big value (i.e. △ Sms.f.max).So, when continuous casting production declines mobile, set if △ Sms.b.min numerical value is less than or equal to Fixed maximum allowable position deviation negative value (such as -6 millimeters), then functional block LZSTC26 output ends QU will be changed into ' 0 ' state from ' 1 ' state, Active hydraulic cylinder is so set to stop decline, until active hydraulic cylinder and to decline position deviation value between most slow Slave cylinder big (such as -6 millimeters, i.e. active hydraulic cylinder and decline in the maximum allowable position deviation negative value of setting between most slow Slave cylinder Position deviation is less than 6 millimeters)；When continuous casting production rises mobile, if △ Sms.f.max numerical value is more than or equal to setting most Position deviation is allowed on the occasion of (such as 6 millimeters) greatly, then functional block LZSTC25 output ends QL will be changed into ' 0 ' state from ' 1 ' state, so make Active hydraulic cylinder stops rising, and until active hydraulic cylinder and rises the position deviation value between most slow Slave cylinder and is less than setting Maximum allowable position deviation on the occasion of (such as 6 millimeters).

If A2, in view of active hydraulic cylinder with Slave cylinder synchronizing moving during frequently because position deviation beyond maximum Allow position deviation and jerk, active hydraulic cylinder easily position oscillation occurs during synchronizing moving, and thus induces driven Position of Hydraulic Cylinder vibrates.Therefore, in continuous casting production lifting active hydraulic cylinder synchronous control subsystem, not only devising actively Hydraulic cylinder synchronous position deviation transfinites control unit, and have also been devised active hydraulic cylinder synchronous position deviation speed amendment list Member.During the synchronizing moving of principal and subordinate's hydraulic cylinder, once active hydraulic cylinder synchronous position deviation value △ Sms are beyond the model of setting Enclose, then the translational speed by the active hydraulic cylinder synchronous position deviation speed amending unit in time to active hydraulic cylinder is repaiied Just, until the position deviation value between principal and subordinate's hydraulic cylinder is in setting range again, active hydraulic cylinder can so be greatly reduced Position deviation value △ Sms reach or beyond the probability of maximum allowable position deviation.The active hydraulic cylinder synchronous position deviation speed Amending unit is made up of two subelements, i.e. functional block LZSTC19~LZSTC23 and LZSTC51~LZSTC56 constitute with The active hydraulic cylinder speed revise subelemen that active hydraulic cylinder synchronous position deviation value △ Sms are reversely directly proportional；Functional block LZSTC57~LZSTC60 constitutes the quick revise subelemen of active hydraulic cylinder synchronous deviation.For with active hydraulic cylinder synchronous position Functional block LZSTC56 input in the active hydraulic cylinder speed revise subelemen that deviation △ Sms are reversely directly proportional, the subelement Setting coefficient is multiplied by after end X2 is reverse equal to active hydraulic cylinder synchronous position deviation value △ Sms, and (the setting coefficient is also referred to as actively Hydraulic cylinder synchronous position deviation speed correction factor).Larger (the usual rate of climb is differed in view of continuous casting production lifting speed About decrease speed twice), in this case, in order that active hydraulic cylinder lifting sync bit deviation can control setting In fixed permissible range, for the lifting Synchronization Control of active hydraulic cylinder, different sync bit tolerance speed amendments will be used Coefficient, i.e. active hydraulic cylinder rising synchronous position deviation speed correction factor and active hydraulic cylinder decline sync bit deviation speed Spend correction factor.Therefore, being repaiied to the active hydraulic cylinder synchronous position deviation value △ Sms active hydraulic cylinder speeds being reversely directly proportional There is provided the active hydraulic cylinder synchronous position being made up of functional block LZSTC19~LZSTC23 and LZSTC54 is inclined in syndromes unit Differential degree correction factor selects link.When active hydraulic cylinder rises movement, functional block LZSTC23 output end Q in the link To be ' 1 ' state, so, " digital quantity input switching switch " ' functional block LZSTC54 control end I also will be ' 1 ' in the link State, so that active hydraulic cylinder synchronous position deviation speed correction factor is main hydrodynamic cylinder pressure rising synchronous position deviation speed Correction factor (such as 20)；When active hydraulic cylinder declines or stops mobile, functional block LZSTC23 output end Q will in the link For ' 0 ' state, so, " digital quantity input switching switch " ' functional block LZSTC54 control end I also will be ' 0 ' state in the link, Repaiied so that active hydraulic cylinder synchronous position deviation speed correction factor is main hydrodynamic cylinder pressure decline sync bit tolerance speed Positive coefficient (such as 10).So, when active hydraulic cylinder synchronous position deviation value △ Sms are beyond scope (such as ± 0.5 milli of the first setting Rice), functional block LZSTC56 control end I ends will be changed into ' 1 ' state from ' 0 ' state, thus make functional block LZSTC56 output end Y's Output valve is equal to its input X2 input value, so, and the subelement will export one and active hydraulic cylinder synchronous position deviation The speed correction that value △ Sms are reversely directly proportional, the partial velocity correction value will make active hydraulic cylinder with it is mobile most slow driven Sync bit deviation between hydraulic cylinder is gradually reduced, until active Position of Hydraulic Cylinder deviation △ Sms are again in the first setting Scope (as ± 0.5 millimeter).When continuous casting production is down or up mobile, if active hydraulic cylinder synchronous position deviation value △ When Sms exceeds the second setting range, the quick revise subelemen of active hydraulic cylinder synchronous deviation will be with active hydraulic cylinder synchronous position Active hydraulic cylinder synchronous position deviation speed correction in opposite direction deviation △ Sms as active hydraulic cylinder speed amendment Value, i.e., positive end value (such as 2 millis as active hydraulic cylinder synchronous position deviation value △ Sms just and more than the second setting range to set Rice) when, functional block LZSTC58 control end I ends will be by ' 0 ' in the quick revise subelemen of active hydraulic cylinder synchronous position deviation State is changed into ' 1 ' state, thus functional block LZSTC58 output end Y output valve be equal to its input X2 input value (as- 2V), the partial velocity correction value will make active hydraulic cylinder synchronous position deviation value △ Sms (＞ 0) quickly reductions, until active liquid Cylinder pressure position deviation value △ Sms are less than the positive end value (such as 2 millimeters) that the second setting range is set；When active hydraulic cylinder synchronous position is inclined When difference △ Sms are negative terminal value (such as -2 millimeters) that are negative and being less than the second setting range, the active hydraulic cylinder synchronous position is inclined Functional block LZSTC60 control end I ends will be changed into ' 1 ' state from ' 0 ' state in poor quick revise subelemen, thus the functional block LZSTC60 output end Y output valve is equal to its input X2 input value (such as 2V), and the partial velocity correction value will make actively Hydraulic cylinder synchronous position deviation value △ Sms (＜ 0) quickly increase, until active Position of Hydraulic Cylinder deviation △ Sms are more than second The negative terminal value of setting range (such as -2 millimeters).So far understand, pass through the active hydraulic cylinder synchronous position deviation speed amending unit Active hydraulic cylinder speed can be made to be corrected in time before sync bit deviation transfinites (such as ± 6 millimeters), thus can be avoided actively Hydraulic cylinder is during synchronizing moving because the position deviation with lifting most slow Slave cylinder is beyond the maximum allowable position of setting Deviation and jerk.

