CN112228419A - Hydraulic roller servo system with oil cylinder protection - Google Patents

Hydraulic roller servo system with oil cylinder protection Download PDF

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Publication number
CN112228419A
CN112228419A CN202011116772.3A CN202011116772A CN112228419A CN 112228419 A CN112228419 A CN 112228419A CN 202011116772 A CN202011116772 A CN 202011116772A CN 112228419 A CN112228419 A CN 112228419A
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piston rod
hydraulic
formula
hydraulic cylinder
oil
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Inventor
李建英
谢寅凯
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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Priority to CN202011116772.3A priority Critical patent/CN112228419A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B31/00—Rolling stand structures; Mounting, adjusting, or interchanging rolls, roll mountings, or stand frames
    • B21B31/16—Adjusting or positioning rolls
    • B21B31/20—Adjusting or positioning rolls by moving rolls perpendicularly to roll axis
    • B21B31/32—Adjusting or positioning rolls by moving rolls perpendicularly to roll axis by liquid pressure, e.g. hydromechanical adjusting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B35/00—Drives for metal-rolling mills, e.g. hydraulic drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B35/00—Drives for metal-rolling mills, e.g. hydraulic drives
    • B21B35/14—Couplings, driving spindles, or spindle carriers specially adapted for, or specially arranged in, metal-rolling mills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/58—Roll-force control; Roll-gap control
    • B21B37/62—Roll-force control; Roll-gap control by control of a hydraulic adjusting device
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0846—Electrical details
    • F15B13/085—Electrical controllers
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0846—Electrical details
    • F15B13/086—Sensing means, e.g. pressure sensors
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1457—Piston rods
    • F15B15/1461—Piston rod sealings
    • 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
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/50—Sealings between relatively-movable members, by means of a sealing without relatively-moving surfaces, e.g. fluid-tight sealings for transmitting motion through a wall
    • F16J15/52—Sealings between relatively-movable members, by means of a sealing without relatively-moving surfaces, e.g. fluid-tight sealings for transmitting motion through a wall by means of sealing bellows or diaphragms
    • 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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

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

Abstract

The invention provides a hydraulic roller servo system with oil cylinder protection, which comprises a hydraulic cylinder, an electro-hydraulic servo valve, a piston rod protection sleeve, a controller, a position sensor, a piston rod connection adjusting device, a roller, a horizontal roller, a connecting shaft, a limiting moving block, a moving through groove, a vertical fixed plate, a supporting bottom plate, a motor, an oil tank, a pressure gauge, an overflow valve and an oil pump, wherein the piston rod is connected with the piston rod connection adjusting device; two ends of the roller are fixed on the vertical fixing plate through couplers, and the motor is connected with the coupler at one end to provide power; the piston rod connecting and adjusting device is connected with the piston rod and is wrapped by the piston rod protecting sleeve; the limiting moving device designed by the hydraulic roller servo system with the oil cylinder protection function can stably and accurately realize vertical movement of a horizontal roller, a designed algorithm can realize quick double-cylinder synchronization, the designed roller can be rolled uniformly better, and the designed zipper type hydraulic oil cylinder protection sleeve made of special materials well protects the oil cylinder from being polluted.

