CN108825572A - Synchronisation control means based on cold bed walking beam translation hydraulic cylinder synchronous control system - Google Patents

Synchronisation control means based on cold bed walking beam translation hydraulic cylinder synchronous control system Download PDF

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Publication number
CN108825572A
CN108825572A CN201810638568.4A CN201810638568A CN108825572A CN 108825572 A CN108825572 A CN 108825572A CN 201810638568 A CN201810638568 A CN 201810638568A CN 108825572 A CN108825572 A CN 108825572A
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hydraulic cylinder
actively
value
deviation
driven translation
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CN108825572B (en
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叶光平
汪志远
徐洪
张昱
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Maanshan Iron and Steel Co Ltd
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Maanshan Iron and Steel Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/22—Synchronisation of the movement of two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/321—Directional control characterised by the type of actuation mechanically
    • F15B2211/325—Directional control characterised by the type of actuation mechanically actuated by an output member of the circuit
    • F15B2211/326—Directional control characterised by the type of actuation mechanically actuated by an output member of the circuit with follow-up action
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/765—Control of position or angle of the output member
    • F15B2211/7656—Control of position or angle of the output member with continuous position control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8646—Control during or prevention of abnormal conditions the abnormal condition being hysteresis

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Metal Rolling (AREA)

Abstract

The present invention is suitable for hydraulic pressure drive control system technical field,Provide a kind of synchronisation control means based on cold bed walking beam translation hydraulic cylinder synchronous control system,Pass through master,Position deviation driven translation hydraulic cylinder synchronous tolerance speed amending unit translates hydraulic cylinder to the principal and subordinate beyond setting range is modified,If the deviation of the two exceeds sync bit deviation feasible value,Then by actively translate sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder transfinite control unit or driven translation hydraulic cylinder with actively translate hydraulic cylinder synchronous position deviation transfinite control unit control translational velocity it is fast actively translate hydraulic cylinder or the deceleration translation of driven translation hydraulic cylinder,Until the position deviation of the two is located at again within sync bit deviation feasible value,When any one translation hydraulic cylinder occurs letting out in biggish in walking beam translation motion or walking beam occurs a degree of card group in translation motion,Principal and subordinate translates hydraulic cylinder can realize synchronous translational in translation motion.

Description

Synchronisation control means based on cold bed walking beam translation hydraulic cylinder synchronous control system
Technical field
The invention belongs to hydraulic pressure drive control system technical field, more particularly to one kind are same based on cold bed walking beam translation hydraulic cylinder Walk the synchronisation control means of control system.
Background technique
H profile steel cold bed (abbreviation cold bed) generallys use walking beam mode to put and move H profile steel, and cold bed walking beam is existing Whole segmentation also has multisection type (usually four sections), for (such as four sections of the Ma Gang great H profile steel independent cold bed steppings of multisection type walking beam Beam), every section of walking beam then is completed to be moved in translation using independent hydraulic cylinder.Cold bed walking beam independent for four sections of H profile steel is put down Synchronously control is moved, currently used control mode is：One is selected in four sections of independent section steel cooling bed walking beam translation hydraulic cylinders Section steel cooling bed walking beam translates hydraulic cylinder as active cold bed walking beam and translates hydraulic cylinder (hereinafter referred to as actively translating hydraulic cylinder), Remaining section steel cooling bed walking beam translates hydraulic cylinder and then translates hydraulic cylinder (hereinafter referred to as driven translation as driven cold bed walking beam Hydraulic cylinder), it whether actively translates hydraulic cylinder or driven translation hydraulic cylinder, each hydraulic cylinder is all made of independent position and closes Ring control, the position given value of each hydraulic cylinder is identical, and actual position value is then provided by the position sensor of each hydraulic cylinder； For actively translating hydraulic cylinder, the output valve of the position control in position closed loop is used as the liquid after ramp generator exports The control voltage of cylinder pressure proportional control valve, and for driven translation hydraulic cylinder, then by the position control in its position closed loop Main control voltage of the output valve as its proportional control valve, and the physical location deviation that principal and subordinate translates hydraulic cylinder is multiplied by one admittedly Determine the additional control voltage after coefficient as driven translation hydraulic cylinder proportional control valve, the two accumulated value is exported through ramp generator The control voltage total as driven translation hydraulic cylinder proportional control valve afterwards, increases the additional control of driven translation hydraulic cylinder proportional control valve Voltage processed, the purpose is to the mobile speed of the driven translation hydraulic cylinder of the physical location deviation dynamic corrections for translating hydraulic cylinder based on principal and subordinate Degree, to realize that driven translation hydraulic cylinder follows its actively to translate hydraulic cylinder, the dynamic for translating hydraulic cylinder thus to obtain principal and subordinate is same Moved further.However, synchronous control mode is translated for this conventional H profile steel cold bed walking beam, when any one driven translation Hydraulic cylinder occurs letting out in biggish in walking beam translation motion or a degree of card group occurs in translation motion in walking beam When, which may there are of short duration or nonsynchronous always existing with hydraulic cylinder is actively translated in translation motion As if the translation of four sections of Ma Gang great H profile steel independent cold bed walking beams also uses this conventional synchronous control mode, in practical life During production, there is also serious asynchrony phenomenons for the translation of this four sections independent cold bed walking beams, cause H profile steel in cold bed outlet end There is serious skew, thus connecing steel automatically to trolley under cold bed makes troubles, and influences the working efficiency of trolley under cold bed.
Summary of the invention
The embodiment of the present invention provides a kind of synchronously control side based on cold bed walking beam translation hydraulic cylinder synchronous control system Method, it is intended to solve the translation synchronisation control means of the independent cold bed walking beam of four sections of existing H profile steel in any one driven translation Hydraulic cylinder occurs letting out in biggish in walking beam translation motion or a degree of card group occurs in translation motion in walking beam When, which may there are of short duration or nonsynchronous always ask with hydraulic cylinder is actively translated in translation motion Topic.
The embodiment of the invention provides a kind of synchronously controls based on cold bed walking beam translation hydraulic cylinder synchronous control system Method, cold bed walking beam translation hydraulic cylinder synchronous control system include actively translate hydraulic cylinder synchronous control subsystem and from Dynamic translation hydraulic cylinder synchronous control subsystem, the cold bed walking beam translation hydraulic cylinder synchronous control system includes actively translating liquid Cylinder pressure synchronously control subsystem and driven translation hydraulic cylinder synchronous control subsystem, it is described actively to translate hydraulic cylinder synchronous control System includes actively translate hydraulic cylinder and moving most that sync bit deviation transfinites control unit, active between driven translation hydraulic cylinder slowly Hydraulic cylinder synchronous tolerance speed amending unit is translated, the driven translation hydraulic cylinder synchronous control subsystem includes driven translation liquid It cylinder pressure and actively translates transfinite control unit, driven translation hydraulic cylinder synchronous tolerance speed of sync bit deviation between hydraulic cylinder and corrects Unit；It is described as follows based on cold bed walking beam translation hydraulic cylinder synchronization control method：
1) hydraulic by actively translating hydraulic cylinder and mobile most slow driven translation when section steel cooling bed walking beam retreats mobile Between cylinder sync bit deviation transfinite control unit acquisition actively translate Position of Hydraulic Cylinder value and each driven translation Position of Hydraulic Cylinder value Difference minimum value △ Sms.b.min, if △ Sms.b.min numerical value be less than or equal to setting fallback synchronization position deviation allow Negative value then controls and actively translates hydraulic cylinder deceleration retrogressing, hydraulic until actively translating the hydraulic cylinder driven translation most slow with retrogressing The fallback synchronization position deviation that position deviation value between cylinder is greater than setting allows negative value, actively translates hydraulic cylinder later again after raising speed It moves back；It is same between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder by actively translating when section steel cooling bed walking beam moves ahead mobile Step position deviation transfinite control unit acquisition actively translate hydraulic cylinder actual position value and each driven translation hydraulic cylinder physical location The maximum value △ Sms.f.max of the difference of value, if the forward sync bit deviation that △ Sms.f.max numerical value is greater than or equal to setting is held Perhaps positive value, then control actively to translate hydraulic cylinder and slow down and move ahead, until actively translate hydraulic cylinder and forward most slow driven translation liquid The forward sync bit deviation that position deviation value between cylinder pressure is less than setting allows positive value, later, actively translates hydraulic cylinder and rises again Speed moves ahead；When section steel cooling bed walking beam retreats mobile, hydraulic cylinder synchronous position is translated by driven translation hydraulic cylinder and actively The deviation control unit that transfinites obtains driven translation hydraulic cylinder and actively translates the alternate position spike △ Ssnm of hydraulic cylinder, if △ Ssnm numerical value Fallback synchronization position deviation less than or equal to setting allows negative value, then controls driven translation hydraulic cylinder deceleration and retreat, Zhi Daocong Dynamic translation hydraulic cylinder and the position deviation value actively translated between hydraulic cylinder allow negative value greater than the fallback synchronization position deviation of setting, Later, raising speed retreats driven translation hydraulic cylinder again；When section steel cooling bed walking beam moves ahead mobile, by driven translation hydraulic cylinder and The hydraulic cylinder synchronous position deviation control unit that transfinites actively is translated to obtain driven translation hydraulic cylinder and actively translate the position of hydraulic cylinder Poor △ Ssnm is set, if the forward sync bit deviation that △ Ssnm numerical value is greater than or equal to setting allows positive value, is controlled driven flat Liquid relief cylinder pressure, which slows down, to move ahead, before until driven translation hydraulic cylinder and actively translate position deviation value between hydraulic cylinder less than setting Row sync bit deviation allows positive value, and later, raising speed moves ahead driven translation hydraulic cylinder again；
2) during principal and subordinate translates the forward or backward synchronizing moving of hydraulic cylinder, once actively translate hydraulic cylinder synchronous position Deviation △ Sms is set beyond setting range, actively translates hydraulic cylinder synchronous tolerance speed amending unit to actively translating hydraulic cylinder Movement speed be modified, until principal and subordinate translate hydraulic cylinder between position deviation value △ Sms be in setting range again, should Actively translate hydraulic cylinder speed correction be actively translate hydraulic cylinder synchronous position deviation value △ Sms it is reversed after multiplied by actively put down Liquid relief cylinder pressure synchronism deviation speed correction factor；During principal and subordinate translates the forward or backward synchronizing moving of hydraulic cylinder, once Driven translation hydraulic cylinder exceeds setting range, driven translation hydraulic cylinder synchronous with the position difference △ Ssnm for actively translating hydraulic cylinder Tolerance speed amending unit is modified the movement speed of driven translation hydraulic cylinder, until driven translation hydraulic cylinder and actively flat Position deviation value △ Ssnm between liquid relief cylinder pressure is in setting range again, and the speed correction of the driven translation hydraulic cylinder is Multiplied by driven translation hydraulic cylinder and master after driven translation hydraulic cylinder and the position deviation value △ Ssnm for actively translating hydraulic cylinder are reversed Dynamic translation hydraulic cylinder synchronous tolerance speed correction factor.