A3, in order to prevent continuous casting production lifting hydraulic control system nonserviceable it is lower progress tundish lifting behaviour Make, principal and subordinate's hydraulic cylinder lifting fault interrupting control unit is devised in active hydraulic cylinder synchronous control subsystem.When in continuous casting Between bag lifting hydraulic control system occur tundish lifting actively or any Slave cylinder displacement transducer failure, hydraulic system Failure, continuous casting production descending operation are forbidden and the tight stopping time, and functional block LZSTC46 output ends Q will be become by ' 1 ' state in the unit For ' 0 ' state, thus make the output block of principal and subordinate's hydraulic cylinder elevating speed control unit, principal and subordinate's hydraulic cylinder proportional valve control voltage is all the time It is zero, i.e., principal and subordinate's hydraulic cylinder elevating control is blocked.

A4, for active hydraulic cylinder manual synchronization elevating control unit, in continuous casting at bag lifting hydraulic control system It is manual in continuous casting production in the case of tundish down manual linked manner or tundish down manual/automatic linkage mode During decline instruction is provided, functional block LZSTC14 output ends Y (i.e. A points in Fig. 2) numerical value will be equal to active liquid in the unit Cylinder pressure decrease speed setting value (as -2V), functional block LZSTC15 output ends QL will be ' 1 ' state, so, if active hydraulic cylinder with The position deviation value (i.e. △ Sms.b.min) declined between most slow Slave cylinder is born more than the maximum allowable position deviation of setting It is worth (such as -6 millimeters) and active hydraulic cylinder is not in the case where declining final position, the active hydraulic cylinder manual synchronization elevating control list Functional block LZSTC30, LZSTC37 and LZSTC43 output end Q will be ' 1 ' state in member, and so, functional block LZSTC38's is defeated Go out to hold Y numerical value by the numerical value exported equal to functional block LZSTC14 output ends Y (i.e. principal and subordinate's hydraulic cylinder decrease speed setting value (as -2V)), the active hydraulic cylinder manual synchronization elevating control unit by principal and subordinate's hydraulic cylinder Manual descending speed setting value export to Active hydraulic cylinder lifting speed Closed Loop Control Unit, meanwhile, the output end Q that the unit passes through functional block LZSTC43 is ' 1 ' state, So that active hydraulic cylinder lifting speed Closed Loop Control Unit is in release conditions.During continuous casting production declines, actively Hydraulic cylinder and the position deviation value declined between most slow Slave cylinder pass through active hydraulic cylinder synchronous tolerance speed amending unit It is modified, if both position deviation values are less than or equal to the maximum allowable position deviation negative value (such as -6 millimeters) of setting, leads Hydrodynamic cylinder pressure stop decline movement, until both position deviation values again be more than setting maximum allowable position deviation negative value (as- 6 millimeters).During the manual climb command of continuous casting production is provided, functional block LZSTC14 output ends Y is (i.e. in Fig. 2 in the unit A points) numerical value will be equal to principal and subordinate's hydraulic cylinder rate of climb setting value (such as 4V), functional block LZSTC15 output ends QU will be ' 1 ' State, so, sets if active hydraulic cylinder and the position deviation value (i.e. △ Sms.f.max) risen between most slow Slave cylinder are less than Fixed maximum allowable position deviation on the occasion of (such as 6 millimeters) and active hydraulic cylinder not in the case where rising final position, the active liquid Functional block LZSTC29, LZSTC37 and LZSTC43 output end Q will be ' 1 ' state in cylinder pressure manual synchronization elevating control unit, So, functional block LZSTC38 output end Y numerical value (leads the numerical value exported equal to functional block LZSTC14 output ends Y From hydraulic cylinder rate of climb setting value (such as 4V)), the active hydraulic cylinder manual synchronization elevating control unit is by principal and subordinate's hydraulic cylinder hand Dynamic rate of climb setting value is exported to active hydraulic cylinder lifting speed Closed Loop Control Unit, meanwhile, the unit passes through functional block LZSTC43 output end Q is ' 1 ' state so that active hydraulic cylinder lifting speed Closed Loop Control Unit is in release conditions.In continuous casting During tundish rises, active hydraulic cylinder and the position deviation value risen between most slow Slave cylinder pass through active hydraulic pressure Cylinder synchronism deviation speed amending unit is modified, if the maximum allowable position that both position deviation values are more than or equal to setting is inclined Difference stops rising movement on the occasion of (such as 6 millimeters), then active hydraulic cylinder, until both position deviation values are less than the maximum of setting again Allow position deviation on the occasion of (such as 6 millimeters).

A5, lift to desired operating position in continuous casting production, operative employee terminates the hand-operated lifting of continuous casting production Instruction, the elevating control proportioning valve of principal and subordinate's hydraulic cylinder will be in middle position self-locking state, in this case, if active hydraulic cylinder In the presence of letting out in certain, then active hydraulic cylinder can occur after certain time it is a certain amount of move down, thus make active hydraulic cylinder Physical location deviates desired operating position.In order to avoid active hydraulic cylinder, that position occurs in the case of without manual command is inclined Move, active hydraulic cylinder automated location is devised in active hydraulic cylinder synchronous control subsystem and keeps control unit.In continuous casting Between bag hand-operated lifting instruction when terminating, functional block LZSTC17 output end Q will be changed into ' 1 ' state from ' 0 ' state in the unit, simultaneously " digital quantity input switching switch " ' functional block LZSTC18 output ends Y numerical value (i.e. principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZ) will Numerical value (the i.e. hand-operated lifting that consistently equal to continuous casting production hand-operated lifting instruction end time functional block X1 inputs are inputted Instruct the actual position value of the active hydraulic cylinder corresponding to end time).So, it is in continuous casting production descending operation mode In the case that manual/auto linked manner, the instruction of continuous casting production hand-operated lifting are terminated and principal and subordinate's hydraulic cylinder fault-free is interrupted, If principal and subordinate's Position of Hydraulic Cylinder retention value S after the instruction of continuous casting production hand-operated lifting is terminated_ZWBZWith active hydraulic cylinder physical location The position deviation that the difference of value is more than setting allows that on the occasion of functional block LZSTC49 output ends Q in (such as 3 millimeters), the unit will be ' 1 ' State, thus makes in the unit " pi regulator " ' functional block LZSTC50 (i.e. active position control of hydraulic cylinder device) enable control end (EN) it is ' 1 ' state, active position control of hydraulic cylinder device is in release conditions；Functional block LZSTC43 output ends Q will be in the unit ' 1 ' state, thus makes active hydraulic cylinder lifting speed Closed Loop Control Unit be also at release conditions.So, when principal and subordinate's hydraulic cylinder position Put retention value S_ZWBZWhen there is deviation between active hydraulic cylinder actual position value, the active position control of hydraulic cylinder device will export phase The active Position of Hydraulic Cylinder erection rate a reference value answered, to reduce principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZIt is real with active hydraulic cylinder Difference between the positional value of border, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith the difference between active hydraulic cylinder actual position value Position deviation less than or equal to setting is allowed on the occasion of (such as 3 millimeters).Equally, it is in hand in continuous casting production descending operation mode In the case that dynamic/automatic linkage mode, the instruction of continuous casting production hand-operated lifting are terminated and principal and subordinate's hydraulic cylinder fault-free is interrupted, if Principal and subordinate's Position of Hydraulic Cylinder retention value S after the instruction of continuous casting production hand-operated lifting is terminated_ZWBZWith active hydraulic cylinder actual position value Difference be less than the position deviation of setting and allow that functional block LZSTC49 output ends Q also will be in negative value (as -3 millimeters), the unit ' 1 ' state, thus makes in the unit " pi regulator " ' functional block LZSTC50 (i.e. active position control of hydraulic cylinder device) enable control End (EN) processed is ' 1 ' state, and active position control of hydraulic cylinder device is in release conditions；Functional block LZSTC43 output ends Q in the unit Also it will be ' 1 ' state, and active hydraulic cylinder lifting speed Closed Loop Control Unit is also at release conditions.So, when principal and subordinate's liquid Cylinder pressure position retention value_SZWBZAnd when active hydraulic cylinder actual position value has deviation, the active position control of hydraulic cylinder device will be defeated Go out corresponding active Position of Hydraulic Cylinder erection rate a reference value, to increase principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith active hydraulic pressure Difference between cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZAnd the difference of active hydraulic cylinder actual position value Position deviation more than or equal to setting allows negative value (such as -3 millimeters).

