CN111120460A - Control method of desulfurization tipping hydraulic system - Google Patents
Control method of desulfurization tipping hydraulic system Download PDFInfo
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- CN111120460A CN111120460A CN201911156650.4A CN201911156650A CN111120460A CN 111120460 A CN111120460 A CN 111120460A CN 201911156650 A CN201911156650 A CN 201911156650A CN 111120460 A CN111120460 A CN 111120460A
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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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
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/75—Control of speed of the output member
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
- F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators
Abstract
The invention discloses a control method of a desulfurization tipping hydraulic system, which utilizes two proportional directional valves controlled by an industrial personal computer to respectively control two lifting hydraulic cylinders of a desulfurization tipping vehicle, wherein the difference value of a displacement feedback signal of a piston rod of each lifting hydraulic cylinder and the displacement of an expected track is processed by a proportional regulator and then superposed on a control signal of a corresponding proportional directional valve output by the industrial personal computer to form a simulation closed loop; and the difference value of the feedback signals is processed by a PD algorithm by an industrial personal computer and then is superposed into the next output control quantity to form a digital closed loop, and the synchronous errors of the two lifting hydraulic cylinders are adjusted to be within an ideal range by adopting a PID control algorithm in the digital closed loop. The invention adopts a double closed-loop control strategy to control the speeds of the two lifting hydraulic cylinders, can effectively reduce the synchronous error caused by factors such as field interference, the manufacturing precision and the aging degree of the hydraulic cylinders, improves the control precision of the lifting hydraulic cylinders and ensures the smooth steel-making production.
Description
Technical Field
The invention relates to a method for controlling two lifting hydraulic cylinders of a desulfurization tipping hydraulic system, belonging to the technical field of metallurgy.
Background
Before the molten iron is poured into a converter for smelting, a desulfurization tipping vehicle is used for conveying the molten iron tank to a slag skimming position, a tipping hydraulic system on the tipping vehicle tips the molten iron tank at a certain angle, and then a hydraulic slag skimming machine skips waste slag in the molten iron tank into a slag ladle. The hot metal ladle is tipped for 30 times daily on average, and the tipping time of each time is about 8min, so that the tipping hydraulic system is required to have good frequent starting and heavy-load performance, and higher stability and safety. At present, the tipping of the desulfurization tipping vehicle is completed by two hydraulic lifting cylinders, and two methods for controlling the two hydraulic lifting cylinders to synchronously run are provided, one method is realized by a throttling speed regulating valve, the other method is realized by a synchronous motor, the two methods are easy to realize synchronization under the conditions that the two lifting hydraulic cylinders have the same structure, the abrasion is consistent, and the load is equivalent, but for a tipping hydraulic system with longer service life, in particular, for the repaired tilting hydraulic system, the structural parameters and the wear degree of the two lifting hydraulic cylinders are often different, and the loads of the two lifting hydraulic cylinders are generally not consistent, therefore, the traditional control method is difficult to ensure the synchronization of the two lifting hydraulic cylinders, the desulfurization vehicle can not be normally used when the synchronization error is large, the synchronization error is difficult to adjust, the phenomenon of high speed and low speed is easy to occur in the tipping process, and the smooth operation of the steelmaking production is seriously influenced.
Disclosure of Invention
The invention aims to provide a control method of a desulfurization tipping hydraulic system aiming at the defects of the prior art so as to reduce the synchronous error of two lifting hydraulic cylinders and ensure the smooth steel-making production.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method of a desulfurization tipping hydraulic system utilizes two proportional directional valves controlled by an industrial personal computer to respectively control two lifting hydraulic cylinders of a desulfurization tipping vehicle, and a difference value of a displacement feedback signal of a piston rod of each lifting hydraulic cylinder and an expected track displacement is processed by a proportional regulator and then superposed on a control signal of a corresponding proportional directional valve output by the industrial personal computer to form a simulation closed loop; and the difference value of the feedback signals is processed by a PD algorithm by an industrial personal computer and then is superposed into the next output control quantity to form a digital closed loop, and the synchronous errors of the two lifting hydraulic cylinders are adjusted to be within an ideal range by adopting a PID control algorithm in the digital closed loop.