Further, the synchronisation control means based on cold bed walking beam translation hydraulic cylinder synchronous control system, its main feature is that, Setting actively translates hydraulic cylinder and links manually synchronously control list in cold bed walking beam translation hydraulic cylinder synchronous control system First, driven translation hydraulic cylinder links synchronous control unit manually, described to translate hydraulic cylinder synchronous controlling party based on cold bed walking beam Method is as follows：
Under the manual linked manner of section steel cooling bed walking beam, during the instruction of walking beam manual retraction provides, if actively flat The retrogressing that the minimum value △ Sms.b.min of the difference of liquid relief cylinder pressure positional value and each driven translation Position of Hydraulic Cylinder value is greater than setting is same Step position deviation allow negative value, then actively translate hydraulic cylinder link manually synchronous control unit export principal and subordinate translation hydraulic cylinder it is manual Astern speed setting value, and the principal and subordinate of output is translated by hydraulic cylinder manual retraction speed setting value by integrator and is applied to fashioned iron Cold bed walking beam actively translates hydraulic cylinder proportional control valve as retrogressing control voltage, meanwhile, make actively to translate hydraulic cylinder hydraulic control Check valve is in release conditions, if the position deviation value for actively translating hydraulic cylinder and retreating between most slow driven translation hydraulic cylinder is super Setting range out, then by actively translate hydraulic cylinder synchronous tolerance speed amending unit to actively translate hydraulic cylinder and retrogressing it is most slow Driven translation hydraulic cylinder between position deviation be modified, if the two position deviation value be less than or equal to setting fallback synchronization Position deviation allows negative value, then super by actively translating sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder Limit control unit control actively translates hydraulic cylinder deceleration and retreats, until the two position deviation value is greater than the fallback synchronization of setting again Position deviation allows negative value；Moved ahead during instruction provides manually in walking beam, if actively translate hydraulic cylinder with it is forward it is most slow from The forward sync bit deviation that position deviation value △ Sms.f.max between dynamic translation hydraulic cylinder is less than setting allows positive value, then leads The dynamic translation hydraulic cylinder synchronous control unit output principal and subordinate that links manually translates hydraulic cylinder and moves ahead manually speed setting value, passes through integral The principal and subordinate of output is translated the hydraulic cylinder speed setting value that moves ahead manually and is applied to section steel cooling bed walking beam and actively translates hydraulic cylinder by device Proportional control valve as the control voltage that moves ahead, meanwhile, make actively to translate hydraulic cylinder hydraulic control one-way valve and be in release conditions, if active The position deviation value that hydraulic cylinder is translated between the most slow driven translation hydraulic cylinder that moves ahead exceeds setting range, then by actively translating Hydraulic cylinder synchronous tolerance speed amending unit is to the position for actively translating hydraulic cylinder between the most slow driven translation hydraulic cylinder that moves ahead Deviation is modified, if the forward sync bit deviation that the two position deviation value is greater than or equal to setting allows positive value, is passed through Actively translating sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder transfinites control unit control actively translation Hydraulic cylinder, which slows down, to move ahead, until the forward sync bit deviation that the two position deviation value is less than setting again allows positive value；
Under the manual linked manner of section steel cooling bed walking beam, during the instruction of walking beam manual retraction provides, if driven flat Liquid relief cylinder pressure and actively translate the fallback synchronization position deviation that alternate position spike △ Ssnm is greater than setting between hydraulic cylinder and allow negative value, then from The dynamic translation hydraulic cylinder synchronous control unit output principal and subordinate that links manually translates hydraulic cylinder manual retraction speed setting value, and passes through product Point device by the principal and subordinate of output translate hydraulic cylinder manual retraction speed setting value be applied to section steel cooling bed walking beam actively translate it is hydraulic Cylinder proportional control valve controls voltage as retrogressing, meanwhile, so that driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions, if from Dynamic translation hydraulic cylinder and the position deviation value actively translated between hydraulic cylinder exceed setting range, then same by driven translation hydraulic cylinder Step tolerance speed amending unit is to driven translation hydraulic cylinder and actively translates the position deviation between hydraulic cylinder and is modified, if the two The fallback synchronization position deviation that position deviation value is less than or equal to setting allows negative value, then by driven translation hydraulic cylinder and actively The translation hydraulic cylinder synchronous position deviation control unit that transfinites controls driven translation hydraulic cylinder and slows down retrogressing, until the two position deviation The fallback synchronization position deviation that value is greater than setting again allows negative value；It moves ahead to instruct manually in walking beam and provides period, if driven Translation hydraulic cylinder and actively translate between hydraulic cylinder alternate position spike △ Ssnm and allow positive value less than the forward sync bit deviation set, then The driven translation hydraulic cylinder synchronous control unit output principal and subordinate that links manually translates hydraulic cylinder and is manually advanced speed setting value, and passes through Output principal and subordinate's translation hydraulic cylinder is manually advanced speed setting value and is applied to the driven translation hydraulic cylinder ratio of cold bed walking beam by integrator Example control valve controls voltage as moving ahead, meanwhile, so that driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions, if driven flat Liquid relief cylinder pressure and the position deviation value actively translated between hydraulic cylinder exceed setting range, then inclined by driven translation hydraulic cylinder synchronous Differential degree amending unit is to driven translation hydraulic cylinder and actively translates the position deviation between hydraulic cylinder and is modified, if the two position The advance sync bit deviation that deviation is greater than or equal to setting allows positive value, then translates by driven translation hydraulic cylinder and actively The hydraulic cylinder synchronous position deviation control unit that transfinites controls driven translation hydraulic cylinder Easy abeadl, until the two position deviation value weight The new preceding advance and retreat sync bit deviation for being less than setting allows positive value.
Further, the synchronisation control means based on cold bed walking beam translation hydraulic cylinder synchronous control system, its main feature is that, Setting actively translates hydraulic cylinder automatic linkage synchronously control list in cold bed walking beam translation hydraulic cylinder synchronous control system First, driven translation hydraulic cylinder automatic linkage synchronous control unit, it is described that hydraulic cylinder synchronous controlling party is translated based on cold bed walking beam Method is as follows：
Under section steel cooling bed walking beam automatic linkage mode, if cold bed walking beam auto-translating position given value SZCWG with The difference for actively translating hydraulic cylinder actual position value Sm.act is less than position deviation and allows negative value, actively translates hydraulic cylinder and joins automatically Dynamic synchronous control unit makes pi regulator and actively translates hydraulic cylinder hydraulic control one-way valve to be in release conditions, and pi regulator is according to cold Bed walking beam auto-translating position given value SZCWG and the difference for actively translating hydraulic cylinder actual position value Sm.act export certain Hydraulic cylinder proportional control valve control voltage is actively translated to hydraulic cylinder proportional control valve is actively translated, makes actively to translate hydraulic cylinder certainly It is dynamic to retreat movement, mobile mistake is retreated towards the given position auto-translating position given value SZCWG actively translating hydraulic cylinder Cheng Zhong, if the position deviation value △ Sms.b.min for actively translating hydraulic cylinder and retreating between most slow driven translation hydraulic cylinder is greater than The fallback synchronization position deviation of setting allows negative value, then the hydraulic cylinder proportional control valve that actively translates of pi regulator output controls electricity Press integrated device to be applied to and actively translate hydraulic cylinder proportional control valve so that actively translate hydraulic cylinder actual position value Sm.act with The difference of cold bed walking beam auto-translating position given value SZCWG is gradually reduced, and allows to bear until the difference of the two is in position deviation Value and position deviation are allowed between positive value；If cold bed walking beam auto-translating position given value SZCWG and actively translating hydraulic cylinder The difference of actual position value Sm.act is greater than position deviation and allows positive value, actively translates hydraulic cylinder automatic linkage synchronous control unit Make pi regulator and actively translate hydraulic cylinder hydraulic control one-way valve to be in release conditions, pi regulator is put down automatically according to cold bed walking beam Pan position given value SZCWG and the difference for actively translating hydraulic cylinder actual position value Sm.act, which export, certain actively translates hydraulic cylinder Proportional control valve controls voltage to hydraulic cylinder proportional control valve is actively translated, and makes actively to translate hydraulic cylinder forward movement automatically, Actively translate hydraulic cylinder towards the auto-translating position given position given value SZCWG move ahead it is mobile during, if actively flat Liquid relief cylinder pressure is less than the forward synchronous of setting with the position deviation value △ Sms.f.max retreated between most slow driven translation hydraulic cylinder Position deviation allows positive value, then the integrated device of hydraulic cylinder proportional control valve control voltage that actively translates of pi regulator output applies To actively translating hydraulic cylinder proportional control valve, so that actively translating hydraulic cylinder actual position value Sm.act and cold bed walking beam is automatic The difference of translation position given value SZCWG is gradually reduced, until the difference of the two is in position deviation and negative value and position deviation is allowed to hold Perhaps between positive value；
Under section steel cooling bed walking beam automatic linkage mode, if cold bed walking beam auto-translating position given value SZCWG with Only the poor position deviation that is less than allows negative value to driven translation hydraulic cylinder actual position value Ssn.act, and driven translation hydraulic cylinder joins automatically Dynamic synchronous control unit makes pi regulator and driven translation hydraulic cylinder hydraulic control one-way valve be in release conditions, and pi regulator is according to cold The difference output of bed walking beam auto-translating position given value SZCWG and driven translation hydraulic cylinder actual position value Ssn.act is certain Driven translation hydraulic cylinder proportional control valve control voltage, move driven translation hydraulic cylinder automatic backing, in driven translation liquid Cylinder pressure towards the given position auto-translating position given value SZCWG retreat it is mobile during, if driven translation hydraulic cylinder and The position deviation value △ Ssnm actively translated between hydraulic cylinder allows negative value, pi regulator greater than the fallback synchronization position deviation of setting The driven translation hydraulic cylinder proportional control valve control integrated device of voltage of output is applied to driven translation hydraulic cylinder proportional control valve, So that the difference of driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position given value SZCWG by It is tapered small, allow negative value and position deviation to allow between positive value until the difference of the two is in position deviation；If cold bed walking beam is certainly The difference of dynamic translation position given value SZCWG and driven translation hydraulic cylinder actual position value Ssn.act is greater than position deviation and allows just Value, driven translation hydraulic cylinder automatic linkage synchronous control unit are in pi regulator and driven translation hydraulic cylinder hydraulic control one-way valve Release conditions, pi regulator is according to cold bed walking beam auto-translating position given value SZCWG and driven translation hydraulic cylinder actual bit The certain driven translation hydraulic cylinder proportional control valve control voltage of the difference output of value Ssn.act is set, makes driven translation hydraulic cylinder certainly The dynamic movement that moves ahead, in the driven hydraulic cylinder that translates towards the forward mobile mistake in the auto-translating position given position given value SZCWG Cheng Zhong, if driven translation hydraulic cylinder and the position deviation value △ Ssnm actively translated between hydraulic cylinder are less than the forward sync bit set Set deviation and allow positive value, the driven translation hydraulic cylinder proportional control valve control integrated device of voltage of pi regulator output be applied to from Dynamic translation hydraulic cylinder proportional control valve, so that driven translation hydraulic cylinder actual position value Ssn.act is put down automatically with cold bed walking beam The difference of pan position given value SZCWG is gradually reduced, and allows negative value to allow with position deviation until the difference of the two is in position deviation Between positive value.