A6, control unit is kept to lead to when active hydraulic cylinder manual synchronization elevating control unit or active hydraulic cylinder automated location Cross functional block LZSTC43 output ends Q for ' 1 ' send active hydraulic cylinder lifting speed Closed Loop Control Unit release signal (i.e. lead Hydrodynamic cylinder pressure elevating speed control unit enables signal) when, the active hydraulic cylinder lifting speed Closed Loop Control Unit medium velocity is given Constant volume piecemeal functional block LZSTC62 and speed regulator functional block LZSTC63 will be in release conditions, so, when the unit When medium velocity is not zero to the definite integral block functional block LZSTC62 inputs X speed presets inputted, the unit will pass through function Block LZSTC67 exports corresponding active hydraulic cylinder ratio adjusting valve control voltage, until active hydraulic cylinder reaches desired position And active hydraulic cylinder manual synchronization elevating control unit afterwards or active hydraulic cylinder are in the range of the position deviation allowed certainly Untill the active hydraulic cylinder elevating speed control unit enable signal that dynamic position holding unit is sent is blocked.

Continuous casting production lifting active hydraulic cylinder synchronous control subsystem includes functional block LZSTC64~LZSTC67 and constituted The forward and reverse dead area compensation subelement of active hydraulic cylinder ratio adjusting valve, continuous casting production lifting main hydraulic cylinder synchronisation control means Also include：

A7 considers generally there is certain dead band between hydraulic cylinder ratio adjusting valve control voltage and proportioning valve opening degree, I.e. after ratio adjusting valve control voltage reaches certain numerical value, ratio adjusting valve opening degree just change and with ratio adjusting valve control Voltage processed is substantially directly proportional.So, in order to improve the control response of active hydraulic cylinder ratio adjusting valve, there is provided active hydraulic cylinder The forward and reverse dead area compensation unit of ratio adjusting valve, when active hydraulic cylinder elevating speed control unit medium velocity regulator function block When LZSTC63 output ends Y numerical value (i.e. active hydraulic cylinder ratio adjusting valve control voltage) is more than zero, the active hydraulic cylinder ratio Functional block LZSTC65 control ends I is ' 1 ' state, functional block LZSTC65 output ends Y in the forward and reverse dead area compensation subelement of regulating valve A positive ratio adjusting valve dead area compensation voltage (such as 1V) will be exported, so, the ratio of speed regulator functional block output Governor valve control voltage after the positive ratio adjusting valve dead area compensation voltage superposition with being used as active hydraulic cylinder ratio adjusting valve Control voltage, thus accelerate the governing speed of the positive opening degree of active hydraulic cylinder ratio adjusting valve；When active hydraulic cylinder Lifting speed Closed Loop Control Unit medium velocity regulator function block LZSTC63 output ends Y numerical value (i.e. adjust by active hydraulic cylinder ratio Save valve control voltage) when being less than zero, functional block in the forward and reverse dead area compensation subelement of active hydraulic cylinder ratio adjusting valve LZSTC66 control ends I is ' 1 ' state, and functional block LZSTC66 output ends Y will export a reverse ratio adjusting valve dead area compensation Voltage (such as -1V), so, the ratio adjusting valve control voltage and the reverse ratio adjusting valve of the output of speed regulator functional block As the control voltage of active hydraulic cylinder ratio adjusting valve after dead area compensation voltage superposition, active hydraulic cylinder ratio is thus accelerated The governing speed of the reverse opening degree of regulating valve.

Continuous casting production lifting Slave cylinder Synchronization Control subsystem is mainly made up of five control units, i.e. functional block The Slave cylinder sync bit deviation that LZSTC100, LZSTC101 and LZSTC104 are constituted transfinites control unit, functional block The Slave cylinder sync bit tolerance speed amendment that LZSTC116~LZSTC120 and LZSTC121~LZSTC130 is constituted Unit, functional block LZSTC102, LZSTC103, LZSTC105~LZSTC108, LZSTC134~LZSTC136 and The Slave cylinder manual synchronization elevating control unit that LZSTC138 is constituted, functional block LZSTC110~LZSTC115, The Slave cylinder position that LZSTC131~LZSTC133, LZSTC137 and LZSTC138 are constituted keeps control unit automatically, The Slave cylinder lifting speed Closed Loop Control Unit that functional block LZSTC139~LZSTC142, LZSTC146 is constituted.

Continuous casting production is lifted to be comprised the following steps from the control method of hydraulic cylinder control method：

B1, principal and subordinate's hydraulic cylinder synchronous rise or fall it is mobile during, if from hydrodynamic pressure in moving process is risen Cylinder the position deviation of desired moving direction and active hydraulic cylinder be more than or equal to the maximum allowable position deviation of setting on the occasion of (such as 6 millimeters) or Slave cylinder is small in the position deviation of desired moving direction and active hydraulic cylinder in moving process is declined In or equal to setting maximum allowable position deviation negative value (as -6 millimeters), then control Slave cylinder to stop mobile until two The position deviation value of person is less than the maximum allowable position deviation of setting, afterwards, acceleration liter of the Slave cylinder to set again Speed is to setting speed and continues to move to towards a desired direction, makes Slave cylinder in desired moving direction and active hydraulic pressure with this The position deviation of cylinder is controlled within maximum allowable position deviation.Based on this, set in Slave cylinder Synchronization Control subsystem Having counted Slave cylinder sync bit deviation transfinites control unit.When continuous casting production declines mobile, if Slave cylinder is same The maximum allowable position deviation negative value (such as -6 millimeters) that position deviation value △ Ssnm are less than or equal to setting is walked, then functional block LZSTC104 output ends QU will be changed into ' 0 ' state from ' 1 ' state, Slave cylinder is stopped decline, until Slave cylinder is same Walk position deviation value △ Ssnm and be more than the maximum allowable position deviation negative value of setting (such as -6 millimeters, i.e. Slave cylinder and actively Position deviation between hydraulic cylinder is less than 6 millimeters)；When continuous casting production rises mobile, set if △ Ssnm numerical value is more than or equal to Fixed maximum allowable position deviation is on the occasion of (such as 6 millimeters), then functional block LZSTC101 output ends QL will be changed into ' 0 ' state from ' 1 ' state, Slave cylinder is so set to stop rising, until the position deviation value between Slave cylinder and active hydraulic cylinder is less than setting most Allow position deviation on the occasion of (such as 6 millimeters) greatly.