The control method of the desulfurization tipping hydraulic system comprises the following steps:
a. the industrial personal computer firstly generates an expected track curve according to production conditions and parameters of the two desulfurization tipping lifting hydraulic cylinders to obtain expected track displacement M;
b. the industrial personal computer outputs control signals of the two lifting hydraulic cylinders, simultaneously detects the piston rod extension displacement La of the left lifting hydraulic cylinder in real time through a left displacement sensor arranged on a piston rod of the left lifting hydraulic cylinder, and detects the piston rod extension displacement Lb of the right lifting hydraulic cylinder in real time through a right displacement sensor arranged on a piston rod of the right lifting hydraulic cylinder;
c. the industrial personal computer compares the extension displacement of the piston rods of the two lifting hydraulic cylinders, and stops working and outputs a fault alarm signal if the absolute value of the difference between the piston rods of the two lifting hydraulic cylinders is greater than or equal to a set threshold value Lv, namely | La-Lb | is greater than or equal to Lv; if the absolute value of the difference between the extension displacements of the piston rods of the two lifting hydraulic cylinders is smaller than a set threshold value Lv, namely | La-Lb | l < Lv, entering step d;
d. judging whether the extension displacements of the piston rods of the two lifting hydraulic cylinders meet La, Lb epsilon (M- △ t/2, M + △ t/2), wherein △ t is the maximum allowable error of the extension displacements of the piston rods of the two lifting hydraulic cylinders compared with the expected track displacement M, and then selecting different operations according to the judgment result:
①, if the La, Lb belongs to (M- △ t/2, M + △ t/2), the industrial personal computer controls the left lifting hydraulic cylinder and the right lifting hydraulic cylinder to respectively run at the original speed;
② if La, Lb ∈ (M- △ t/2, M + △ t/2) is not true, the control method of the left hydraulic cylinder comprises the steps that the error △ La = M-La between the piston rod extension displacement of the left hydraulic cylinder and the expected track displacement M is proportionally adjusted by a corresponding proportional regulator (namely a left proportional regulator) and then is superposed to a control signal of a corresponding proportional reversing valve output by an industrial personal computer, △ La is transmitted to a PD processing unit arranged in the industrial personal computer after A/D conversion to be processed by a PD algorithm, the output data of the PD processing unit is used for adjusting the synchronous error of the left hydraulic cylinder, △ La is transmitted to a PID control unit arranged in the industrial personal computer to be processed by the PID control algorithm, the processed data and the expected track data arranged in a left control quantity storage device in the industrial personal computer are superposed together to be used as the next control quantity of the left hydraulic cylinder;
repeating the control process until whether the extension displacement of the piston rods of the two lifting hydraulic cylinders meets La, Lb epsilon (M- △ t/2, M + △ t/2);
e. the industrial personal computer judges whether the piston rods of the two lifting hydraulic cylinders reach the target position according to the values of La and Lb, and if the piston rods of the two lifting hydraulic cylinders reach the target position, the control is finished; otherwise, the control flow jumps to the step b;
f. the control flow of the return of the piston rods of the two lifting hydraulic cylinders is the same as the control flow of the extension.
According to the control method of the desulfurization tipping hydraulic system, the oil pipes connected with the rear cavities of the two lifting hydraulic cylinders are respectively provided with a hydraulic control one-way valve controlled by a two-position four-way reversing valve, and the control end of the two-position four-way reversing valve is connected with the output port of the industrial personal computer.
According to the control method of the desulfurization tipping hydraulic system, overflow valves are arranged on oil pipes connected with the rear cavities of the two lifting hydraulic cylinders.
The invention adopts a double closed-loop control strategy to control the speed of the two lifting hydraulic cylinders, can effectively reduce synchronous errors caused by factors such as field interference, hydraulic cylinder manufacturing precision and aging degree, improves the control precision of the steel plant desulfurization tipping lifting hydraulic cylinder, and ensures that steel-making production is carried out smoothly.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of the desulfation tip-over hydraulic system of the present invention;
FIG. 2 is a block diagram of the desulfation tip-over control method of the present invention;
FIG. 3 is a flow chart of the desulfation tip-over control method of the present invention.