The hydraulic cylinder synchronous control subsystem of the present invention that actively translates is made of four control units, i.e. functional block XLBTC01~XLBTC11, XLBTC16~XLBTC18, XLBTC26, XLBTC27 and XLBTC29~XLBTC31 are constituted actively Sync bit deviation transfinites control unit between translation hydraulic cylinder and mobile most slow driven translation hydraulic cylinder, and functional block XLBTC37~ XLBTC41 composition actively translates hydraulic cylinder synchronous tolerance speed amending unit, functional block XLBTC12~XLBTC15, XLBTC20 It is manual that~XLBTC25, XLBTC33, XLBTC42~XLBTC47 and XLBTC50~XLBTC53 composition actively translates hydraulic cylinder Link synchronous control unit, functional block XLBTC26~XLBTC36, XLBTC42~XLBTC46 and XLBTC48~XLBTC54 Composition actively translates hydraulic cylinder automatic linkage synchronous control unit；The driven translation hydraulic cylinder synchronous control subsystem is by four Control unit is formed, i.e. functional block XLBTC100~XLBTC102 constitutes driven translation hydraulic cylinder and actively translates between hydraulic cylinder Sync bit deviation transfinites control unit, and it is fast that functional block XLBTC119~XLBTC123 constitutes driven translation hydraulic cylinder synchronous deviation Spend amending unit, functional block XLBTC103~XLBTC107, XLBTC115, XLBTC124, XLBTC125 and XLBTC128~ XLBTC132 constitutes driven translation hydraulic cylinder and links manually synchronous control unit, functional block XLBTC108~XLBTC118, XLBTC124~XLBTC127 and XLBTC129~XLBTC133 constitutes driven translation hydraulic cylinder automatic linkage synchronously control list Member, the method includes actively translating hydraulic cylinder synchronization control method and driven translation hydraulic cylinder synchronization control method, wherein institute It states and actively translates hydraulic cylinder synchronization control method and include the following steps：
A1, when section steel cooling bed walking beam retreats mobile, by actively translate hydraulic cylinder and movement most driven translation liquid slowly Between cylinder pressure sync bit deviation transfinite control unit acquisition actively translate Position of Hydraulic Cylinder value and each driven translation Position of Hydraulic Cylinder The minimum value △ Sms.b.min of the difference of value, if the fallback synchronization position deviation that △ Sms.b.min numerical value is less than or equal to setting is held Perhaps negative value then controls and actively translates hydraulic cylinder deceleration retrogressing, until actively translating hydraulic cylinder and retreating most slow driven translation liquid The fallback synchronization position deviation that position deviation value between cylinder pressure is greater than setting allows negative value, actively translates hydraulic cylinder raising speed again later It retreats；When section steel cooling bed walking beam moves ahead mobile, by actively translating between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder Sync bit deviation transfinite control unit acquisition actively translate hydraulic cylinder actual position value and each driven translation hydraulic cylinder actual bit The maximum value △ Sms.f.max of the difference of value is set, if △ Sms.f.max numerical value is greater than or equal to the forward sync bit deviation of setting Allow positive value, then control actively to translate hydraulic cylinder and slow down and move ahead, until actively translate hydraulic cylinder and forward most slow driven translation The forward sync bit deviation that position deviation value between hydraulic cylinder is less than setting allows positive value, later, actively translates hydraulic cylinder again Raising speed moves ahead；
A2, principal and subordinate translate hydraulic cylinder forward or backward synchronizing moving during, once actively translate hydraulic cylinder synchronous Position deviation value △ Sms exceeds setting range, and it is hydraulic to actively translating actively to translate hydraulic cylinder synchronous tolerance speed amending unit The movement speed of cylinder is modified, and the position deviation value △ Sms between principal and subordinate translates hydraulic cylinder is in setting range again, This actively translate hydraulic cylinder speed correction be actively translate hydraulic cylinder synchronous position deviation value △ Sms it is reversed after multiplied by active Translate hydraulic cylinder synchronous tolerance speed correction factor；
A3, under the manual linked manner of section steel cooling bed walking beam, walking beam manual retraction instruction provide during, if actively The minimum value △ Sms.b.min for translating the difference of Position of Hydraulic Cylinder value and each driven translation Position of Hydraulic Cylinder value is greater than the retrogressing of setting Sync bit deviation allows negative value, then actively translate hydraulic cylinder link manually synchronous control unit output principal and subordinate translate hydraulic cylinder hand Dynamic astern speed setting value, and the principal and subordinate of output is translated by hydraulic cylinder manual retraction speed setting value by integrator and is applied to type Steel cold bed walking beam actively translates hydraulic cylinder proportional control valve as retrogressing control voltage, meanwhile, make actively to translate hydraulic cylinder liquid Control check valve is in release conditions, if actively translating hydraulic cylinder and retreating the position deviation value between most slow driven translation hydraulic cylinder Beyond setting range, then by actively translate hydraulic cylinder synchronous tolerance speed amending unit to actively translate hydraulic cylinder with retrogressing most Position deviation between slow driven translation hydraulic cylinder is modified, if the retrogressing that the two position deviation value is less than or equal to setting is same Step position deviation allows negative value, then by actively translating sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder The control unit that transfinites control actively translates hydraulic cylinder deceleration and retreats, until the retrogressing that the two position deviation value is greater than setting again is same Step position deviation allows negative value；It moves ahead to instruct manually in walking beam and provides period, if actively translating hydraulic cylinder and moving ahead most slow The forward sync bit deviation that position deviation value △ Sms.f.max between driven translation hydraulic cylinder is less than setting allows positive value, then Actively translate hydraulic cylinder link manually synchronous control unit output principal and subordinate translate hydraulic cylinder manually move ahead speed setting value, pass through product Point device by the principal and subordinate of output translate hydraulic cylinder move ahead manually speed setting value be applied to section steel cooling bed walking beam actively translate it is hydraulic Cylinder proportional control valve as the control voltage that moves ahead, meanwhile, make actively to translate hydraulic cylinder hydraulic control one-way valve and be in release conditions, if leading Position deviation value between dynamic translation hydraulic cylinder and the most slow driven translation hydraulic cylinder that moves ahead exceeds setting range, then by actively flat Liquid relief cylinder pressure synchronism deviation speed amending unit is to the position for actively translating hydraulic cylinder between the most slow driven translation hydraulic cylinder that moves ahead It sets deviation to be modified, if the forward sync bit deviation that the two position deviation value is greater than or equal to setting allows positive value, lead to It crosses and actively translates the control unit control of transfiniting of sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder and actively put down Liquid relief cylinder pressure, which slows down, to move ahead, until the forward sync bit deviation that the two position deviation value is less than setting again allows positive value；
A4, under section steel cooling bed walking beam automatic linkage mode, if cold bed walking beam auto-translating position given value SZCWG It is less than position deviation with the difference for actively translating hydraulic cylinder actual position value Sm.act and allows negative value, it is automatic actively translates hydraulic cylinder Linkage synchronous control unit makes pi regulator and actively translates hydraulic cylinder hydraulic control one-way valve to be in release conditions, pi regulator according to Cold bed walking beam auto-translating position given value SZCWG and the difference output for actively translating hydraulic cylinder actual position value Sm.act are certain Actively translate hydraulic cylinder proportional control valve control voltage to hydraulic cylinder proportional control valve is actively translated, make actively to translate hydraulic cylinder Automatic backing is mobile, retreats movement towards the given position auto-translating position given value SZCWG actively translating hydraulic cylinder In the process, if the position deviation value △ Sms.b.min for actively translating hydraulic cylinder and retreating between most slow driven translation hydraulic cylinder is big Negative value is allowed in the fallback synchronization position deviation of setting, then the hydraulic cylinder proportional control valve that actively translates of pi regulator output controls The integrated device of voltage, which is applied to, actively translates hydraulic cylinder proportional control valve, so that actively translating hydraulic cylinder actual position value Sm.act And the difference of cold bed walking beam auto-translating position given value SZCWG is gradually reduced, until the difference of the two is allowed in position deviation Negative value and position deviation are allowed between positive value；If cold bed walking beam auto-translating position given value SZCWG with actively translate it is hydraulic The difference of cylinder actual position value Sm.act is greater than position deviation and allows positive value, actively translates hydraulic cylinder automatic linkage synchronously control list Member makes pi regulator and actively translates hydraulic cylinder hydraulic control one-way valve to be in release conditions, and pi regulator is automatic according to cold bed walking beam Translation position given value SZCWG and the difference for actively translating hydraulic cylinder actual position value Sm.act export it is certain actively translate it is hydraulic Cylinder proportional control valve controls voltage to hydraulic cylinder proportional control valve is actively translated, and makes actively to translate hydraulic cylinder forward movement automatically, During actively translating hydraulic cylinder and moving ahead mobile towards the auto-translating position given position given value SZCWG, if actively It translates hydraulic cylinder and retreats the position deviation value △ Sms.f.max between most slow driven translation hydraulic cylinder and be less than the forward same of setting Step position deviation allows positive value, then the hydraulic cylinder proportional control valve control integrated device of voltage that actively translates of pi regulator output is applied It is added to and actively translates hydraulic cylinder proportional control valve, so that actively translating hydraulic cylinder actual position value Sm.act and cold bed walking beam certainly The difference of dynamic translation position given value SZCWG is gradually reduced, until the difference of the two is in position deviation and allows negative value and position deviation Allow between positive value；
The driven translation hydraulic cylinder synchronization control method includes the following steps：
B1, when section steel cooling bed walking beam retreats mobile, by driven translation hydraulic cylinder with actively translate hydraulic cylinder synchronous The position deviation control unit that transfinites obtains driven translation hydraulic cylinder and actively translates the alternate position spike △ Ssnm of hydraulic cylinder, if △ Ssnm The fallback synchronization position deviation that numerical value is less than or equal to setting allows negative value, then controls driven translation hydraulic cylinder deceleration and retreat, directly To driven translation hydraulic cylinder and actively the position deviation value between hydraulic cylinder is translated to allow greater than the fallback synchronization position deviation of setting Negative value, later, raising speed retreats driven translation hydraulic cylinder again；When section steel cooling bed walking beam moves ahead mobile, pass through driven translation liquid Cylinder pressure with actively translate hydraulic cylinder synchronous position deviation transfinite control unit obtain driven translation hydraulic cylinder with actively translate it is hydraulic The alternate position spike △ Ssnm of cylinder is controlled if the forward sync bit deviation that △ Ssnm numerical value is greater than or equal to setting allows positive value Driven translation hydraulic cylinder, which slows down, to move ahead, and until driven translation hydraulic cylinder and actively translates position deviation value between hydraulic cylinder less than setting Fixed forward sync bit deviation allows positive value, and later, raising speed moves ahead driven translation hydraulic cylinder again；
B2, during principal and subordinate translates the forward or backward synchronizing moving of hydraulic cylinder, once dynamic translation hydraulic cylinder and actively Translate hydraulic cylinder position difference △ Ssnm exceed setting range, driven translation hydraulic cylinder synchronous tolerance speed amending unit to from The movement speed of dynamic translation hydraulic cylinder is modified, and until driven translation hydraulic cylinder and actively translates the position deviation between hydraulic cylinder Value △ Ssnm is in setting range again, and the speed correction of the driven translation hydraulic cylinder is driven translation hydraulic cylinder and active Hydraulic cylinder synchronous deviation is translated after the position deviation value △ Ssnm of translation hydraulic cylinder is reversed multiplied by driven translation hydraulic cylinder and actively Speed correction factor；
B3, under the manual linked manner of section steel cooling bed walking beam, walking beam manual retraction instruction provide during, if driven Translation hydraulic cylinder and actively translate between hydraulic cylinder alternate position spike △ Ssnm and allow negative value greater than the fallback synchronization position deviation set, then The driven translation hydraulic cylinder synchronous control unit output principal and subordinate that links manually translates hydraulic cylinder manual retraction speed setting value, and passes through Principal and subordinate's translation hydraulic cylinder manual retraction speed setting value of output is applied to section steel cooling bed walking beam and actively translates liquid by integrator Cylinder pressure proportional control valve controls voltage as retrogressing, meanwhile, so that driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions, if Driven translation hydraulic cylinder and the position deviation value actively translated between hydraulic cylinder exceed setting range, then pass through driven translation hydraulic cylinder Synchronism deviation speed amending unit is to driven translation hydraulic cylinder and actively translates the position deviation between hydraulic cylinder and is modified, if two The fallback synchronization position deviation that person's position deviation value is less than or equal to setting allows negative value, then passes through driven translation hydraulic cylinder and master The dynamic translation hydraulic cylinder synchronous position deviation control unit that transfinites controls driven translation hydraulic cylinder and slows down retrogressing, until the two position is inclined The fallback synchronization position deviation that difference is greater than setting again allows negative value；It moves ahead to instruct manually in walking beam and provides period, if from Dynamic translation hydraulic cylinder and actively translate between hydraulic cylinder alternate position spike △ Ssnm and allows positive value less than the forward sync bit deviation set, Then the driven translation hydraulic cylinder synchronous control unit output principal and subordinate that links manually translates hydraulic cylinder and is manually advanced speed setting value, and leads to It crosses integrator and will export principal and subordinate and translate hydraulic cylinder and be manually advanced speed setting value and be applied to the driven translation hydraulic cylinder of cold bed walking beam Proportional control valve controls voltage as moving ahead, meanwhile, so that driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions, if driven Translation hydraulic cylinder and the position deviation value actively translated between hydraulic cylinder exceed setting range, then pass through driven translation hydraulic cylinder synchronous Tolerance speed amending unit is to driven translation hydraulic cylinder and actively translates the position deviation between hydraulic cylinder and is modified, if the two position The advance sync bit deviation that deviation is set more than or equal to setting allows positive value, then puts down by driven translation hydraulic cylinder and actively The liquid relief cylinder pressure sync bit deviation control unit that transfinites controls driven translation hydraulic cylinder Easy abeadl, until the two position deviation value Again the preceding advance and retreat sync bit deviation for being less than setting allows positive value；
B4, under section steel cooling bed walking beam automatic linkage mode, if cold bed walking beam auto-translating position given value SZCWG Only the poor position deviation that is less than allows negative value with driven translation hydraulic cylinder actual position value Ssn.act, and driven translation hydraulic cylinder is automatic Linkage synchronous control unit makes pi regulator and driven translation hydraulic cylinder hydraulic control one-way valve be in release conditions, pi regulator according to The difference of cold bed walking beam auto-translating position given value SZCWG and driven translation hydraulic cylinder actual position value Ssn.act output one Fixed driven translation hydraulic cylinder proportional control valve controls voltage, keeps driven translation hydraulic cylinder automatic backing mobile, in driven translation During hydraulic cylinder retreats movement towards the given position auto-translating position given value SZCWG, if driven translation hydraulic cylinder Negative value is allowed greater than the fallback synchronization position deviation of setting with the position deviation value △ Ssnm actively translated between hydraulic cylinder, and PI is adjusted The driven translation hydraulic cylinder proportional control valve control integrated device of voltage of device output is applied to driven translation hydraulic cylinder ratio control Valve, so that the difference of driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position given value SZCWG It is gradually reduced, allows negative value and position deviation to allow between positive value until the difference of the two is in position deviation；If cold bed walking beam The difference of auto-translating position given value SZCWG and driven translation hydraulic cylinder actual position value Ssn.act are allowed greater than position deviation Positive value, driven translation hydraulic cylinder automatic linkage synchronous control unit make at pi regulator and driven translation hydraulic cylinder hydraulic control one-way valve In release conditions, pi regulator is practical according to cold bed walking beam auto-translating position given value SZCWG and driven translation hydraulic cylinder The driven translation hydraulic cylinder proportional control valve that the difference output of positional value Ssn.act is certain controls voltage, makes driven translation hydraulic cylinder Automatically move ahead movement, in the driven hydraulic cylinder that translates towards the forward movement in the auto-translating position given position given value SZCWG In the process, if driven translation hydraulic cylinder is less than the forward synchronous of setting with the position deviation value △ Ssnm actively translated between hydraulic cylinder Position deviation allows positive value, and the driven translation hydraulic cylinder proportional control valve control integrated device of voltage of pi regulator output is applied to Driven translation hydraulic cylinder proportional control valve, so that driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam are automatic The difference of translation position given value SZCWG is gradually reduced, and allows negative value and position deviation to hold until the difference of the two is in position deviation Perhaps between positive value.