If B2, in view of Slave cylinder with active hydraulic cylinder synchronous moving process frequently because position deviation beyond maximum Allow position deviation and jerk, position oscillation easily occurs during synchronizing moving in Slave cylinder, and thus induce actively Position of Hydraulic Cylinder vibrates.Therefore, in continuous casting production lifting Slave cylinder Synchronization Control subsystem, not only devising driven Hydraulic cylinder synchronous position deviation transfinites control unit, and have also been devised Slave cylinder sync bit tolerance speed amendment list Member.During the synchronizing moving of principal and subordinate's hydraulic cylinder, once Slave cylinder sync bit deviation △ Ssnm are beyond setting Scope (such as ± 0.5 millimeter), then by the Slave cylinder sync bit tolerance speed amending unit in time to Slave cylinder Translational speed be modified, until the position deviation value between Slave cylinder and active hydraulic cylinder again be in setting range It is interior, it can so greatly reduce position deviation between Slave cylinder and active hydraulic cylinder and reach or beyond maximum allowable position deviation Probability.The Slave cylinder sync bit tolerance speed amending unit is made up of two subelements, i.e. functional block LZSTC116~LZSTC120 and LZSTC121~LZSTC126 is constituted and Slave cylinder sync bit deviation △ Ssnm The Slave cylinder speed revise subelemen being reversely directly proportional；It is same that functional block LZSTC127~LZSTC130 constitutes Slave cylinder Walk the quick revise subelemen of deviation.For to Slave cylinder sync bit deviation △ Ssnm be reversely directly proportional from hydrodynamic pressure Functional block LZSTC126 input X2 is equal to Slave cylinder sync bit deviation in cylinder speed revise subelemen, the subelement Setting coefficient is multiplied by after value △ Ssnm are reverse, and (the setting coefficient is also referred to as Slave cylinder sync bit tolerance speed amendment system Number).Larger (the usual rate of climb is about twice of decrease speed) is differed in view of continuous casting production lifting speed, in this feelings Under condition, in order that Slave cylinder lifting sync bit deviation can be controlled in the permissible range of setting, for from hydrodynamic pressure The lifting Synchronization Control of cylinder, will use different sync bit tolerance speed correction factors, i.e. Slave cylinder rising synchronous position Put tolerance speed correction factor and Slave cylinder declines sync bit tolerance speed correction factor.Therefore, with from hydrodynamic It is provided with the Slave cylinder speed revise subelemen that cylinder pressure sync bit deviation △ Ssnm are reversely directly proportional by functional block The Slave cylinder sync bit tolerance speed correction factor selection ring of LZSTC116~LZSTC120 and LZSTC124 compositions Section.When Slave cylinder rises movement, functional block LZSTC120 output end Q will be ' 1 ' state, so, the ring in the link " digital quantity input switching switch " ' functional block LZSTC124 control end I also will be ' 1 ' state in section, so that from hydrodynamic pressure Cylinder sync bit tolerance speed correction factor is Slave cylinder rising synchronous position deviation speed correction factor (such as 20)；When from When hydrodynamic cylinder pressure declines or stops mobile, functional block LZSTC120 output end Q will be ' 0 ' state, so, the link in the link In " digital quantity input switching switch " ' functional block LZSTC124 control end I also will be ' 0 ' state so that Slave cylinder Sync bit tolerance speed correction factor is that Slave cylinder declines sync bit tolerance speed correction factor (such as 10).So, When Slave cylinder sync bit deviation △ Ssnm are beyond the scope (such as ± 0.5 millimeter) of the first setting, functional block LZSTC126 control end I ends will be changed into ' 1 ' state from ' 0 ' state, thus make functional block LZSTC126 output end Y output valve etc. In its input X2 input value, so, the subelement will export one and Slave cylinder sync bit deviation △ Ssnm The speed correction being reversely directly proportional, the partial velocity correction value will make the sync bit between Slave cylinder and active hydraulic cylinder Deviation is gradually reduced, until scopes (such as ± 0.5 of the Slave cylinder sync bit deviation △ Ssnm again in the first setting Millimeter).

When continuous casting production is down or up mobile, if Slave cylinder sync bit deviation △ Ssnm exceed second During setting range, the quick revise subelemen of Slave cylinder synchronism deviation will be with Slave cylinder sync bit deviation △ Ssnm Slave cylinder sync bit tolerance speed correction value in opposite direction as Slave cylinder speed correction, i.e., when driven Hydraulic cylinder synchronous position deviation value △ Ssnm for just and more than the second setting range positive end value (such as 2 millimeters) when, this is driven Functional block LZSTC128 control end I ends will be changed into ' 1 ' from ' 0 ' state in the quick revise subelemen of hydraulic cylinder synchronous position deviation State, thus functional block LZSTC128 output end Y output valve be equal to its input X2 input value (as -2V), the part Speed correction will make Slave cylinder sync bit deviation △ Ssnm (＞ 0) quickly reductions, until Slave cylinder position Deviation △ Ssnm are less than the positive end value (such as 2 millimeters) of the second setting range；As Slave cylinder sync bit deviation △ When Ssnm is negative terminal value (such as -2 millimeters) that are negative and being less than the second setting range, the Slave cylinder sync bit deviation is quick Functional block LZSTC130 control end I ends will be changed into ' 1 ' state from ' 0 ' state in revise subelemen, thus functional block LZSTC130 Output end Y output valve be equal to its input X2 input value (such as 2V), the partial velocity correction value will make Slave cylinder Sync bit deviation △ Ssnm (＜ 0) quickly increase, until Slave cylinder position deviation value △ Ssnm are more than the second setting The negative terminal value of scope (such as -2 millimeters).So far understand, can be made by the Slave cylinder sync bit tolerance speed amending unit Slave cylinder speed is corrected in time before sync bit deviation transfinites (such as ± 6 millimeters), thus can be avoided from hydrodynamic pressure Cylinder during synchronizing moving because with the position deviation of active hydraulic cylinder beyond maximum allowable position deviation value and jerk.