The figures are labeled as follows: 1. the hydraulic control system comprises a high-pressure ball valve, 2, a high-pressure filter, 3, a left proportional reversing valve, 4, a left displacement sensor, 5, a left lifting hydraulic cylinder, 6, a left lifting hydraulic cylinder piston rod, 7, a left overflow valve, 8, a left hydraulic control one-way valve, 9, a main oil return one-way valve, 10, a control oil one-way valve, 11, a two-position four-way reversing valve, 12, a right displacement sensor, 13, a right lifting hydraulic cylinder, 14, a right cylinder piston rod, 15, a right overflow valve, 16, a right hydraulic control one-way valve, 17 and a right proportional reversing valve.
The notation used herein is that M is the expected trajectory displacement of the hydraulic lifting cylinder, La is the piston rod extension displacement of the left hydraulic lifting cylinder, Lb is the piston rod extension displacement of the right hydraulic lifting cylinder, Lv is the threshold value of the absolute value of the difference between the piston rod extension displacements of the two hydraulic lifting cylinders, △ t is the maximum allowable error of the piston rod extension displacements of the two hydraulic lifting cylinders compared with the expected trajectory displacement M, △ La is the error of the piston rod extension displacement of the left hydraulic lifting cylinder compared with the expected trajectory displacement M, and △ Lb is the error of the piston rod extension displacement of the right hydraulic lifting cylinder compared with the expected trajectory displacement M.
Detailed Description
The invention provides a control method of a desulfurization tipping hydraulic system, which utilizes a PID control method to realize high-quality control of the system.
The control device adopted by the invention comprises: the device comprises a PID controller, an A/D conversion module, a D/A conversion module, two proportional regulators, two feedback controllers, two displacement sensors and two proportional reversing valves, wherein the PID controller, the A/D conversion module and the D/A conversion module are arranged in an industrial personal computer. The PID controller comprises a PD processing unit, a PID control unit and two control quantity memories, and can realize the functions of PID algorithm, PD algorithm and control quantity memory, the steel plant desulfuration tipping operation has the characteristic of repeated movement, the operating conditions in each stroke are similar, and the requirements of control targets are also the same, so that the error information of the previous stroke can be applied to the control of the next stroke by using the memory function of a computer, the output of the system is enabled to be closer to the control target of the system, and the dynamic response speed and the control precision of the system can be improved. The feedback controller is a device which measures the actual extending amount of the piston rod of the lifting hydraulic cylinder at present, compares the actual value with a desired value, and corrects the input amount according to the comparison result so as to enable the output amount of the lifting hydraulic cylinder to be close to the desired value. The displacement sensor is a device which is arranged on a piston rod of the lifting hydraulic cylinder and is used for detecting the movement displacement of the piston rod of the lifting hydraulic cylinder. The A/D conversion module is a module for converting analog signals into digital signals, the D/A conversion module is a module for converting digital signals into analog signals, the proportional regulator, namely a proportional amplifier and a proportional reversing valve are hydraulic control elements, and the lifting hydraulic cylinder is an actuating element of a hydraulic system.
The hydraulic system comprises a high-pressure ball valve 1, a high-pressure filter 2, a left proportional reversing valve 3, a left displacement sensor 4, a left lifting hydraulic cylinder 5, a left lifting hydraulic cylinder piston rod 6, a left overflow valve 7, a left hydraulic control one-way valve 8, a main oil return one-way valve 9, a control oil one-way flash valve 10, a two-position four-way reversing valve 11, a right displacement sensor 12, a right lifting hydraulic cylinder 13, a right cylinder piston rod 14, a right overflow valve 15, a hydraulic control one-way valve 16 and a right proportional reversing valve 17.