The present invention is that the cold bed walking beam in embodiment translates hydraulic cylinder synchronization control method by actively translating hydraulic cylinder Synchronism deviation speed amending unit and driven translation hydraulic cylinder synchronous tolerance speed amending unit are in real time to beyond setting range The position deviation that principal and subordinate translates between hydraulic cylinder is modified, and is held if deviation between the two continues to increase to beyond sync bit deviation Perhaps be worth, then by actively translate sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder transfinite control unit or Driven translation hydraulic cylinder controls the fast active of translational velocity and puts down with the hydraulic cylinder synchronous position deviation control unit that transfinites actively translate Liquid relief cylinder pressure or driven translation hydraulic cylinder, which slow down, to be translated, until the position deviation of the two is located at sync bit deviation feasible value again Within, in addition, also by actively translating hydraulic cylinder automatic linkage synchronous control unit and driven translation hydraulic cylinder automatic linkage is same Step control unit makes principal and subordinate's translation hydraulic cylinder realize synchronizing moving under automated manner, and therefore, cold bed walking beam translates hydraulic cylinder The synchronous translational that cold bed walking beam principal and subordinate translates hydraulic cylinder not only may be implemented in synchronisation control means, but also walking beam translation is hydraulic Cylinder fault-tolerance with higher during operation, when actively translating hydraulic cylinder or any one driven translation hydraulic cylinder in walking beam Occur letting out in biggish in translation motion or when walking beam occurs a degree of card group in translation motion, principal and subordinate's translation is hydraulic Cylinder can realize synchronous translational in translation motion.
Detailed description of the invention
Fig. 1 is the structural schematic diagram provided in an embodiment of the present invention for actively translating hydraulic cylinder synchronous control subsystem；
Fig. 2 is the structural schematic diagram of driven translation hydraulic cylinder synchronous control subsystem provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right 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 the structural schematic diagram provided in an embodiment of the present invention for actively translating hydraulic cylinder synchronous control subsystem, and Fig. 2 is The structural schematic diagram of driven translation hydraulic cylinder synchronous control subsystem provided in an embodiment of the present invention only shows for ease of description Part related to the embodiment of the present invention out.
As depicted in figs. 1 and 2, LVM is " the overproof detection of numerical value " functional block, in the case where HY=0, as X >=M+L, QU is ' 1 ', and as M-L < X < M+L, QM is ' 1 ', and as X≤M-L, QL is ' 1 '；SII is " reverser " functional block；MUL For " multiplier " functional block；NSW is " digital quantity input switching switch " functional block, as I=' 1 ', Y=X2, and as I=' 0 ', Y=X1；SUB is subtracter；NCM is " numerical value compares " functional block, and as X1 > X2, QU is ' 1 ', and as X1=X2, QE is ' 1 ', as X1 < X2, QL is ' 1 '；PIC is " pi regulator " functional block；ADD is adder；OR is OR-gate；AND is "AND" Door；NOT is inverter；RSR is " reset terminal R preferential rest-set flip-flop " functional block, and when it is ' 0 ' that S, which is ' 1 ', R, Q is ' 1 ', QN It is ' 0 ', when it is ' 1 ' that S, which is ' 1 ', R, Q is that ' 0 ', QN is ' 1 ', and when it is ' 0 ' that S, which is ' 0 ', R, Q and QN keep ortho states, when S is When ' 0 ', R are ' 1 ', Q is that ' 0 ' QN is ' 1 '；RGJ is " integrator " functional block.
SZCWG is section steel cooling bed walking beam auto-translating position given value；Sm.act is the reality for actively translating hydraulic cylinder Positional value；Ss1.act, Ss2.act and Ss3.act are respectively first, second and the driven translation hydraulic cylinder of third Actual position value；△ Sms.b.min be section steel cooling bed walking beam retreat translation when actively translate hydraulic cylinder actual position value and The minimum value of the difference of each driven translation hydraulic cylinder actual position value, i.e., actively translate hydraulic when section steel cooling bed walking beam retreats translation Cylinder and retreat the position deviation value between most slow driven translation hydraulic cylinder；△ Sms.f.max is that section steel cooling bed walking beam is forward flat The maximum value of the difference of hydraulic cylinder actual position value and each driven translation hydraulic cylinder actual position value is actively translated when shifting, i.e. fashioned iron is cold Bed walking beam move ahead translation when actively translate position deviation value between hydraulic cylinder and forward most slow driven translation hydraulic cylinder；△ Sms.max is actively to translate hydraulic cylinder synchronous position deviation value, i.e., actively translates hydraulic cylinder and most slow driven translation hydraulic cylinder Between position deviation value；△ Ssnm is n-th of driven translation hydraulic cylinder synchronous position deviation value, i.e., n-th driven translation is hydraulic Cylinder and the position deviation value between hydraulic cylinder is actively translated, the terminal location that hydraulic cylinder retreats translation is translated with principal and subordinate in the system Value is 0mm, and it is positive value or zero that principal and subordinate, which translates hydraulic cylinder actual position value,.
In embodiments of the present invention, cold bed walking beam translation hydraulic cylinder synchronous control system is same including actively translating hydraulic cylinder Control subsystem and driven translation hydraulic cylinder synchronous control subsystem are walked, as shown in Figure 1, actively translating hydraulic cylinder synchronous control Subsystem is made of four control units, i.e. functional block XLBTC01~XLBTC11, XLBTC16~XLBTC18, XLBTC26, XLBTC27 and XLBTC29~XLBTC31 composition actively translate hydraulic cylinder and mobile most slow driven translation hydraulic cylinder Between sync bit deviation transfinite control unit, it is fast that functional block XLBTC37~XLBTC41 composition actively translates hydraulic cylinder synchronous deviation Spend amending unit, functional block XLBTC12~XLBTC15, XLBTC20~XLBTC25, XLBTC33, XLBTC42~XLBTC47 with And XLBTC50~XLBTC53 composition actively translates hydraulic cylinder and links manually synchronous control unit, functional block XLBTC26~ XLBTC36, XLBTC42~XLBTC46 and XLBTC48~XLBTC54 composition actively translate the synchronous control of hydraulic cylinder automatic linkage Unit processed,
It is described to be based on cold bed walking beam liquid in order to realize the synchronizing moving for actively translating hydraulic cylinder and driven translation hydraulic cylinder The synchronisation control means of cylinder pressure synchronous control system includes：Actively translate hydraulic cylinder synchronization control method and driven translation hydraulic cylinder Synchronisation control means, wherein actively translate hydraulic cylinder synchronization control method and include the following steps：
A1, during principal and subordinate translates hydraulic cylinder synchronous and moves forward or back mobile, if in advance moving process actively The position deviation that hydraulic cylinder is translated in desired moving direction and most slow driven translation hydraulic cylinder is greater than or equal to the same of setting Step position deviation allows positive value (such as 2 millimeters) either actively to translate hydraulic cylinder in desired movement side in retreating moving process To and the position deviation of most slow driven translation hydraulic cylinder be less than or equal to the sync bit deviation of setting and allow positive and negative values (such as -2 Millimeter), then it controls and actively translates hydraulic cylinder deceleration movement, until the position deviation of the two is in sync bit deviation again and allows Within value, later, translates hydraulic cylinder actively with the acceleration raising speed that sets to setting speed and continues to move to towards a desired direction, Make actively to translate hydraulic cylinder in the control of the position deviation of desired moving direction and most slow driven translation hydraulic cylinder same with this It walks within position deviation feasible value.Based on this, is devised in actively translating hydraulic cylinder synchronous control subsystem and actively translate liquid Sync bit deviation transfinites control unit between cylinder pressure and mobile most slow driven translation hydraulic cylinder, retires after section steel cooling bed walking beam When dynamic, which actively translates hydraulic when obtaining the retrogressing movement of section steel cooling bed walking beam by functional block XLBTC01~XLBTC07 The minimum value △ Sms.b.min of the difference of cylinder position value and each driven translation Position of Hydraulic Cylinder value, if △ Sms.b.min numerical value is less than Or allowing negative value (such as -2 millimeters) equal to the fallback synchronization position deviation of setting, then functional block XLBTC18 output end QU will be by ' 1 ' State becomes ' 0 ' state, and control actively translates hydraulic cylinder deceleration and retreats, until actively translating hydraulic cylinder and retreating most slow driven translation The fallback synchronization position deviation that position deviation value between hydraulic cylinder is greater than setting is allowed negative value (such as -2 millimeters), later, actively flat Raising speed retreats liquid relief cylinder pressure again；When section steel cooling bed walking beam moves ahead mobile, the unit by functional block XLBTC01~ XLBTC03 and XLBTC08~XLBTC11 is obtained when section steel cooling bed walking beam moves ahead mobile and is actively translated hydraulic cylinder physical location Value with it is each it is driven translate hydraulic cylinder actual position value difference maximum value △ Sms.f.max, if △ Sms.f.max numerical value be greater than or Forward sync bit deviation equal to setting allows positive value (such as 2 millimeters), then functional block XLBTC17 output end QL will be by ' 1 ' state Become ' 0 ' state, control actively translates hydraulic cylinder deceleration and moves ahead, until actively translating hydraulic cylinder and the most slow driven translation liquid that moves ahead The forward sync bit deviation that position deviation value between cylinder pressure is less than setting allows positive value (such as 2 millimeters), later, actively translates liquid Raising speed moves ahead cylinder pressure again.