B3, for Slave cylinder manual synchronization elevating control unit, in continuous casting at bag lifting hydraulic control system It is manual in continuous casting production in the case of tundish down manual linked manner or tundish down manual/automatic linkage mode Decline instruction and provide period, if the maximum allowable position deviation that Slave cylinder sync bit deviation △ Ssnm are more than setting is born It is worth (- 6 millimeters) and Slave cylinder is not in the case where declining final position, the Slave cylinder manual synchronization elevating control unit Middle functional block LZSTC106, LZSTC135 and LZSTC138 output end Q will be ' 1 ' state, so, functional block LZSTC136's Output end Y numerical value is by equal to the numerical value that functional block LZSTC14 output ends Y is exported in active hydraulic cylinder synchronous control subsystem (i.e. principal and subordinate's hydraulic cylinder decrease speed setting value (as -2V)), the Slave cylinder manual synchronization elevating control unit is by principal and subordinate's liquid Cylinder pressure Manual descending speed setting value is exported to Slave cylinder lifting speed Closed Loop Control Unit, meanwhile, the unit passes through work( Energy block LZSTC138 output end Q is ' 1 ' state so that Slave cylinder lifting speed Closed Loop Control Unit is in release conditions. During continuous casting production declines, Slave cylinder sync bit deviation △ Ssnm pass through Slave cylinder synchronism deviation Speed amending unit is modified, if △ Ssnm numerical value is less than or equal to the maximum allowable position deviation negative value of setting (such as -6 millis Rice), then Slave cylinder stops declining movement, until △ Ssnm numerical value is more than the maximum allowable position deviation negative value of setting again (such as -6 millimeters).During the manual climb command of continuous casting production is provided, if Slave cylinder sync bit deviation △ Ssnm Less than setting maximum allowable position deviation on the occasion of (such as 6 millimeters) and Slave cylinder not in the case of final position, this is driven Functional block LZSTC103, LZSTC135 and LZSTC138 output end Q will be in hydraulic cylinder manual synchronization elevating control unit ' 1 ' state, so, functional block LZSTC136 output end Y numerical value will be equal to function in active hydraulic cylinder synchronous control subsystem The numerical value (i.e. principal and subordinate's hydraulic cylinder rate of climb setting value (such as 4V)) that block LZSTC14 output ends Y is exported, the Slave cylinder hand Dynamic synchronization lifting control unit exports principal and subordinate's hydraulic cylinder Manual descending speed setting value to Slave cylinder lifting speed closed loop Control unit, meanwhile, the output end Q that the unit passes through functional block LZSTC138 is ' 1 ' state so that Slave cylinder lifting speed Closed Loop Control Unit is in release conditions.During continuous casting production rises, Slave cylinder sync bit deviation △ Ssnm is modified by Slave cylinder synchronism deviation speed amending unit, if △ Ssnm numerical value is more than or equal to setting most Allow position deviation on the occasion of such as 6 millimeters greatly), then Slave cylinder stops rising movement, is set until △ Ssnm numerical value is less than again Fixed maximum allowable position deviation is on the occasion of (such as 6 millimeters).

B4, lift to desired operating position in continuous casting production, operative employee terminates the hand-operated lifting of continuous casting production Instruction, the elevating control proportioning valve of principal and subordinate's hydraulic cylinder will be in middle position self-locking state, in this case, if Slave cylinder In the presence of letting out in certain, then Slave cylinder can occur after certain time it is a certain amount of move down, thus make Slave cylinder Physical location deviates desired operating position.In order to avoid Slave cylinder, that position occurs in the case of without manual command is inclined Move, Slave cylinder automated location is devised in Slave cylinder Synchronization Control subsystem and keeps control unit.In continuous casting Between bag descending operation mode be in manual/auto linked manner, continuous casting production hand-operated lifting instruction terminate and principal and subordinate's hydraulic pressure In the case that cylinder fault-free is interrupted, if principal and subordinate's Position of Hydraulic Cylinder retention value S after the instruction of continuous casting production hand-operated lifting is terminated_ZWBZ And the position deviation that the difference of Slave cylinder actual position value is more than setting is allowed on the occasion of functional block in (such as 3 millimeters), the unit LZSTC114 output ends Q will be ' 1 ' state, thus make in the unit " pi regulator " ' functional block LZSTC115 (i.e. Slave cylinders (Sn) position control) enable control end (EN) be ' 1 ' state, Slave cylinder (Sn) position control be in release conditions； Functional block LZSTC138 output ends Q will be ' 1 ' state in the unit, thus make Slave cylinder lifting speed Closed Loop Control Unit In release conditions.So, as principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZAnd when there is deviation in Slave cylinder actual position value, The Slave cylinder position control will export corresponding Slave cylinder position correction Velocity Reference value, to reduce principal and subordinate's hydraulic pressure Cylinder position retention value S_ZWBZWith the difference between Slave cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZ And the position deviation that the difference of Slave cylinder actual position value is less than or equal to setting is allowed on the occasion of (such as 3 millimeters).Equally, even Cast tundish descending operation mode and be in manual/auto linked manner, continuous casting production hand-operated lifting instruction termination and principal and subordinate In the case that hydraulic cylinder fault-free is interrupted, if principal and subordinate's Position of Hydraulic Cylinder retention value after the instruction of continuous casting production hand-operated lifting is terminated S_ZWBZAnd the position deviation that the difference of Slave cylinder actual position value is less than setting allows work(in negative value (such as -3 millimeters), the unit Can block LZSTC114 output ends Q also will be ' 1 ' state, thus make in the unit " pi regulator " ' functional block LZSTC115 is (i.e. driven Position control of hydraulic cylinder device) enable control end (EN) be ' 1 ' state, Slave cylinder position control be in release conditions；Should Functional block LZSTC138 output ends Q also will be ' 1 ' state in unit, thus make Slave cylinder lifting speed Closed Loop Control Unit In release conditions.So, as principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZAnd when there is deviation in Slave cylinder actual position value, The Slave cylinder position control will export corresponding Slave cylinder position correction Velocity Reference value, to increase principal and subordinate's hydraulic pressure Cylinder position retention value S_ZWBZWith the difference between Slave cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith The position deviation that difference between Slave cylinder actual position value is more than or equal to setting allows negative value (such as -3 millimeters).

B5, in the case where principal and subordinate's hydraulic cylinder fault-free is interrupted, when Slave cylinder manual synchronization elevating control unit or Slave cylinder automated location keeps control unit to send Slave cylinder by functional block LZSTC138 output ends Q for ' 1 ' During elevating speed control unit release signal (i.e. Slave cylinder elevating speed control unit enables signal), the Slave cylinder Lifting speed Closed Loop Control Unit medium velocity is to definite integral block functional block LZSTC141 and speed regulator functional block LZSTC142 will be in release conditions, so, when the unit medium velocity is defeated to definite integral block functional block LZSTC142 inputs X institutes When the speed preset entered is not zero, the unit will export corresponding Slave cylinder ratio adjusting valve by functional block LZSTC146 Control voltage, until Slave cylinder reaches desired position and the rear Slave cylinder in the range of the position deviation allowed The Slave cylinder lifting speed control that manual synchronization elevating control unit or Slave cylinder automated location holding unit are sent Untill unit enable signal is blocked.

Continuous casting production lifting Slave cylinder Synchronization Control subsystem includes functional block LZSTC143~LZSTC146 structures Into the forward and reverse dead area compensation unit of Slave cylinder ratio adjusting valve, the continuous casting production is lifted from hydraulic cylinder synchronization control method Also include：