Description

Hydraulic roller servo system with oil cylinder protection
Technical Field
The invention mainly relates to cast steel rollers, cast iron rollers, forging rollers and the like, and mainly relates to a hydraulic roller servo system with oil cylinder protection.
Background
The rolling mill plays an extremely important role in social production and is equipment for realizing a metal rolling process.
With the continuous development and updating of scientific technology, the national increasingly important degree is increased aiming at the problems of continuous consumption of social raw materials and sustainable utilization of resources, so that the requirements on the roller mill are higher, the smooth operation is required to be carried out continuously and automatically, and the standards of high quality and low consumption are required to be achieved. Due to the fact that pollution is high in the rolling process, material consumption is high, and continuous design innovation of the rolling mill is required.
Disclosure of Invention
The invention provides a hydraulic roller servo system with oil cylinder protection, which corrects the displacement of a piston rod of a hydraulic cylinder by adjusting an input signal of a hydraulic servo valve by a controller so as to achieve the aim of accurately adjusting the positions of two ends of a horizontal roller to be synchronous. And the designed piston rod protective cover protects the hydraulic cylinder from being polluted, and the designed roller can better perform uniform rolling.
The invention provides a hydraulic roller servo system with oil cylinder protection, which is characterized in that the hydraulic control system comprises: the hydraulic cylinder comprises a hydraulic cylinder (101), a hydraulic cylinder (102), a piston rod (201), a piston rod (202), a piston rod protecting sleeve (301), a piston rod protecting sleeve (302), an electro-hydraulic servo valve (401), an electro-hydraulic servo valve (402), a position sensor (501), a position sensor (502), a controller (6), an oil tank (7), a pressure gauge (8), an overflow valve (9), an oil pump (10), a piston rod connection adjusting device (111), a piston rod connection adjusting device (112), a roller (12), a horizontal roller (13), a connecting shaft (141), a connecting shaft (142), a connecting shaft (143), a connecting shaft (144), a limiting moving block (151), a limiting moving block (152), a moving through groove (161), a moving through groove (162), a vertical fixing plate (171), a vertical fixing plate (172), a supporting base plate (18) and a motor.
Wherein the piston rod (201) is positioned in the hydraulic cylinder (101), and the piston rod (202) is positioned in the hydraulic cylinder (102); the hydraulic cylinder (101) and the hydraulic cylinder (102) are vertically fixed on a supporting floor (18); the displacement sensor (501) is positioned on the piston rod (201), and the displacement sensor (502) is positioned on the piston rod (202); the piston rod connection adjusting device (111) is connected with the piston rod (201), and the piston rod connection adjusting device (112) is connected with the piston rod (202); an oil pipe is connected into an oil tank (7) by an oil pumping end of an oil pump (10), and hydraulic oil in the oil tank (7) is pumped into an electro-hydraulic servo valve (401) and an electro-hydraulic servo valve (402) as input hydraulic oil; when the displacement sensor (501) and the displacement sensor (502) respectively detect the displacement of the piston rod (201) and the piston rod (202), the feedback signals are transmitted to the controller (6), and the controller (6) further controls input signals of the electro-hydraulic servo valve (401) and the electro-hydraulic servo valve (402); the output hydraulic oil of the electro-hydraulic servo valve (401) is used as the hydraulic oil input end of the hydraulic cylinder (101), and the output hydraulic oil of the electro-hydraulic servo valve (402) is used as the hydraulic oil input end of the hydraulic cylinder (102); the oil is fed into the hydraulic cylinder (101) and then the piston rod (201) is pushed to displace, and the oil is fed into the hydraulic cylinder (102) and then the piston rod (202) is pushed to displace; the piston rod (201) is connected with the piston rod connection adjusting device (111), and the piston rod (202) is connected with the piston rod link adjusting device (112); the piston rod protecting sleeve (301) wraps the piston rod (201), the displacement sensor (501) and the piston rod connection adjusting device (111), and the piston rod protecting sleeve (302) wraps the piston rod (202), the displacement sensor (502) and the piston rod connection adjusting device (112); the piston rod connection adjusting device (111) is connected with one end of the coupling shaft (141), and the piston rod connection adjusting device (112) is connected with one end of the coupling shaft (142); the other end of the coupling shaft (141) is hinged with the horizontal roller (13), and the other end of the coupling shaft (142) is hinged with the horizontal roller (13) and fixed without rotating; the connecting shaft (141) is fixedly connected with the limiting moving block (151), and the connecting shaft (142) is fixedly connected with the limiting moving block (152); the limiting moving block (151) is embedded in the moving through groove (161), and the limiting moving block (151) is embedded in the moving through groove (161) and only moves up and down; the moving through groove (161) and the moving through groove (162) are arranged on the vertical fixing plate (17); the two ends of the roller (12) are connected with the connecting shaft (143) and the connecting shaft (144), the connecting shaft (143) and the connecting shaft (144) are fixed on the vertical fixing plate (17), and the motor (19) is connected with one end of the roller (12) and can drive the roller (12), the connecting shaft (143) and the connecting shaft (144) to rotate together.