Stall by stall
As shown in figure 1, in a desulfurization tipping hydraulic system of a steel plant, an industrial personal computer sends signals for extending piston rods of two lifting hydraulic cylinders to a left proportional directional valve 3 and a right proportional directional valve 17, high-pressure oil passes through the left proportional directional valve 3, the right proportional directional valve 17, a left hydraulic control one-way valve 8 and a right hydraulic control one-way valve 16 and respectively enters rear cavities of a left lifting hydraulic cylinder 5 and a right lifting hydraulic cylinder 13 to push the piston rods of the two lifting hydraulic cylinders to extend, hydraulic oil in the front cavity flows back to an oil tank through the left proportional directional valve 3 and the right proportional directional valve 17, and when the hydraulic oil reaches a target position, the industrial personal computer sends a signal for stopping the two lifting hydraulic cylinders to the left proportional reversing valve 3 and the right proportional reversing valve 17, the control oil of the left hydraulic control one-way valve 8 and the control oil of the right hydraulic control one-way valve 16 are unloaded, and the left hydraulic control one-way valve 8 and the right hydraulic control one-way valve 16 respectively lock the hydraulic oil of the rear cavities of the left lifting hydraulic cylinder 5 and the right lifting hydraulic cylinder 13. The left lifting hydraulic cylinder 5 and the right lifting hydraulic cylinder 13 complete the actions of desulfuration and tipping.
Desulfuration tipping reset
The electromagnet of the two-position four-way reversing valve 11 is electrified, and the left hydraulic control one-way valve 8 and the right hydraulic control one-way valve 16 are opened. Meanwhile, the industrial personal computer sends a signal for enabling the two lifting hydraulic cylinders to tilt and reset to the left proportional reversing valve 3 and the right proportional reversing valve 17, high-pressure oil enters the front cavities of the left lifting hydraulic cylinder 5 and the right lifting hydraulic cylinder 13 through the left proportional reversing valve 3 and the right proportional reversing valve 17 respectively to push the pistons of the two lifting hydraulic cylinders to retreat, hydraulic oil in the rear cavities of the two lifting hydraulic cylinders flows back to an oil tank through the left hydraulic control one-way valve 8 and the right hydraulic control one-way valve 16 and the left proportional reversing valve 3 and the right proportional reversing valve 17, and the left lifting hydraulic cylinder 5 and the right lifting hydraulic cylinder 13 finish the actions of desulfurization, tilting and resetting.
The left overflow valve 7 and the right overflow valve 15 prevent overload in the desulfurization tipping hydraulic system, and play a safety role. The left hydraulic control one-way valve 8 and the right hydraulic control one-way valve 16 can enable the desulfurization tipping hydraulic system to be self-locked at any position.
As shown in figure 2, the steel plant desulfurization tipping hydraulic system is controlled by a double closed-loop control system, the system adopts analog and digital double closed-loop control methods for controlling synchronous errors, and the difference value proportion of two paths of displacement feedback signals is adjusted and then superposed into the system output to form an analog closed-loop circuit. Meanwhile, the difference signal is converted into a digital signal through the data acquisition card A/D and input into the industrial personal computer, and the difference is superposed into the next output control quantity of the system after being processed by the PD algorithm, so that a digital closed loop is formed. The two displacement sensors collect the actual amount of the two hydraulic lifting cylinders, the sampling results are compared, the comparison results are transmitted to the feedback controller, the comparison results are directly superposed to the system output to control the proportional reversing valve after being adjusted by the proportional regulator, meanwhile, the difference signals are converted into digital signals through the data acquisition card A/D, the difference values are superposed to the next output control amount of the system after being processed by the PD algorithm, and the synchronous error of the system is adjusted by the PD algorithm on line. Wherein the proportional adjustment can have an immediate effect on the deviation of the system, thereby reducing the deviation. The differential regulation reflects the change rate of the system deviation signal, has foresight, and can foresee the trend of the system deviation change, thereby generating an advanced control action and improving the dynamic performance of the system. Meanwhile, the difference signal is transmitted to a PID control unit to carry out algorithm operation, the PID control unit adopts a PID type learning law, the operation result is used as a correction term of an error, a control quantity memory stores the expected track control quantity for controlling the proportional directional valve each time, in the control, the (k +1) th control is equal to the k-th control and the correction term of the k-th output error, the sampling frequency of the two displacement sensors can be determined according to the closed loop frequency band of the system, generally 4-10 times of the closed loop frequency band, the system frequency band width before the controller is added is about 10Hz, the system bandwidth change after the controller is added is not too large, therefore, the sampling frequency of the control system is selected to be 40HZ, and the sampling period of the system is T =25 ms.