It is B6, certain dead in view of generally existing between hydraulic cylinder ratio adjusting valve control voltage and proportioning valve opening degree Area, i.e., after ratio adjusting valve control voltage reaches certain numerical value, ratio adjusting valve opening degree is just changed and and proportion adjustment Valve control voltage is substantially directly proportional.So, in order to improve the control response of Slave cylinder ratio adjusting valve, in Slave cylinder The forward and reverse dead area compensation unit of Slave cylinder ratio adjusting valve is provided with elevating speed control unit.When Slave cylinder liter Reduction of speed degree Closed Loop Control Unit medium velocity regulator function block LZSTC142 output ends Y numerical value (i.e. adjust by Slave cylinder ratio Save valve control voltage) when being more than zero, functional block in the forward and reverse dead area compensation unit of the Slave cylinder ratio adjusting valve LZSTC144 control ends I is ' 1 ' state, and functional block LZSTC144 output ends Y will export a positive ratio adjusting valve dead band and mend Voltage (such as 1V) is repaid, so, the ratio adjusting valve control voltage and the positive proportion adjustment of the output of speed regulator functional block As the control voltage of Slave cylinder ratio adjusting valve after valve dead area compensation voltage superposition, Slave cylinder ratio is thus accelerated The governing speed of the positive opening degree of example regulating valve；When Slave cylinder elevating speed control unit medium velocity regulator function block When LZSTC142 output ends Y numerical value (i.e. Slave cylinder ratio adjusting valve control voltage) is less than zero, the Slave cylinder ratio Functional block LZSTC145 control ends I is ' 1 ' state, functional block LZSTC145 outputs in the example forward and reverse dead area compensation subelement of regulating valve End Y will export a reverse ratio adjusting valve dead area compensation voltage (such as -1V), so, the output of speed regulator functional block Ratio adjusting valve control voltage after the reverse ratio adjusting valve dead area compensation voltage superposition as Slave cylinder ratio with adjusting The control voltage of valve is saved, the governing speed of the reverse opening degree of Slave cylinder ratio adjusting valve is thus accelerated.

The present invention is that the continuous casting production lifting hydraulic cylinder synchronisation control means in embodiment passes through active hydraulic cylinder synchronous Position deviation speed amending unit and Slave cylinder sync bit tolerance speed amending unit are in real time to beyond setting range Position deviation between main Slave cylinder is modified, if deviation between the two continues to increase to the maximum allowable position of setting When putting deviation, control unit is transfinited by active hydraulic cylinder synchronous position deviation and Slave cylinder sync bit deviation transfinites control The fast active hydraulic cylinder of unit control translational speed processed or Slave cylinder stop movement, until both position deviations are again small In the maximum allowable position deviation of setting, in addition, also keeping control unit and from hydrodynamic pressure by active hydraulic cylinder automated location Cylinder automated location keeps control unit to avoid main Slave cylinder that position skew occurs in the case of without manual command, therefore, The continuous casting production lifting hydraulic cylinder synchronisation control means can not only realize the synchronizing moving of continuous casting production lifting hydraulic cylinder, And there is higher fault-tolerance during continuous casting production lifting hydraulic cylinder is run, there are leakage, Hydraulic Elements in hydraulic cylinder The situation that the accuracy of manufacture is different, load is uneven can realize the synchronizing moving of the lifting hydraulic cylinder of continuous casting production.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.

Claims

1. a kind of synchronisation control means based on continuous casting production lifting hydraulic cylinder synchronous control system, the system includes:Even Tundish lifting active hydraulic cylinder synchronous control subsystem and continuous casting production lifting Slave cylinder Synchronization Control subsystem are cast, The continuous casting production lifting active hydraulic cylinder synchronous control subsystem includes：Functional block LZSTC01~LZSTC11 and The active hydraulic cylinder synchronous position deviation that LZSTC24~LZSTC26 is constituted transfinites control unit, and functional block LZSTC19~ The active hydraulic cylinder synchronous position deviation speed amending unit that LZSTC23 and LZSTC51~LZSTC60 is constituted, functional block Principal and subordinate's hydraulic cylinder fault interrupting control unit that LZSTC44~LZSTC46 is constituted, functional block LZSTC12~LZSTC15, The active hydraulic cylinder manual synchronization elevating control that LZSTC27~LZSTC30, LZSTC34~LZSTC38 and LZSTC43 are constituted Unit, functional block LZSTC16~LZSTC18, LZSTC31~LZSTC33, LZSTC39~LZSTC43 and LZSTC48~ The active Position of Hydraulic Cylinder that LZSTC50 is constituted keeps control unit automatically, and functional block LZSTC47 and LZSTC61~ The active hydraulic cylinder lifting speed Closed Loop Control Unit that LZSTC63, LZSTC67 are constituted；The continuous casting production is lifted from hydrodynamic Cylinder pressure Synchronization Control subsystem includes：The Slave cylinder that functional block LZSTC100, LZSTC101 and LZSTC104 are constituted is same Step position deviation transfinites control unit, functional block LZSTC116~LZSTC120 and LZSTC121~LZSTC130 constitute from Hydrodynamic cylinder pressure sync bit tolerance speed amending unit, functional block LZSTC102, LZSTC103, LZSTC105~LZSTC108, The Slave cylinder manual synchronization elevating control unit that LZSTC134~LZSTC136 and LZSTC138 is constituted, functional block The Slave cylinder position that LZSTC110~LZSTC115, LZSTC131~LZSTC133, LZSTC137 and LZSTC138 are constituted Put automatic holding control unit, the Slave cylinder lifting speed that functional block LZSTC139~LZSTC142, LZSTC146 is constituted Closed Loop Control Unit, it is characterised in that the synchronization in order to realize active hydraulic cylinder and Slave cylinder rises or falls movement, institute Stating the continuous casting production lifting hydraulic cylinder synchronisation control means based on continuous casting production lifting hydraulic cylinder synchronous control system includes： Continuous casting production lifts main hydraulic cylinder synchronisation control means and continuous casting production lifting from hydraulic cylinder synchronization control method, wherein,

A1, when continuous casting production declines mobile, the active hydraulic cylinder synchronous position deviation control unit that transfinites obtains active hydraulic pressure The minimum value △ Sms.b.min of cylinder position value and the difference of each Slave cylinder positional value, if △ Sms.b.min numerical value is less than or waited In the maximum allowable position deviation negative value of setting, then active hydraulic cylinder stopping declines, until active hydraulic cylinder is most slow with declining Position deviation value between Slave cylinder is more than the maximum allowable position deviation negative value of setting；Rise in continuous casting production and be moved through Cheng Zhong, the active hydraulic cylinder synchronous position deviation control unit that transfinites obtains active hydraulic cylinder actual position value and each Slave cylinder The maximum △ Sms.f.max of the difference of actual position value, if △ Sms.f.max numerical value is more than or equal to the maximum allowable position of setting Deviation is put on the occasion of then active hydraulic cylinder stops rising, and until active hydraulic cylinder and rises the position between most slow Slave cylinder Deviation be less than setting maximum allowable position deviation on the occasion of；

A2, in continuous casting production rises or falls moving process, active hydraulic cylinder synchronous position deviation value △ Sms beyond setting Scope, active hydraulic cylinder synchronous position deviation speed amending unit is modified to the translational speed of active hydraulic cylinder, until Position deviation value △ Sms between principal and subordinate's hydraulic cylinder are again in setting range；

Active hydraulic cylinder synchronous position deviation speed amending unit includes active hydraulic cylinder speed revise subelemen and active hydraulic pressure The quick revise subelemen of cylinder synchronism deviation；

When continuous casting production declines mobile, when active hydraulic cylinder synchronous position deviation value △ Sms exceed the scope of the first setting When, active hydraulic cylinder speed revise subelemen by active hydraulic cylinder synchronous position deviation value △ Sms it is reverse after be multiplied by active hydraulic pressure Cylinder declines sync bit tolerance speed correction factor as the speed correction of active hydraulic cylinder, rises in continuous casting production and moves When, when scopes of the active hydraulic cylinder synchronous position deviation value △ Sms beyond the first setting, active hydraulic cylinder speed amendment is single Member by active hydraulic cylinder synchronous position deviation value △ Sms it is reverse after be multiplied by active hydraulic cylinder rising synchronous position deviation speed amendment Coefficient as active hydraulic cylinder speed correction；