The hydraulic roller servo system with the oil cylinder protection function is characterized in that different from the previous position servo system, the influence of multiple flexibility factors on the system when the hydraulic cylinder (1) pushes the horizontal roller (13) is considered. The formula is as follows:
the formula I is as follows: Δ I ═ Ka(Ur-Uf)
The formula II is as follows: xv＝ΔIKxvGsv(s)
The formula III is as follows: qL＝KqXv-KcpL
The formula four is as follows:
Figure BDA0002730562270000021
the formula five is as follows: fg＝AppL＝mps2Xp+BpsXp+Fe
Formula six: xL＝XpKs2/(mLs2+BLs+Ks1+Ks2)
The formula seven: fe＝Ks2(Xp-XL)
The formula eight: delta Uf＝Kf(XL1-XL2)/2
Wherein in the formula I, Delta I is control current, KaFor gain of servo amplifier, UrFor input voltage, UfIs a feedback voltage; in the formula two, XvIs the displacement of the valve core of the electro-hydraulic servo valve, KxvFor servo valve gain, Gxv(s) is the servo valve transfer function; in the third formula, QLFor servo valve flow, KqFor servo valve flow gain, KcFor servo valve pressure gain, pLIs the load pressure; in the fourth formula, ApIs the effective area of the piston of the hydraulic cylinder, s is the mathematical operator of Laplace transform,Xpfor piston displacement, CtpIs the total leakage coefficient of the hydraulic cylinder, VtThe cavity is a hydraulic cylinder cavity, and beta e is the effective volume elastic modulus; in the fifth formula, FgFor the hydraulic cylinder to output force, mpIs the mass of the piston rod, BpIs the piston rod viscous damping coefficient, FeOutputting force for a driving system; in the sixth formula, Ks2Is the coupling stiffness coefficient, X, between the hydraulic cylinder and the pressure sensorLFor load displacement, mLTo load mass, BLTo load viscous damping coefficient, Ks1Is the load elastic stiffness coefficient. The expression of the seven formula load force about multiple flexibility links; in the formula VIII, KfFor gain of displacement sensor, Δ UfThe pressure difference converted from half of the difference value of the two load displacements aims to perform feedback compensation on the difference value of the two displacements and improve the position synchronization control precision.
Drawings
In the drawings:
fig. 1 is a basic composition schematic diagram of a hydraulic roll servo system with cylinder protection according to the invention.
FIG. 2 is a block diagram of a hydraulic roll servo system with cylinder guard of the present invention.
FIG. 3 is a schematic diagram of a piston rod protection design part of a hydraulic roll servo system with cylinder protection according to the present invention.
FIG. 4 is a schematic view of a roll portion of a hydraulic roll servo system with cylinder protection according to the present invention.
Fig. 5 is a schematic diagram of a moving through slot of a hydraulic roll servo system with cylinder protection according to the present invention.
Fig. 6 is a schematic diagram of a limiting moving block and a coupling shaft of the hydraulic roller servo system with the oil cylinder protection.
Detailed Description
The hydraulic roll servo system with cylinder protection provided by the invention is explained in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of the basic components of a hydraulic roll servo system with cylinder protection, which comprises: the hydraulic cylinder comprises a hydraulic cylinder (101), a hydraulic cylinder (102), a piston rod (201), a piston rod (202), a piston rod protecting sleeve (301), a piston rod protecting sleeve (302), an electro-hydraulic servo valve (401), an electro-hydraulic servo valve (402), a position sensor (501), a position sensor (502), a controller (6), an oil tank (7), a pressure gauge (8), an overflow valve (9), an oil pump (10), a piston rod connection adjusting device (111), a piston rod connection adjusting device (112), a roller (12), a horizontal roller (13), a connecting shaft (141), a connecting shaft (142), a connecting shaft (143), a connecting shaft (144), a limiting moving block (151), a limiting moving block (152), a moving through groove (161), a moving through groove (162), a vertical fixing plate (171), a vertical fixing plate (172), a supporting base plate (18) and a motor.
Wherein the piston rod (201) is positioned in the hydraulic cylinder (101), and the piston rod (202) is positioned in the hydraulic cylinder (102); the hydraulic cylinder (101) and the hydraulic cylinder (102) are vertically fixed on a supporting floor (18); the displacement sensor (501) is positioned on the piston rod (201), and the displacement sensor (502) is positioned on the piston rod (202); the piston rod connection adjusting device (111) is connected with the piston rod (201), and the piston rod connection adjusting device (112) is connected with the piston rod (202); an oil pipe is connected into an oil tank (7) by an oil pumping end of an oil pump (10), and hydraulic oil in the oil tank (7) is pumped into an electro-hydraulic servo valve (401) and an electro-hydraulic servo valve (402) as input hydraulic oil; when the displacement sensor (501) and the displacement sensor (502) respectively detect the displacement of the piston rod (201) and the piston rod (202), the feedback signals are transmitted to the controller (6), and the controller (6) further controls input signals of the electro-hydraulic servo valve (401) and the electro-hydraulic servo valve (402); the output hydraulic