If A2, in view of actively translate hydraulic cylinder in driven translation hydraulic cylinder synchronous moving process frequently because of position deviation Slow down beyond maximum allowable position deviation, actively translates hydraulic cylinder and be easy to appear position oscillation during synchronizing moving, and Thus driven translation Position of Hydraulic Cylinder oscillation is induced.For this purpose, not only being designed in actively translating hydraulic cylinder synchronous control subsystem Actively translating sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder transfinites control unit, but also designs Actively translate hydraulic cylinder synchronous tolerance speed amending unit.During principal and subordinate translates the synchronizing moving of hydraulic cylinder, once it is main Dynamic translation hydraulic cylinder synchronous position deviation value △ Sms beyond setting range (such as ± 0.5 millimeter), then by this actively translate it is hydraulic Cylinder synchronism deviation speed amending unit is in time modified the movement speed for actively translating hydraulic cylinder, until principal and subordinate's translation is hydraulic Position deviation value between cylinder is in setting range again, can greatly reduce actively translate Position of Hydraulic Cylinder deviation △ in this way Sms exceeds the probability of position deviation feasible value.The input terminal X2 of functional block XLBTC41, which is equal to, in the control unit actively translates liquid Multiplied by setting coefficient after cylinder pressure sync bit deviation △ Sms is reversed, it is inclined which referred to as actively translates hydraulic cylinder synchronous Differential degree correction factor exceeds setting range, functional block XLBTC41 when actively translating hydraulic cylinder synchronous position deviation value △ Sms The end control terminal I ' 1 ' state will be become from ' 0 ' state, thus make the output end Y of functional block XLBTC41 output valve (i.e. actively translate Hydraulic cylinder synchronous tolerance speed correction value) it is equal to the input value of its input terminal X2, in this way, the unit will export one and active is flat The reversed directly proportional speed correction of liquid relief cylinder pressure sync bit deviation △ Sms, the speed correction will make actively to translate liquid Sync bit deviation between cylinder pressure and mobile most slow driven translation hydraulic cylinder is gradually reduced, until actively translating Position of Hydraulic Cylinder Deviation △ Sms is in setting range again (such as ± 0.5 millimeter).It follows that it is inclined actively to translate hydraulic cylinder synchronous by this Differential degree amending unit can make actively to translate hydraulic cylinder speed and be repaired in time before sync bit deviation transfinites (such as ± 2 millimeters) Just.
A3, under the manual linked manner of section steel cooling bed walking beam, it is actively flat during the instruction of walking beam manual retraction provides The liquid relief cylinder pressure numerical value of functional block XLBTC14 output end Y (i.e. A point in Fig. 1) in synchronous control unit that links manually will be equal to The dynamic translation hydraulic cylinder astern speed setting value of principal and subordinate (such as -6V), functional block XLBTC15 output end QL will be ' 1 ' state, in this way, if Actively translate hydraulic cylinder and after the position deviation value △ Sms.b.min that retreats between most slow driven translation hydraulic cylinder is greater than setting It moves back sync bit deviation and allows negative value (as -2 millimeters), this actively translates hydraulic cylinder and links manually functional block in synchronous control unit The output end Q of XLBTC22~XLBTC24 and XLBTC33 will be ' 1 ' state, and the numerical value of the output end Y of functional block XLBTC25 will The numerical value (i.e. principal and subordinate translates hydraulic cylinder manual retraction speed setting value) exported equal to functional block XLBTC14 output end Y, cold The equal fault-free of bed walking beam translation hydraulic cylinder position sensor, cold bed walking beam translation hydraulic system fault-free, cold bed are not being grasped In the case of making blocking and cold bed without tightly stopping, the output end Q of functional block XLBTC50 will be ' 1 ' state, and principal and subordinate translates hydraulic cylinder Manual retraction speed setting value (such as -6V) will give cold bed walking beam active by the output end Y of " integrator " functional block XLBTC52 It translates hydraulic cylinder proportional control valve and applies retrogressing control voltage, meanwhile, the output end Q which passes through functional block XLBTC50 is ' 1 ' state, so that actively translating hydraulic cylinder hydraulic control one-way valve is in release conditions, during cold bed walking beam retreats mobile, If the position deviation value △ Sms.b.min for actively translating hydraulic cylinder and retreating between most slow driven translation hydraulic cylinder exceeds setting model It encloses, then actively translate hydraulic cylinder and retreats position deviation value between most slow driven translation hydraulic cylinder by actively translating hydraulic cylinder Synchronism deviation speed amending unit is modified, if the two position deviation value is less than or equal to the fallback synchronization position deviation of setting Allow negative value (such as -2 millimeters), then actively translating sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder transfinites Control unit control actively translates hydraulic cylinder deceleration and retreats, until the two position deviation value is greater than the fallback synchronization position of setting again It sets deviation and allows negative value (such as -2 millimeters)；It moves ahead to instruct manually in walking beam and provides period, functional block XLBTC14 is defeated in the unit The numerical value of outlet Y (i.e. A point in Fig. 1) will be equal to principal and subordinate's translation hydraulic cylinder and move ahead speed setting value (such as 8V), functional block XLBTC15 output end QU will be ' 1 ' state, in this way, if actively translating hydraulic cylinder between the most slow driven translation hydraulic cylinder that moves ahead The forward sync bit deviation that position deviation value △ Sms.f.max is less than setting allows positive value (such as 2 millimeters), this actively translates liquid Cylinder pressure is linked manually in synchronous control unit, and the output end Q of functional block XLBTC20, XLBTC23, XLBTC24 and XLBTC33 will For ' 1 ' state, the numerical value of the output end Y of functional block XLBTC25 will be equal to numerical value that functional block XLBTC14 output end Y is exported (i.e. Principal and subordinate translates hydraulic cylinder and moves ahead manually speed setting value), in the equal fault-free of cold bed walking beam translation hydraulic cylinder position sensor, cold Bed walking beam translation hydraulic system fault-free, cold bed be not when operating blocking and cold bed without tightly stopping, functional block The output end Q of XLBTC50 will be ' 1 ' state, and principal and subordinate translates hydraulic cylinder manually forward speed setting value (such as 8V) will be by " integral The output end Y of device " functional block XLBTC52 actively translates hydraulic cylinder proportional control valve to cold bed walking beam and applies the control electricity that moves ahead Pressure, meanwhile, the output end Q which passes through functional block XLBTC50 is ' 1 ' state, makes actively to translate at hydraulic cylinder hydraulic control one-way valve In release conditions, during cold bed walking beam moves ahead mobile, if actively translating hydraulic cylinder and the most slow driven translation that moves ahead Position deviation value between hydraulic cylinder exceeds setting range, actively translates hydraulic cylinder between the most slow driven translation hydraulic cylinder that moves ahead Position deviation value is modified by actively translating hydraulic cylinder synchronous tolerance speed amending unit, if the two position deviation value is greater than Or allow positive value (such as 2 millimeters) equal to the forward sync bit deviation of setting, then it is most slow driven with movement actively to translate hydraulic cylinder Sync bit deviation transfinites between translation hydraulic cylinder, and actively translate hydraulic cylinder deceleration forward for control unit control, until the two position is inclined The forward sync bit deviation that difference is less than setting again allows positive value (such as 2 millimeters).
A4, under section steel cooling bed walking beam automatic linkage mode, in cold bed walking beam auto-translating position given value SZCWG And the difference for actively translating hydraulic cylinder actual position value Sm.act is less than position deviation and allows negative value (such as -1 millimeter) period, this is actively Functional block XLBTC28 output end QL and XLBTC34 output end Q is (i.e. in Fig. 1 in hydraulic cylinder automatic linkage synchronous control unit F point) it will be ' 1 ' state, in this way, translating liquid in the equal fault-free of cold bed walking beam translation hydraulic cylinder position sensor, cold bed walking beam Pressure system fault-free, cold bed be not when operating blocking and cold bed without tightly stopping, functional block XLBTC35 in the unit Output end Q will be ' 1 ' state, and " pi regulator " functional block XLBTC36 is thus made in the unit to be in release conditions, meanwhile, the list Member is ' 1 ' state by the output end Q of functional block XLBTC50, makes actively to translate hydraulic cylinder hydraulic control one-way valve and is in release conditions, this In unit " pi regulator " functional block XLBTC36 output end Y will according to cold bed walking beam auto-translating position given value SZCWG with The difference for actively translating hydraulic cylinder actual position value Sm.act exports certain hydraulic cylinder proportional control valve that actively translates and controls voltage, Make actively to translate the movement of hydraulic cylinder automatic backing, be given actively translating hydraulic cylinder towards auto-translating position given value SZCWG Position retreat it is mobile during, if actively translating the position deviation between hydraulic cylinder and the most slow driven translation hydraulic cylinder of retrogressing The fallback synchronization position deviation that value (i.e. △ Sms.b.min) is greater than setting allows negative value (such as -2 millimeters), and the active hydraulic cylinder is certainly Functional block XLBTC51 output end Q will be ' 1 ' state in dynamic linkage synchronous control unit.In this way, " pi regulator " functional block The hydraulic cylinder proportional control valve control voltage that actively translates of XLBTC36 output end Y output is applied through " integrator " functional block XLBTC52 It is added to and actively translates hydraulic cylinder proportional control valve, so that actively translating hydraulic cylinder actual position value Sm.act and cold bed walking beam certainly The difference of dynamic translation position given value SZCWG is gradually reduced, and allows negative value and position deviation until the difference of the two is in position deviation Allow between positive value；Equally, given in cold bed walking beam auto-translating position under section steel cooling bed walking beam automatic linkage mode Value SZCWG and the difference for actively translating hydraulic cylinder actual position value Sm.act are greater than position deviation and allow positive value (such as 1 millimeter) period, Functional block XLBTC27 output end QU and XLBTC34 output end Q is (i.e. in the active hydraulic cylinder automatic linkage synchronous control unit F point in Fig. 1) it will be ' 1 ' state, at this point, in the equal fault-free of cold bed walking beam translation hydraulic cylinder position sensor, cold bed walking beam Translation hydraulic system fault-free, cold bed be not when operating blocking and cold bed without tightly stopping, functional block in the unit The output end Q of XLBTC35 will be ' 1 ' state, and " pi regulator " functional block XLBTC36 is thus made in the unit to be in release conditions, Meanwhile the unit is ' 1 ' state by the output end Q of functional block XLBTC50, makes actively to translate hydraulic cylinder hydraulic control one-way valve in releasing State is put, in this way, " pi regulator " functional block XLBTC36 output end Y will be according to cold bed walking beam auto-translating position in the unit The difference set given value SZCWG and actively translate hydraulic cylinder actual position value Sm.act exports and certain actively translates hydraulic cylinder ratio Control valve controls voltage, makes actively translate that hydraulic cylinder is automatically forward moves, actively translate hydraulic cylinder towards auto-translating position to The given position definite value SZCWG moves ahead during movement, if actively translating hydraulic cylinder and the most slow driven translation liquid that moves ahead The forward sync bit deviation that position deviation value △ Sms.f.max between cylinder pressure is less than setting allows positive value (such as 2 millimeters), the master Functional block XLBTC51 output end Q will be ' 1 ' state in hydrodynamic cylinder pressure automatic linkage synchronous control unit.In this way, " pi regulator " function The hydraulic cylinder proportional control valve control voltage that actively translates of energy block XLBTC36 output end Y output passes through " integrator " functional block XLBTC52, which is applied to, actively translates hydraulic cylinder proportional control valve so that actively translate hydraulic cylinder actual position value Sm.act with it is cold The difference of bed walking beam auto-translating position given value SZCWG is gradually reduced, and allows negative value until the difference of the two is in position deviation Allow between positive value with position deviation.