When continuous casting production is down or up mobile, if active hydraulic cylinder synchronous position deviation value △ Sms are beyond the second setting During scope, the quick revise subelemen of active hydraulic cylinder synchronous deviation will be with active hydraulic cylinder synchronous position deviation value △ Sms directions Opposite active hydraulic cylinder synchronous position deviation speed correction as active hydraulic cylinder speed correction；

A3, when continuous casting production lifting hydraulic control system occur tundish lifting actively or any Slave cylinder displacement sensing Device failure, hydraulic system fault, continuous casting production descending operation are forbidden and the tight stopping time, and the control of principal and subordinate's hydraulic cylinder fault interrupting is single The master/slave hydraulic cylinder lifting speed Closed Loop Control Unit output of member control is blocked, and principal and subordinate's hydraulic cylinder proportional valve control voltage is always Zero, i.e. principal and subordinate's hydraulic cylinder elevating control are blocked；

A4, in continuous casting at bag lifting hydraulic control system tundish down manual linked manner or tundish down manual/ In the case of automatic linkage mode, during the instruction of continuous casting production Manual descending is provided, if active hydraulic cylinder synchronous position is inclined Difference △ Sms are more than the maximum allowable position deviation negative value and active hydraulic cylinder of setting not in the case where declining final position, actively Principal and subordinate's hydraulic cylinder Manual descending speed setting value is exported to active hydraulic cylinder and lifted by hydraulic cylinder manual synchronization elevating control unit Velocity close-loop control unit, while making active hydraulic cylinder lifting speed Closed Loop Control Unit be in release conditions, if active hydraulic pressure Cylinder and the position deviation declined between most slow Slave cylinder exceed setting range, and active hydraulic cylinder is most slow from hydrodynamic with declining Position deviation between cylinder pressure is modified by active hydraulic cylinder synchronous position deviation speed amending unit, if active hydraulic cylinder with Decline the maximum allowable position deviation negative value that the position deviation between most slow Slave cylinder is less than or equal to setting, then active liquid Cylinder pressure stops declining movement, until both position deviation values are more than the maximum allowable position deviation negative value of setting again；In continuous casting During the manual climb command of tundish is provided, if active hydraulic cylinder synchronous position deviation value △ Sms are less than the maximum allowable of setting Position deviation on the occasion of and active hydraulic cylinder not rise final position in the case of, active hydraulic cylinder manual synchronization elevating control unit will The manual rate of climb setting value of principal and subordinate's hydraulic cylinder is exported to active hydraulic cylinder lifting speed Closed Loop Control Unit, while making active liquid Cylinder pressure lifting speed Closed Loop Control Unit is in release conditions, if active hydraulic cylinder and rising the position between most slow Slave cylinder Put deviation and pass through active hydraulic cylinder beyond setting range, active hydraulic cylinder and the position deviation risen between most slow Slave cylinder Sync bit tolerance speed amending unit is modified, if active hydraulic cylinder and the position risen between most slow Slave cylinder are inclined Difference is more than or equal to the maximum allowable position deviation of setting on the occasion of then active hydraulic cylinder stops rising movement, until both positions Deviation again be less than setting maximum allowable position deviation on the occasion of；

A5, continuous casting production hand-operated lifting instruct terminate when, if continuous casting production hand-operated lifting instruction terminate after principal and subordinate's liquid Cylinder pressure position retention value S_ZWBZAnd the position deviation that the difference of active hydraulic cylinder actual position value is more than setting is allowed on the occasion of active liquid Cylinder pressure position control and active hydraulic cylinder lifting speed Closed Loop Control Unit will be in release conditions, and active Position of Hydraulic Cylinder is adjusted Section device will export corresponding active Position of Hydraulic Cylinder erection rate a reference value, to reduce principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith Difference between active hydraulic cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith active hydraulic cylinder actual bit The difference put between value is allowed on the occasion of if after the instruction of continuous casting production hand-operated lifting is terminated less than or equal to the position deviation of setting Principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZAnd the position deviation that the difference of active hydraulic cylinder actual position value is less than setting allows negative value, Active position control of hydraulic cylinder device and active hydraulic cylinder lifting speed Closed Loop Control Unit will be in release conditions, active hydraulic cylinder Position control will export corresponding active Position of Hydraulic Cylinder erection rate a reference value, to increase principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith the difference between active hydraulic cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith active hydraulic cylinder The position deviation that the difference of actual position value is more than or equal to setting allows negative value；

A6, principal and subordinate's hydraulic cylinder fault-free interrupt in the case of, when active hydraulic cylinder manual synchronization elevating control unit or active When hydraulic cylinder automated location holding control unit sends active hydraulic cylinder elevating speed control unit release signal, active hydraulic cylinder The speed preset of input is converted into corresponding active hydraulic cylinder ratio adjusting valve and controls electricity by lifting speed closed-loop control subelement Pressure output, after active hydraulic cylinder reaches desired position and is in the range of the position deviation allowed, it is same manually The active hydraulic cylinder elevating speed control unit that step elevating control unit or active hydraulic cylinder automated location holding unit are sent makes Untill energy signal is blocked.

B1, when continuous casting production declines mobile, the Slave cylinder sync bit deviation control unit that transfinites obtains each from hydrodynamic The difference △ Ssnm of cylinder pressure positional value and active Position of Hydraulic Cylinder value, if △ Ssnm numerical value is less than or equal to the maximum allowable position of setting Deviation negative value is put, then Slave cylinder stops declining, until Slave cylinder sync bit deviation position deviation value △ Ssnm More than the maximum allowable position deviation negative value of setting；

In continuous casting production rises moving process, Slave cylinder sync bit deviation transfinites control unit acquisition respectively from hydrodynamic The difference △ Ssnm of cylinder pressure positional value and active Position of Hydraulic Cylinder value, if △ Ssnm numerical value is more than or equal to the maximum allowable position of setting Deviation is put on the occasion of then Slave cylinder stops rising, until Slave cylinder sync bit deviation position deviation value △ Ssnm Less than setting maximum allowable position deviation on the occasion of；

B2, in continuous casting production rises or falls moving process, if Slave cylinder sync bit deviation △ Ssnm exceed The scope of setting, Slave cylinder sync bit tolerance speed amending unit is modified to the translational speed of Slave cylinder, Until the position deviation value △ Ssnm between Slave cylinder and active hydraulic cylinder are in setting range again；

Slave cylinder sync bit tolerance speed amending unit includes Slave cylinder speed revise subelemen and from hydrodynamic pressure The quick revise subelemen of cylinder synchronism deviation；

When continuous casting production declines mobile, when Slave cylinder sync bit deviation △ Ssnm exceed the scope of the first setting When, Slave cylinder speed revise subelemen by Slave cylinder sync bit deviation △ Ssnm it is reverse after be multiplied by from hydrodynamic pressure Cylinder declines sync bit tolerance speed correction factor as the speed correction of Slave cylinder, rises in continuous casting production and moves When, when scopes of the Slave cylinder sync bit deviation △ Ssnm beyond the first setting, Slave cylinder speed amendment Unit by Slave cylinder sync bit deviation △ Ssnm it is reverse after be multiplied by Slave cylinder rising synchronous position deviation speed Correction factor as Slave cylinder speed correction；