oil of the electro-hydraulic servo valve (401) is used as the hydraulic oil input end of the hydraulic cylinder (101), and the output hydraulic oil of the electro-hydraulic servo valve (402) is used as the hydraulic oil input end of the hydraulic cylinder (102); the oil is fed into the hydraulic cylinder (101) and then the piston rod (201) is pushed to displace, and the oil is fed into the hydraulic cylinder (102) and then the piston rod (202) is pushed to displace; the piston rod (201) is connected with the piston rod connection adjusting device (111), and the piston rod (202) is connected with the piston rod link adjusting device (112); the piston rod protecting sleeve (301) wraps the piston rod (201), the displacement sensor (501) and the piston rod connection adjusting device (111), and the piston rod protecting sleeve (302) wraps the piston rod (202), the displacement sensor (502) and the piston rod connection adjusting device (112); the piston rod connection adjusting device (111) is connected with one end of the coupling shaft (141), and the piston rod connection adjusting device (112) is connected with one end of the coupling shaft (142); the other end of the coupling shaft (141) is hinged with the horizontal roller (13), and the other end of the coupling shaft (142) is hinged with the horizontal roller (13) and fixed without rotating; the connecting shaft (141) is fixedly connected with the limiting moving block (151), and the connecting shaft (142) is fixedly connected with the limiting moving block (152); the limiting moving block (151) is embedded in the moving through groove (161), and the limiting moving block (151) is embedded in the moving through groove (161) and only moves up and down; the moving through groove (161) and the moving through groove (162) are arranged on the vertical fixing plate (17); the two ends of the roller (12) are connected with the connecting shaft (143) and the connecting shaft (144), the connecting shaft (143) and the connecting shaft (144) are fixed on the vertical fixing plate (17), and the motor (19) is connected with one end of the roller (12) and can drive the roller (12), the connecting shaft (143) and the connecting shaft (144) to rotate together.
FIG. 2 is a partial schematic view of a piston rod shield design of a hydraulic roll servo system with cylinder shield, including: the hydraulic cylinder (1), the piston rod (2), the piston rod protecting sleeve (3) and the piston rod connecting and adjusting device (11).
The piston rod connecting and adjusting device (11) is mainly used for being connected with the piston rod (2) so that the hydraulic cylinder can push the horizontal roller (13) to move conveniently. And because the rolling process often produces very big pollution, make impurity enter into the oil pocket through piston rod (2) easily and cause damage and error, so adopt a waterproof, high temperature resistant, corrosion-resistant special material protection casing to adopt zip fastener formula design, convenient the dismantlement. The hydraulic cylinder pollution prevention device plays a role in effectively preventing hydraulic cylinder pollution to a great extent.
FIG. 3 is a schematic view of a roll portion of a hydraulic roll servo system with cylinder protection of the present invention, including: the roller (12), the motor (19), the coupler (143), the coupler (144), the vertical fixing plate (171) and the vertical fixing plate (172).
The middle part of roll (12) has the slight arch of arc to cooperate with the middle part department of warping of horizontal roll (13) of below when rolling, the outer wall diameter reduces to both ends for the diameter of middle part outer wall gradually, thereby compensation deformation guarantees that rolling atress is even, improves rolling effect.
Fig. 4 is a schematic diagram of a moving through slot of a hydraulic roll servo system with cylinder protection according to the present invention, wherein the moving through slot comprises: a mobile through slot (16).
Fig. 5 is a schematic diagram of a limiting moving block and a coupling shaft of a hydraulic roller servo system with oil cylinder protection, which comprises: a coupling shaft (14) and a limiting moving block (15). The limiting moving block (15) is embedded in a moving through groove (16) shown in figure 4 and only vertically moves, so that the stability of the roller is ensured.
The operation mode of the feedback signal received by the controller is as follows: the two feedback signals are added and divided by two, and then are respectively compared with respective feedback signals, and the numerical value of which the average value is larger than the feedback signals is fed back to the servo valve in a negative number mode, so that the position of the corresponding piston rod is reduced; a value with an average value smaller than the feedback signal will be fed back to the servo valve in positive number form, raising the corresponding piston rod position. By adopting the synchronous compensation mode, the synchronous motion of the double cylinders can be quickly and accurately realized.
In conclusion, the hydraulic roller servo system with the oil cylinder protection function is invented, the horizontal roller can stably and accurately move in the vertical direction through the designed limiting moving device, and the system stability is improved; the adopted control method can quickly and accurately achieve double-cylinder synchronization; the roller of design can be better carry out even rolling, and the special material of design draws zipper type hydraulic cylinder protective sheath fine protection the hydro-cylinder not receive the pollution to can still stabilize accurate operation under adverse circumstances.