In embodiments of the present invention, driven translation hydraulic cylinder synchronous control subsystem is made of four control units, i.e., Sync bit deviation transfinites between functional block XLBTC100~XLBTC102 constitutes driven translation hydraulic cylinder and actively translates hydraulic cylinder Control unit, functional block XLBTC119~XLBTC123 constitute driven translation hydraulic cylinder synchronous tolerance speed amending unit, function Block XLBTC103~XLBTC107, XLBTC115, XLBTC124, XLBTC125 and XLBTC128~XLBTC132 constitute from Dynamic translation hydraulic cylinder links synchronous control unit manually, functional block XLBTC108~XLBTC118, XLBTC124~XLBTC127 And XLBTC129~XLBTC133 constitutes driven translation hydraulic cylinder automatic linkage synchronous control unit, the driven translation hydraulic cylinder Synchronisation control means includes the following steps：
B1, during principal and subordinate translates hydraulic cylinder synchronous and moves forward or back mobile, if driven in advance moving process The sync bit deviation that translation hydraulic cylinder and the position deviation for actively translating hydraulic cylinder are greater than or equal to setting allows positive value (such as 2 Millimeter) either driven translation hydraulic cylinder with actively to translate the position deviation of hydraulic cylinder inclined less than or equal to the sync bit set Difference allows negative value (such as -2 millimeters), then driven translation hydraulic cylinder deceleration movement is controlled, until the position deviation of the two is in again Within sync bit deviation feasible value, later, driven translation hydraulic cylinder is with the acceleration raising speed that sets to setting speed and towards the phase The direction of prestige continues to move to, and keeps driven translation hydraulic cylinder inclined in desired moving direction and the position that actively translates hydraulic cylinder with this Difference control is within sync bit deviation feasible value.Based on this, driven translation hydraulic cylinder synchronous control program in devise from It dynamic translation hydraulic cylinder and actively translates hydraulic cylinder synchronous position deviation and transfinites control unit.In this way, after section steel cooling bed walking beam When retiring dynamic, driven translation hydraulic cylinder is obtained by functional block XLBTC100 and actively translates the alternate position spike △ Ssnm of hydraulic cylinder, If the fallback synchronization position deviation that △ Ssnm numerical value is less than or equal to setting allows negative value (such as -2 millimeters), functional block XLBTC102 output end QU will be become ' 0 ' state from ' 1 ' state, be controlled driven translation hydraulic cylinder deceleration and retreated, until driven translation liquid Cylinder pressure and the position deviation value actively translated between hydraulic cylinder allow negative value (such as -2 millis greater than the fallback synchronization position deviation of setting Rice), later, raising speed retreats driven translation hydraulic cylinder again；When section steel cooling bed walking beam moves ahead mobile, pass through functional block XLBTC100 obtains driven translation hydraulic cylinder and actively translates the alternate position spike △ Ssnm of hydraulic cylinder, if △ Ssnm numerical value is greater than or waits Positive value (such as 2 millimeters) is allowed in the forward sync bit deviation of setting, then functional block XLBTC101 output end QL will be become by ' 1 ' state It for ' 0 ' state, controls driven translation hydraulic cylinder and slows down and move ahead, translate hydraulic cylinder until driven and actively translate the position between hydraulic cylinder The forward sync bit deviation that deviation is less than setting allows positive value (such as 2 millimeters), and later, driven translation hydraulic cylinder is again before raising speed Row.
If B2, in view of driven translation hydraulic cylinder with actively translate in hydraulic cylinder synchronous moving process frequently because position deviation surpasses Out position deviation feasible value and slow down, driven translation hydraulic cylinder is easy to appear position oscillation during synchronizing moving, and thus Induction actively translates Position of Hydraulic Cylinder oscillation.For this purpose, in driven translation hydraulic cylinder synchronous control subsystem, not only devise from It dynamic translation hydraulic cylinder and actively translates sync bit deviation between hydraulic cylinder and transfinites control unit, and driven translation liquid has also been devised Cylinder pressure synchronism deviation speed amending unit.During principal and subordinate translates the synchronizing moving of hydraulic cylinder, once driven translation hydraulic cylinder Exceed setting range (such as ± 0.5 millimeter) with the alternate position spike △ Ssnm for actively translating hydraulic cylinder, then it is hydraulic by the driven translation Cylinder synchronism deviation speed amending unit is in time modified the movement speed of driven translation hydraulic cylinder, until driven translation is hydraulic Cylinder and the position deviation value actively translated between hydraulic cylinder are in setting range again, can greatly reduce driven translation liquid in this way Cylinder pressure exceeds the probability of maximum allowable position deviation with the position deviation value △ Ssnm for actively translating hydraulic cylinder.In the control unit The input terminal X2 of functional block XLBTC123 is equal to driven translation hydraulic cylinder and actively translates the position deviation value △ Ssnm of hydraulic cylinder Multiplied by setting coefficient after reversed, which is known as driven translation hydraulic cylinder and repairs with hydraulic cylinder synchronous tolerance speed is actively translated Positive coefficient, when driven translation hydraulic cylinder exceeds setting range (such as ± 0.5 with the position deviation value △ Ssnm for actively translating hydraulic cylinder Millimeter), the end control terminal I of functional block XLBTC123 will become ' 1 ' state from ' 0 ' state, thus make the defeated end Y of functional block XLBTC123 Output valve (i.e. driven translation hydraulic cylinder synchronous tolerance speed correction value) be equal to input value of its input terminal X2, in this way, the list Member will export one and translate alternate position spike △ Ssnm between hydraulic cylinder with driven translation hydraulic cylinder and actively reversely directly proportional speed be repaired Positive value, the speed correction will make driven translation hydraulic cylinder and actively translate the sync bit deviation between hydraulic cylinder to be gradually reduced, Until driven translation hydraulic cylinder is in setting range (such as ± 0.5 with the position deviation value △ Ssnm for actively translating hydraulic cylinder again Millimeter), it follows that driven translation hydraulic cylinder and master can be made by the driven translation hydraulic cylinder synchronous tolerance speed amending unit Alternate position spike △ Ssnm is corrected in time before transfiniting (such as ± 2 millimeters) between dynamic translation hydraulic cylinder.
B3, under the manual linked manner of section steel cooling bed walking beam, it is driven flat during the instruction of walking beam manual retraction provides Liquid relief cylinder pressure links functional block XLBTC104 input terminal I2 (i.e. C point in Fig. 2) state in synchronous control unit manually will be by ' 0 ' becomes ' 1 ', in this way, if driven translation hydraulic cylinder and actively translate between hydraulic cylinder alternate position spike △ Ssnm greater than the retrogressing set Sync bit deviation is allowed negative value (such as -2 millimeters), function in the manual linkage synchronous control unit of the driven translation hydraulic cylinder (Sn) The output end Q of block XLBTC104~XLBTC106 and XLBTC115 will be ' 1 ' state, the output end Y's of functional block XLBTC107 The numerical value (i.e. principal and subordinate translate hydraulic cylinder manual retraction speed setting value) that numerical value will be equal to its input terminal X2 and be inputted.It is walked in cold bed The equal fault-free of hydraulic cylinder position sensor, cold bed walking beam translation hydraulic system fault-free, cold bed is moved into Liangping not close in operation In the case of lock status and cold bed are without tightly stopping, the output end Q of functional block XLBTC129 will be ' 1 ' state, and principal and subordinate translates hydraulic cylinder hand Dynamic astern speed setting value (such as -6V) will be driven to cold bed walking beam by the output end Y of " integrator " functional block XLBTC132 It translates hydraulic cylinder proportional control valve and applies retrogressing control voltage, meanwhile, the output end Q which passes through functional block XLBTC129 is ' 1 ' state makes driven translation hydraulic cylinder hydraulic control one-way valve be in release conditions, during cold bed walking beam retreats mobile, if Driven translation hydraulic cylinder and the position deviation value actively translated between hydraulic cylinder exceed setting range, then driven translation hydraulic cylinder and master Position deviation value between dynamic translation hydraulic cylinder is modified by driven translation hydraulic cylinder synchronous tolerance speed amending unit, if two The fallback synchronization position deviation that person's position deviation value is less than or equal to setting allows negative value (such as -2 millimeters), then driven translation is hydraulic Cylinder and actively translate the hydraulic cylinder synchronous position deviation control unit that transfinites and control the deceleration retrogressing of driven translation hydraulic cylinder, until the two The fallback synchronization position deviation that position deviation value is greater than setting again allows negative value (such as -2 millimeters).It moves ahead and refers to manually in walking beam During order provides, functional block XLBTC103 input terminal I2 (i.e. B point in Fig. 2) state will become ' 1 ' from ' 0 ' in the unit, this Sample, if driven translation hydraulic cylinder and actively translate alternate position spike △ Ssnm between hydraulic cylinder and being less than the forward sync bit deviation appearance set Perhaps positive value (such as 2 millimeters), the driven translation hydraulic cylinder link manually functional block XLBTC103 in synchronous control unit, The output end Q of XLBTC105, XLBTC106 and XLBTC115 will be ' 1 ' state, the numerical value of the output end Y of functional block XLBTC107 By the numerical value inputted equal to its input terminal X2 (i.e. principal and subordinate translates hydraulic cylinder forward speed setting value manually).In cold bed walking beam The equal fault-free of hydraulic cylinder position sensor, cold bed walking beam translation hydraulic system fault-free, cold bed are translated not in operation latch like In the case of state and cold bed are without tightly stopping, the output end Q of functional block XLBTC129 will be ' 1 ' state, principal and subordinate translate hydraulic cylinder it is manual before Row speed setting value (such as 8V) will give cold bed walking beam driven translation liquid by the output end Y of " integrator " functional block XLBTC132 Cylinder pressure proportional control valve applies the control voltage that moves ahead, meanwhile, the output end Q which passes through functional block XLBTC129 is ' 1 ' state, Driven translation hydraulic cylinder hydraulic control one-way valve is set to be in release conditions.During cold bed walking beam moves ahead mobile, if driven flat Liquid relief cylinder pressure and the position deviation value actively translated between hydraulic cylinder exceed setting range, then driven translation hydraulic cylinder and actively translation Position deviation value between hydraulic cylinder is modified by driven translation hydraulic cylinder synchronous tolerance speed amending unit, if the two position Deviation is greater than or equal to the forward sync bit deviation feasible value (such as 2 millimeters) of setting, then driven translation hydraulic cylinder and active Translation hydraulic cylinder synchronous position deviation transfinite control unit control driven translation hydraulic cylinder slow down it is forward, until the two position deviation The forward sync bit deviation that value is less than setting again allows positive value (such as 2 millimeters).