The desulfurization tipping control method comprises the following steps:
a. the industrial personal computer firstly generates an expected track curve according to production conditions and parameters of all aspects of the lifting hydraulic cylinder, and the expected track displacement is M.
The process of generating the desired trajectory profile is generally such that the desired trajectory displacement is finally determined as M, depending on the weight of the molten iron in the ladle of the steel plant, the temperature of the molten iron, the angle of the ladle of the desulphurization dump, the speed of the dump, the safety of the dump, the tapping condition of the blast furnace and the production condition of the converter, and on the system condition that the ladle is tilted as the slag layer is gradually dumped during the slag dumping process.
b. At a certain time, the left displacement sensor 4 detects the piston rod extension displacement La of the left lift cylinder 5, and the right displacement sensor 12 detects the piston rod extension displacement Lb of the right lift cylinder 13.
c. If the absolute value of the difference between the extension displacement of the piston rod of the left lifting hydraulic cylinder 5 and the extension displacement of the piston rod of the right lifting hydraulic cylinder 13 is greater than or equal to Lv, namely La-Lb is greater than or equal to Lv, the fact that the distance between the two lifting hydraulic cylinders reaches the degree of damaging a desulfurization tipping structure is shown, so that the control system stops working, and equipment faults are reported. If | La-Lb | Lv, the process proceeds to step d.
d. Judging whether the extension displacements of the piston rods of the two lifting hydraulic cylinders are in an ideal range, namely whether La, Lb epsilon (M- △ t/2, M + △ t/2) is met, wherein △ t is the maximum allowable error of the extension displacements of the piston rods of the two lifting hydraulic cylinders compared with the expected track displacement M, and then selecting different operations according to the judgment result:
① if La, Lb belongs to (M- △ t/2, M + △ t/2), the feedback control system controls according to the difference value of 0, and the left lifting hydraulic cylinder 5 and the right lifting hydraulic cylinder 13 respectively run at the original speed.
△ if La, Lb e (M- △ t/2, M + △ t/2) is not established { three cases in total, the first case is that La and Lb are not present in (M- △ t/2, M + △ 1t/2) at the same time, the second case is that La is not present in (M- △ 2t/2, M + △ 3t/2), Lb is present in (M- △ 4t/2, M + △ t/2), the third case is that Lb is not present in (M- △ t/2, M + △ t/2), La is present in (M- △ t/2, M + △ t/2), and Lb is present in (M- △ t/2), and M + △ t/2), the errors between the piston rod extension displacement of the left lift cylinder 5 and the piston rod extension displacement of the right lift cylinder 13 and the expected trajectory M are △ La, △, Lb = M- △, Lb = M-6, La-M-354, and the left lift cylinder extension displacement and the system control system outputs proportional control data, which are converted into PID control data, which are sent to the left lift cylinder control system, and proportional control system control.
The control process of the control signals is repeated until the synchronization error of the two lifting hydraulic cylinders is controlled within the ideal range, namely La, Lb epsilon (M- △ t/2, M + △ t/2).
e. The industrial personal computer detects whether the piston rods of the left lifting hydraulic cylinder 5 and the right lifting hydraulic cylinder 13 reach the target positions through the left displacement sensor 4 and the right displacement sensor 12, and if the piston rods reach the target positions, the control is finished. If the target location has not been reached, the control flow jumps to step b.
f. The control flow of the piston rod resetting of the left lifting hydraulic cylinder 5 and the right lifting hydraulic cylinder 13 is the same as the extending condition.
Claims (4)
1. A control method of a desulfurization tipping hydraulic system is characterized in that two proportional directional valves controlled by an industrial personal computer are used for respectively controlling two lifting hydraulic cylinders of a desulfurization tipping vehicle, and a difference value of a displacement feedback signal of a piston rod of each lifting hydraulic cylinder and an expected track displacement is processed by a proportional regulator and then superposed on a control signal of the corresponding proportional directional valve output by the industrial personal computer to form a simulation closed loop; and the difference value of the feedback signals is processed by a PD algorithm by an industrial personal computer and then is superposed into the next output control quantity to form a digital closed loop, and the synchronous errors of the two lifting hydraulic cylinders are adjusted to be within an ideal range by adopting a PID control algorithm in the digital closed loop.