When continuous casting production is down or up mobile, if Slave cylinder sync bit deviation △ Ssnm are beyond the second setting During scope, the quick revise subelemen of Slave cylinder synchronism deviation will be with Slave cylinder sync bit deviation △ Ssnm directions Opposite Slave cylinder sync bit tolerance speed correction value as Slave cylinder speed correction；

B3, in continuous casting at bag lifting hydraulic control system tundish down manual linked manner or tundish down manual/ In the case of automatic linkage mode, during the instruction of continuous casting production Manual descending is provided, if Slave cylinder sync bit is inclined Difference △ Ssnm are more than the maximum allowable position deviation negative value and active hydraulic cylinder of setting not in the case where declining final position, driven Principal and subordinate's hydraulic cylinder Manual descending speed setting value is exported to Slave cylinder and lifted by hydraulic cylinder manual synchronization elevating control unit Velocity close-loop control unit, while making Slave cylinder lifting speed Closed Loop Control Unit be in release conditions, if from hydrodynamic pressure Cylinder sync bit deviation △ Ssnm exceed setting range, and Slave cylinder sync bit deviation △ Ssnm pass through active hydraulic pressure Cylinder sync bit tolerance speed amending unit is modified, if Slave cylinder sync bit deviation △ Ssnm are less than or equal to The maximum allowable position deviation negative value of setting, then Slave cylinder stopping declines movement, until both position deviation values are again big In the maximum allowable position deviation negative value of setting；During the manual climb command of continuous casting production is provided, if Slave cylinder is same Walk position deviation value △ Ssnm be less than the maximum allowable position deviation of setting on the occasion of and active hydraulic cylinder is not rising the feelings of final position Under condition, Slave cylinder manual synchronization elevating control unit exports the manual rate of climb setting value of principal and subordinate's hydraulic cylinder to from hydrodynamic Cylinder pressure lifting speed Closed Loop Control Unit, while Slave cylinder lifting speed Closed Loop Control Unit is in release conditions, if Slave cylinder sync bit deviation △ Ssnm exceed setting range, and Slave cylinder sync bit deviation △ Ssnm pass through Slave cylinder sync bit tolerance speed amending unit is modified, if Slave cylinder sync bit deviation △ Ssnm are big In or equal to setting maximum allowable position deviation on the occasion of, then Slave cylinder stop rise movement, until both position deviations Value again be less than setting maximum allowable position deviation on the occasion of；

B4, continuous casting production hand-operated lifting instruct terminate when, if continuous casting production hand-operated lifting instruction terminate after principal and subordinate's liquid Cylinder pressure position retention value S_ZWBZAnd the position deviation that the difference of Slave cylinder actual position value is more than setting is allowed on the occasion of from hydrodynamic Cylinder pressure position control and Slave cylinder lifting speed Closed Loop Control Unit will be in release conditions, and Slave cylinder position is adjusted Section device will export corresponding Slave cylinder position correction Velocity Reference value, to reduce principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith Difference between Slave cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith Slave cylinder actual bit The difference put between value is allowed on the occasion of if after the instruction of continuous casting production hand-operated lifting is terminated less than or equal to the position deviation of setting Principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZAnd the position deviation that the difference of Slave cylinder actual position value is less than setting allows negative value, Slave cylinder position control and Slave cylinder lifting speed Closed Loop Control Unit will be in release conditions, Slave cylinder Position control will export corresponding Slave cylinder position correction Velocity Reference value, to increase principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith the difference between Slave cylinder actual position value, until principal and subordinate's Position of Hydraulic Cylinder retention value S_ZWBZWith Slave cylinder The position deviation that the difference of actual position value is more than or equal to setting allows negative value；

B5, principal and subordinate's hydraulic cylinder fault-free interrupt in the case of, when Slave cylinder manual synchronization elevating control unit or driven When hydraulic cylinder automated location holding control unit sends Slave cylinder elevating speed control unit release signal, Slave cylinder The speed preset of input is converted into corresponding Slave cylinder ratio adjusting valve and controls electricity by lifting speed closed-loop control subelement Pressure output, until Slave cylinder reach desired position and in the range of the position deviation allowed after, it is from hydrodynamic The Slave cylinder lifting speed that cylinder pressure manual synchronization elevating control unit or Slave cylinder automated location holding unit are sent Untill control unit enable signal is blocked.

2. the synchronisation control means as claimed in claim 1 based on continuous casting production lifting hydraulic cylinder synchronous control system, institute Stating continuous casting production lifting active hydraulic cylinder synchronous control subsystem includes functional block LZSTC64~LZSTC67 composition active liquid The forward and reverse dead area compensation unit of cylinder pressure ratio adjusting valve, the continuous casting production lifts Slave cylinder Synchronization Control subsystem bag Include functional block LZSTC143~LZSTC146 and constitute the forward and reverse dead area compensation unit of Slave cylinder ratio adjusting valve, its feature exists In the continuous casting production lifting active hydraulic cylinder synchronization control method also includes：

A7, principal and subordinate's hydraulic cylinder fault-free interrupt in the case of, when active hydraulic cylinder ratio adjusting valve control voltage be more than zero when, The forward and reverse dead area compensation unit of active hydraulic cylinder ratio adjusting valve exports a positive ratio adjusting valve dead area compensation voltage, speed Spend after the ratio adjusting valve control voltage and the positive ratio adjusting valve dead area compensation voltage superposition of the output of regulator function block As the control voltage of active hydraulic cylinder ratio adjusting valve, the positive opening degree of active hydraulic cylinder ratio adjusting valve is thus accelerated Governing speed；The forward and reverse dead band of active hydraulic cylinder ratio adjusting valve when hydrodynamic cylinder pressure ratio adjusting valve control voltage is less than zero Compensate subelement and export a reverse ratio adjusting valve dead area compensation voltage, so, the ratio of speed regulator functional block output Example governor valve control voltage after the reverse ratio adjusting valve dead area compensation voltage superposition with being used as active hydraulic cylinder proportion adjustment The control voltage of valve, thus accelerates the governing speed of the reverse opening degree of active hydraulic cylinder ratio adjusting valve.

The continuous casting production lifting Slave cylinder synchronisation control means also includes:

B6, when Slave cylinder ratio adjusting valve control voltage be more than zero when, the forward and reverse dead band of Slave cylinder ratio adjusting valve Compensating unit exports a positive ratio adjusting valve dead area compensation voltage, so, the ratio of speed regulator functional block output Governor valve control voltage after the positive ratio adjusting valve dead area compensation voltage superposition with being used as Slave cylinder ratio adjusting valve Control voltage, thus accelerate the governing speed of the positive opening degree of Slave cylinder ratio adjusting valve；Work as Slave cylinder When ratio adjusting valve control voltage is less than zero, the forward and reverse dead area compensation subelement of Slave cylinder ratio adjusting valve exports one instead To ratio adjusting valve dead area compensation voltage, so, speed regulator functional block output ratio adjusting valve control voltage with should As the control voltage of Slave cylinder ratio adjusting valve after reverse ratio adjusting valve dead area compensation voltage superposition, accelerate from The governing speed of the reverse opening degree of hydrodynamic cylinder pressure ratio adjusting valve.