B4, under section steel cooling bed walking beam automatic linkage mode, in cold bed walking beam auto-translating position given value SZCWG It is less than position deviation with driven translation hydraulic cylinder actual position value Ssn.act and allows negative value (such as -1 millimeter) period, this is driven flat Functional block XLBTC110 output end QL and XLBTC116 output end Q (i.e. Fig. 2 in liquid relief cylinder pressure automatic linkage synchronous control unit In G point) will be ' 1 ' state, in this way, in the equal fault-free of cold bed walking beam translation hydraulic cylinder position sensor, cold bed stepping Liangping Hydraulic system fault-free, cold bed are moved not when operating blocking and cold bed without tightly stopping, functional block in the unit The output end Q of XLBTC117 will be ' 1 ' state, and " pi regulator " functional block XLBTC118 is thus made in the unit to be in release shape State, meanwhile, the output end Q which passes through functional block XLBTC129 is ' 1 ' state, is made at driven translation hydraulic cylinder hydraulic control one-way valve In release conditions.In this way, " driven translation hydraulic cylinder hydraulic control one-way valve " functional block XLBTC118 output end Y is by basis in the unit The difference of cold bed walking beam auto-translating position given value SZCWG and driven translation hydraulic cylinder actual position value Ssn.act output one Fixed driven translation hydraulic cylinder proportional control valve controls voltage, keeps driven translation hydraulic cylinder automatic backing mobile, in driven translation During hydraulic cylinder retreats movement towards the given position auto-translating position given value SZCWG, if driven translation hydraulic cylinder Allow negative value (such as -2 millis greater than the fallback synchronization position deviation of setting with the position deviation value △ Ssnm actively translated between hydraulic cylinder Rice), functional block XLBTC130 output end Q will be ' 1 ' state in the driven translation hydraulic cylinder automatic linkage synchronous control unit.This Sample, the driven translation hydraulic cylinder proportional control valve control voltage of " pi regulator " functional block XLBTC118 output end Y output is through " product Dividing device " functional block XLBTC131 is applied to driven translation hydraulic cylinder proportional control valve, so that driven translation hydraulic cylinder physical location The difference of value Ssn.act and cold bed walking beam auto-translating position given value SZCWG are gradually reduced, until the difference of the two is in position Deviation allows negative value and position deviation to allow between positive value；Equally, under section steel cooling bed walking beam automatic linkage mode, in cold bed It is inclined that the difference of walking beam auto-translating position given value SZCWG and driven translation hydraulic cylinder actual position value Ssn.act are greater than position During difference allows positive value (such as 1 millimeter), functional block XLBTC109 in the driven translation hydraulic cylinder automatic linkage synchronous control unit Output end QU and XLBTC116 output end Q (i.e. G point in Fig. 2) will be ' 1 ' state, in this way, translating in cold bed walking beam hydraulic The equal fault-free of cylinder position sensor, cold bed walking beam translation hydraulic system fault-free, cold bed be not in operation blocking and cold In the case of bed is without tightly stopping, the output end Q of functional block XLBTC117 will be ' 1 ' state in the unit, thus make in the unit " PI adjusting Device " functional block XLBTC118 is in release conditions, meanwhile, the output end Q which passes through functional block XLBTC129 is ' 1 ' state, Driven translation hydraulic cylinder hydraulic control one-way valve is set to be in release conditions.In this way, " pi regulator " functional block XLBTC118 in the unit Output end Y will be according to cold bed walking beam auto-translating position given value SZCWG and driven translation hydraulic cylinder actual position value The driven translation hydraulic cylinder proportional control valve that the difference output of Ssn.act is certain controls voltage, before keeping driven translation hydraulic cylinder automatic Row movement, during driven translation hydraulic cylinder moves ahead mobile towards the auto-translating position given position given value SZCWG, If driven translation hydraulic cylinder and the position deviation value △ Ssnm actively translated between hydraulic cylinder are inclined less than the forward sync bit of setting Difference allows positive value (such as 2 millimeters), functional block XLBTC130 output in the driven translation hydraulic cylinder automatic linkage synchronous control unit Holding Q will be ' 1 ' state, in this way, the driven translation hydraulic cylinder ratio control of " pi regulator " functional block XLBTC118 output end Y output Valve control voltage is applied to driven translation hydraulic cylinder proportional control valve through " integrator " functional block XLBTC131, so that driven translation The difference of hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position given value SZCWG are gradually reduced, until two The difference of person is in position deviation and negative value and position deviation is allowed to allow between positive value.
The present invention is that the cold bed walking beam in embodiment translates hydraulic cylinder synchronization control method by actively translating hydraulic cylinder Synchronism deviation speed amending unit and driven translation hydraulic cylinder synchronous tolerance speed amending unit are in real time to beyond setting range The position deviation that principal and subordinate translates between hydraulic cylinder is modified, and is held if deviation between the two continues to increase to beyond sync bit deviation Perhaps be worth, then by actively translate sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder transfinite control unit or Driven translation hydraulic cylinder controls the fast active of translational velocity and puts down with the hydraulic cylinder synchronous position deviation control unit that transfinites actively translate Liquid relief cylinder pressure or driven translation hydraulic cylinder, which slow down, to be translated, until the position deviation of the two is located at sync bit deviation feasible value again Within, in addition, also by actively translating hydraulic cylinder automatic linkage synchronous control unit and driven translation hydraulic cylinder automatic linkage is same Step control unit makes principal and subordinate's translation hydraulic cylinder realize synchronizing moving under automated manner, and therefore, cold bed walking beam translates hydraulic cylinder The synchronous translational that cold bed walking beam principal and subordinate translates hydraulic cylinder not only may be implemented in synchronisation control means, but also walking beam translation is hydraulic Cylinder fault-tolerance with higher during operation, when actively translating hydraulic cylinder or any one driven translation hydraulic cylinder in walking beam Occur letting out in biggish in translation motion or when walking beam occurs a degree of card group in translation motion, principal and subordinate's translation is hydraulic Cylinder can realize synchronous translational in translation motion.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (4)

1. the synchronisation control means based on cold bed walking beam translation hydraulic cylinder synchronous control system, which is characterized in that the cold bed Walking beam translation hydraulic cylinder synchronous control system includes actively translating hydraulic cylinder synchronous control subsystem and driven translation hydraulic cylinder Synchronously control subsystem, it is described actively translate hydraulic cylinder synchronous control subsystem include actively translate hydraulic cylinder with move most slowly from Between dynamic translation hydraulic cylinder sync bit deviation transfinite control unit, actively translate hydraulic cylinder synchronous tolerance speed amending unit, institute State driven translation hydraulic cylinder synchronous control subsystem include driven translation hydraulic cylinder and actively translate hydraulic cylinder between sync bit it is inclined Difference transfinites control unit, driven translation hydraulic cylinder synchronous tolerance speed amending unit；It is described hydraulic based on the translation of cold bed walking beam Cylinder synchronisation control means is as follows：
1) when section steel cooling bed walking beam retreats mobile, by actively translating between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder The sync bit deviation control unit that transfinites obtains and actively translates the difference of Position of Hydraulic Cylinder value and each driven translation Position of Hydraulic Cylinder value Minimum value △ Sms.b.min, if △ Sms.b.min numerical value be less than or equal to setting fallback synchronization position deviation allow to bear Value then controls and actively translates hydraulic cylinder deceleration retrogressing, until actively translating hydraulic cylinder and retreating most slow driven translation hydraulic cylinder Between position deviation value be greater than the fallback synchronization position deviation of setting and allow negative value, actively translate hydraulic cylinder later again after raising speed It moves back；It is same between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder by actively translating when section steel cooling bed walking beam moves ahead mobile Step position deviation transfinite control unit acquisition actively translate hydraulic cylinder actual position value and each driven translation hydraulic cylinder physical location The maximum value △ Sms.f.max of the difference of value, if the forward sync bit deviation that △ Sms.f.max numerical value is greater than or equal to setting is held Perhaps positive value, then control actively to translate hydraulic cylinder and slow down and move ahead, until actively translate hydraulic cylinder and forward most slow driven translation liquid The forward sync bit deviation that position deviation value between cylinder pressure is less than setting allows positive value, later, actively translates hydraulic cylinder and rises again Speed moves ahead；When section steel cooling bed walking beam retreats mobile, hydraulic cylinder synchronous position is translated by driven translation hydraulic cylinder and actively The deviation control unit that transfinites obtains driven translation hydraulic cylinder and actively translates the alternate position spike △ Ssnm of hydraulic cylinder, if △ Ssnm numerical value Fallback synchronization position deviation less than or equal to setting allows negative value, then controls driven translation hydraulic cylinder deceleration and retreat, Zhi Daocong Dynamic translation hydraulic cylinder and the position deviation value actively translated between hydraulic cylinder allow negative value greater than the fallback synchronization position deviation of setting, Later, raising speed retreats driven translation hydraulic cylinder again；When section steel cooling bed walking beam moves ahead mobile, by driven translation hydraulic cylinder and The hydraulic cylinder synchronous position deviation control unit that transfinites actively is translated to obtain driven translation hydraulic cylinder and actively translate the position of hydraulic cylinder Poor △ Ssnm is set, if the forward sync bit deviation that △ Ssnm numerical value is greater than or equal to setting allows positive value, is controlled driven flat Liquid relief cylinder pressure, which slows down, to move ahead, before until driven translation hydraulic cylinder and actively translate position deviation value between hydraulic cylinder less than setting Row sync bit deviation allows positive value, and later, raising speed moves ahead driven translation hydraulic cylinder again；
2) during principal and subordinate translates the forward or backward synchronizing moving of hydraulic cylinder, once it is inclined actively to translate hydraulic cylinder synchronous position Difference △ Sms exceeds setting range, actively translates shifting of the hydraulic cylinder synchronous tolerance speed amending unit to hydraulic cylinder is actively translated Dynamic speed is modified, and the position deviation value △ Sms between principal and subordinate translates hydraulic cylinder is in setting range again, this is actively The speed correction of translation hydraulic cylinder be actively translate hydraulic cylinder synchronous position deviation value △ Sms it is reversed after multiplied by actively translating liquid Cylinder pressure synchronism deviation speed correction factor；During principal and subordinate translates the forward or backward synchronizing moving of hydraulic cylinder, once it is driven Translation hydraulic cylinder exceeds setting range, driven translation hydraulic cylinder synchronous deviation with the position difference △ Ssnm for actively translating hydraulic cylinder Speed amending unit is modified the movement speed of driven translation hydraulic cylinder, translates until driven translation hydraulic cylinder and actively liquid Position deviation value △ Ssnm between cylinder pressure is in setting range again, and the speed correction of the driven translation hydraulic cylinder is driven It is flat multiplied by driven translation hydraulic cylinder and actively after translation hydraulic cylinder and the position deviation value △ Ssnm for actively translating hydraulic cylinder are reversed Liquid relief cylinder pressure synchronism deviation speed correction factor.