2. The method for controlling a de-sulfurization tip-over hydraulic system according to claim 1, wherein said method comprises the steps of:
a. the industrial personal computer firstly generates an expected track curve according to production conditions and parameters of the two desulfurization tipping lifting hydraulic cylinders to obtain expected track displacement M;
b. the industrial personal computer outputs control signals of the two lifting hydraulic cylinders, simultaneously detects the piston rod extension displacement La of the left lifting hydraulic cylinder in real time through a left displacement sensor arranged on a piston rod of the left lifting hydraulic cylinder, and detects the piston rod extension displacement Lb of the right lifting hydraulic cylinder in real time through a right displacement sensor arranged on a piston rod of the right lifting hydraulic cylinder;
c. the industrial personal computer compares the extension displacement of the piston rods of the two lifting hydraulic cylinders, and stops working and outputs a fault alarm signal if the absolute value of the difference between the piston rods of the two lifting hydraulic cylinders is greater than or equal to a set threshold value Lv, namely | La-Lb | is greater than or equal to Lv; if the absolute value of the difference between the extension displacements of the piston rods of the two lifting hydraulic cylinders is smaller than a set threshold value Lv, namely | La-Lb | l < Lv, entering step d;
d. judging whether the extension displacements of the piston rods of the two lifting hydraulic cylinders meet La, Lb epsilon (M- △ t/2, M + △ t/2), wherein △ t is the maximum allowable error of the extension displacements of the piston rods of the two lifting hydraulic cylinders compared with the expected track displacement M, and then selecting different operations according to the judgment result:
①, if the La, Lb belongs to (M- △ t/2, M + △ t/2), the industrial personal computer controls the left lifting hydraulic cylinder and the right lifting hydraulic cylinder to respectively run at the original speed;
② if La, Lb ∈ (M- △ t/2, M + △ t/2) is not true, the control method of the left hydraulic cylinder comprises the steps that the error △ La = M-La between the piston rod extension displacement of the left hydraulic cylinder and the expected track displacement M is proportionally adjusted by a corresponding proportional regulator (namely a left proportional regulator) and then is superposed to a control signal of a corresponding proportional reversing valve output by an industrial personal computer, △ La is transmitted to a PD processing unit arranged in the industrial personal computer after A/D conversion to be processed by a PD algorithm, the output data of the PD processing unit is used for adjusting the synchronous error of the left hydraulic cylinder, △ La is transmitted to a PID control unit arranged in the industrial personal computer to be processed by the PID control algorithm, the processed data and the expected track data arranged in a left control quantity storage device in the industrial personal computer are superposed together to be used as the next control quantity of the left hydraulic cylinder;
repeating the control process until whether the extension displacement of the piston rods of the two lifting hydraulic cylinders meets La, Lb epsilon (M- △ t/2, M + △ t/2);
e. the industrial personal computer judges whether the piston rods of the two lifting hydraulic cylinders reach the target position according to the values of La and Lb, and if the piston rods of the two lifting hydraulic cylinders reach the target position, the control is finished; otherwise, the control flow jumps to the step b;
f. the control flow of the return of the piston rods of the two lifting hydraulic cylinders is the same as the control flow of the extension.
3. The control method of the desulfurization tipping hydraulic system as claimed in claim 1 or 2, wherein the oil pipes connected with the rear cavities of the two lifting hydraulic cylinders are respectively provided with a hydraulic control one-way valve controlled by a two-position four-way valve, and the control end of the two-position four-way reversing valve is connected with the output port of an industrial personal computer.
4. The control method of the hydraulic desulfurization tipping system as claimed in claim 3, wherein overflow valves are provided on oil pipes connected to the rear chambers of the two lift cylinders.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113757206A (en) * | 2021-07-15 | 2021-12-07 | 中国重型机械研究院股份公司 | Proportional hydraulic lifting system of tundish car and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113757206A (en) * | 2021-07-15 | 2021-12-07 | 中国重型机械研究院股份公司 | Proportional hydraulic lifting system of tundish car and control method thereof |
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Application publication date: 20200508 |