2. the synchronisation control means as described in claim 1 based on cold bed walking beam translation hydraulic cylinder synchronous control system, It is characterized in that, setting actively translates hydraulic cylinder and links manually together in cold bed walking beam translation hydraulic cylinder synchronous control system Step control unit, driven translation hydraulic cylinder link synchronous control unit manually, and described based on cold bed walking beam to translate hydraulic cylinder same It is as follows to walk control method：
Under the manual linked manner of section steel cooling bed walking beam, during the instruction of walking beam manual retraction provides, if actively translating liquid The minimum value △ Sms.b.min of the difference of cylinder pressure positional value and each driven translation Position of Hydraulic Cylinder value is greater than the fallback synchronization position of setting Set deviation and allow negative value, then actively translate hydraulic cylinder link manually synchronous control unit output principal and subordinate translate hydraulic cylinder manual retraction Speed setting value, and the principal and subordinate of output is translated by hydraulic cylinder manual retraction speed setting value by integrator and is applied to section steel cooling bed Walking beam actively translates hydraulic cylinder proportional control valve as retrogressing control voltage, meanwhile, make actively to translate hydraulic cylinder fluid-control one-way Valve is in release conditions, if actively translating hydraulic cylinder and retreating position deviation value between most slow driven translation hydraulic cylinder beyond setting Determine range, then by actively translate hydraulic cylinder synchronous tolerance speed amending unit to actively translate hydraulic cylinder with retrogressing it is most slow from Position deviation between dynamic translation hydraulic cylinder is modified, if the two position deviation value is less than or equal to the fallback synchronization position of setting Deviation allows negative value, then is transfinited control by actively translating sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder Unit control processed actively translates hydraulic cylinder deceleration and retreats, until the two position deviation value is greater than the fallback synchronization position of setting again Deviation allows negative value；It moves ahead during instruction provides in walking beam, most slow driven is put down if actively translate hydraulic cylinder with forward manually The forward sync bit deviation that position deviation value △ Sms.f.max between liquid relief cylinder pressure is less than setting allows positive value, then actively flat Liquid relief cylinder pressure link manually synchronous control unit output principal and subordinate translate hydraulic cylinder manually move ahead speed setting value, pass through integrator will The principal and subordinate of output translates the hydraulic cylinder speed setting value that moves ahead manually and is applied to section steel cooling bed walking beam and actively translates hydraulic cylinder ratio Control valve as the control voltage that moves ahead, meanwhile, make actively translate hydraulic cylinder hydraulic control one-way valve and be in release conditions, if active translation Position deviation value between hydraulic cylinder and the most slow driven translation hydraulic cylinder that moves ahead exceeds setting range, then hydraulic by actively translating Cylinder synchronism deviation speed amending unit is to the position deviation for actively translating hydraulic cylinder between the most slow driven translation hydraulic cylinder that moves ahead It is modified, if the forward sync bit deviation that the two position deviation value is greater than or equal to setting allows positive value, passes through actively Between translation hydraulic cylinder and mobile most slow driven translation hydraulic cylinder sync bit deviation transfinite control unit control actively translate it is hydraulic Cylinder, which slows down, to move ahead, until the forward sync bit deviation that the two position deviation value is less than setting again allows positive value；
Under the manual linked manner of section steel cooling bed walking beam, during the instruction of walking beam manual retraction provides, if driven translation liquid It cylinder pressure and actively translates the fallback synchronization position deviation that alternate position spike △ Ssnm is greater than setting between hydraulic cylinder and allows negative value, then it is driven flat The liquid relief cylinder pressure synchronous control unit output principal and subordinate that links manually translates hydraulic cylinder manual retraction speed setting value, and passes through integrator Principal and subordinate's translation hydraulic cylinder manual retraction speed setting value of output is applied to section steel cooling bed walking beam and actively translates hydraulic cylinder ratio Example control valve controls voltage as retrogressing, meanwhile, so that driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions, if driven flat Liquid relief cylinder pressure and the position deviation value actively translated between hydraulic cylinder exceed setting range, then inclined by driven translation hydraulic cylinder synchronous Differential degree amending unit is to driven translation hydraulic cylinder and actively translates the position deviation between hydraulic cylinder and is modified, if the two position The fallback synchronization position deviation that deviation is less than or equal to setting allows negative value, then translates by driven translation hydraulic cylinder and actively The hydraulic cylinder synchronous position deviation control unit that transfinites controls driven translation hydraulic cylinder and slows down retrogressing, until the two position deviation value weight The new fallback synchronization position deviation for being greater than setting allows negative value；It moves ahead to instruct manually in walking beam and provides period, if driven translation It hydraulic cylinder and actively translates the forward sync bit deviation that alternate position spike △ Ssnm is less than setting between hydraulic cylinder and allows positive value, then it is driven The translation hydraulic cylinder synchronous control unit output principal and subordinate that links manually translates hydraulic cylinder and is manually advanced speed setting value, and passes through integral Output principal and subordinate's translation hydraulic cylinder is manually advanced speed setting value and is applied to the driven translation hydraulic cylinder ratio control of cold bed walking beam by device Valve processed controls voltage as moving ahead, meanwhile, so that driven translation hydraulic cylinder hydraulic control one-way valve is in release conditions, if driven translation liquid Cylinder pressure and the position deviation value actively translated between hydraulic cylinder exceed setting range, then pass through driven translation hydraulic cylinder synchronous deviation speed Degree amending unit is to driven translation hydraulic cylinder and actively translates the position deviation between hydraulic cylinder and is modified, if the two position deviation Value be greater than or equal to setting advance sync bit deviation allow positive value, then by driven translation hydraulic cylinder with actively translate it is hydraulic The cylinder sync bit deviation control unit that transfinites controls driven translation hydraulic cylinder Easy abeadl, until the two position deviation value is again small Positive value is allowed in the preceding advance and retreat sync bit deviation of setting.
3. the synchronisation control means as described in claim 1 based on cold bed walking beam translation hydraulic cylinder synchronous control system, It is characterized in that, it is same actively to translate hydraulic cylinder automatic linkage for setting in cold bed walking beam translation hydraulic cylinder synchronous control system Control unit, driven translation hydraulic cylinder automatic linkage synchronous control unit are walked, it is described same based on cold bed walking beam translation hydraulic cylinder It is as follows to walk control method：
Under section steel cooling bed walking beam automatic linkage mode, if cold bed walking beam auto-translating position given value SZCWG and active The difference of translation hydraulic cylinder actual position value Sm.act is less than position deviation and allows negative value, and it is same actively to translate hydraulic cylinder automatic linkage Step control unit makes pi regulator and actively translates hydraulic cylinder hydraulic control one-way valve to be in release conditions, and pi regulator is walked according to cold bed The difference for into beam auto-translating position given value SZCWG and actively translating hydraulic cylinder actual position value Sm.act exports certain active Hydraulic cylinder proportional control valve control voltage is translated to hydraulic cylinder proportional control valve is actively translated, make actively to translate hydraulic cylinder it is automatic after Retire it is dynamic, during actively translating hydraulic cylinder and retreating mobile towards the given position auto-translating position given value SZCWG, If the position deviation value △ Sms.b.min for actively translating hydraulic cylinder and retreating between most slow driven translation hydraulic cylinder is greater than setting Fallback synchronization position deviation allows negative value, then the hydraulic cylinder proportional control valve that actively translates of pi regulator output controls voltage through product Divide device to be applied to and actively translate hydraulic cylinder proportional control valve, so that actively translating hydraulic cylinder actual position value Sm.act and cold bed step Difference into beam auto-translating position given value SZCWG is gradually reduced, and allows negative value and position until the difference of the two is in position deviation Deviation is set to allow between positive value；If cold bed walking beam auto-translating position given value SZCWG and actively translating hydraulic cylinder actual bit The difference for setting value Sm.act is greater than position deviation and allows positive value, and actively translating hydraulic cylinder automatic linkage synchronous control unit makes PI tune It saves device and actively translates hydraulic cylinder hydraulic control one-way valve and be in release conditions, pi regulator is according to cold bed walking beam auto-translating position Given value SZCWG and the difference for actively translating hydraulic cylinder actual position value Sm.act, which export, certain actively translates hydraulic cylinder ratio control Valve control voltage processed makes actively to translate hydraulic cylinder forward movement automatically to hydraulic cylinder proportional control valve is actively translated, flat in active Liquid relief cylinder pressure is moved ahead towards the auto-translating position given position given value SZCWG during movement, if actively translating hydraulic Cylinder and the position deviation value △ Sms.f.max retreated between most slow driven translation hydraulic cylinder are inclined less than the forward sync bit of setting Difference allows positive value, then the hydraulic cylinder proportional control valve control integrated device of voltage that actively translates of pi regulator output is applied to actively Hydraulic cylinder proportional control valve is translated, so that actively translating hydraulic cylinder actual position value Sm.act and cold bed walking beam auto-translating position The difference for setting given value SZCWG is gradually reduced, until the difference of the two is in position deviation and negative value and position deviation is allowed to allow positive value Between；
Under section steel cooling bed walking beam automatic linkage mode, if cold bed walking beam auto-translating position given value SZCWG with it is driven Only the poor position deviation that is less than allows negative value to translation hydraulic cylinder actual position value Ssn.act, and driven translation hydraulic cylinder automatic linkage is same Step control unit makes pi regulator and driven translation hydraulic cylinder hydraulic control one-way valve be in release conditions, and pi regulator is walked according to cold bed Into beam auto-translating position given value SZCWG and driven translation hydraulic cylinder actual position value Ssn.act difference output it is certain from Dynamic translation hydraulic cylinder proportional control valve controls voltage, keeps driven translation hydraulic cylinder automatic backing mobile, in driven translation hydraulic cylinder During retreating movement towards the given position auto-translating position given value SZCWG, if driven translation hydraulic cylinder and active The fallback synchronization position deviation that position deviation value △ Ssnm between translation hydraulic cylinder is greater than setting allows negative value, pi regulator output Driven translation hydraulic cylinder proportional control valve control the integrated device of voltage be applied to driven translation hydraulic cylinder proportional control valve so that The difference of driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position given value SZCWG gradually contract It is small, allow negative value and position deviation to allow between positive value until the difference of the two is in position deviation；If cold bed walking beam is put down automatically The difference of pan position given value SZCWG and driven translation hydraulic cylinder actual position value Ssn.act are greater than position deviation and allow positive value, from Dynamic translation hydraulic cylinder automatic linkage synchronous control unit makes pi regulator and driven translation hydraulic cylinder hydraulic control one-way valve be in release State, pi regulator is according to cold bed walking beam auto-translating position given value SZCWG and driven translation hydraulic cylinder actual position value The driven translation hydraulic cylinder proportional control valve that the difference output of Ssn.act is certain controls voltage, before keeping driven translation hydraulic cylinder automatic Row movement, during driven translation hydraulic cylinder moves ahead mobile towards the auto-translating position given position given value SZCWG, If driven translation hydraulic cylinder and the position deviation value △ Ssnm actively translated between hydraulic cylinder are inclined less than the forward sync bit of setting Difference allows positive value, and the driven translation hydraulic cylinder proportional control valve control integrated device of voltage of pi regulator output is applied to driven flat Liquid relief cylinder pressure proportional control valve, so that driven translation hydraulic cylinder actual position value Ssn.act and cold bed walking beam auto-translating position The difference for setting given value SZCWG is gradually reduced, and allows negative value and position deviation to allow positive value until the difference of the two is in position deviation Between.
4. the synchronously control side based on cold bed walking beam translation hydraulic cylinder synchronous control system as described in claim 1,2,3 Method, which is characterized in that described actively to translate sync bit deviation between hydraulic cylinder and mobile most slow driven translation hydraulic cylinder and transfinite control Unit processed by functional block XLBTC01~XLBTC11, XLBTC16~XLBTC18, XLBTC26, XLBTC27 and XLBTC29~ XLBTC31 is constituted, and the hydraulic cylinder synchronous tolerance speed amending unit that actively translates is by functional block XLBTC37~XLBTC41 structure At, it is described actively translate hydraulic cylinder link manually synchronous control unit by functional block XLBTC12~XLBTC15, XLBTC20~ XLBTC25, XLBTC33, XLBTC42~XLBTC47 and XLBTC50~XLBTC53 are constituted, described actively to translate hydraulic cylinder certainly Dynamic linkage synchronous control unit by functional block XLBTC26~XLBTC36, XLBTC42~XLBTC46 and XLBTC48~ XLBTC54 is constituted；The driven translation hydraulic cylinder and sync bit deviation transfinites control unit by function between actively translating hydraulic cylinder Energy block XLBTC100~XLBTC102 is constituted, and the driven translation hydraulic cylinder synchronous tolerance speed amending unit is by functional block XLBTC119~XLBTC123 is constituted, and the driven translation hydraulic cylinder links synchronous control unit by functional block XLBTC103 manually ~XLBTC107, XLBTC115, XLBTC124, XLBTC125 and XLBTC128~XLBTC132 is constituted, the driven translation Hydraulic cylinder automatic linkage synchronous control unit by functional block XLBTC108~XLBTC118, XLBTC124~XLBTC127 and XLBTC129~XLBTC133 is constituted.
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