Claims (2)

1. The invention discloses a hydraulic roller servo system with oil cylinder protection, which is characterized in that: the hydraulic cylinder comprises a hydraulic cylinder (101), a hydraulic cylinder (102), a piston rod (201), a piston rod (202), a piston rod protecting sleeve (301), a piston rod protecting sleeve (302), an electro-hydraulic servo valve (401), an electro-hydraulic servo valve (402), a position sensor (501), a position sensor (502), a controller (6), an oil tank (7), a pressure gauge (8), an overflow valve (9), an oil pump (10), a piston rod connection adjusting device (111), a piston rod connection adjusting device (112), a roller (12), a horizontal roller (13), a connecting shaft (141), a connecting shaft (142), a connecting shaft (143), a connecting shaft (144), a limiting moving block (151), a limiting moving block (152), a moving through groove (161), a moving through groove (162), a vertical fixing plate (171), a vertical fixing plate (172), a supporting base plate (18) and a motor;
the piston rod (201) is positioned in the hydraulic cylinder (101), and the piston rod (202) is positioned in the hydraulic cylinder (102); the hydraulic cylinder (101) and the hydraulic cylinder (102) are vertically fixed on a supporting floor (18); the displacement sensor (501) is positioned on the piston rod (201), and the displacement sensor (502) is positioned on the piston rod (202); the piston rod connection adjusting device (111) is connected with the piston rod (201), and the piston rod connection adjusting device (112) is connected with the piston rod (202); an oil pipe is connected into an oil tank (7) by an oil pumping end of an oil pump (10), and hydraulic oil in the oil tank (7) is pumped into an electro-hydraulic servo valve (401) and an electro-hydraulic servo valve (402) as input hydraulic oil;
when the displacement sensor (501) and the displacement sensor (502) respectively detect the displacement of the piston rod (201) and the piston rod (202), the feedback signals are transmitted to the controller (6), and the controller (6) further controls input signals of the electro-hydraulic servo valve (401) and the electro-hydraulic servo valve (402); the output hydraulic oil of the electro-hydraulic servo valve (401) is used as the hydraulic oil input end of the hydraulic cylinder (101), and the output hydraulic oil of the electro-hydraulic servo valve (402) is used as the hydraulic oil input end of the hydraulic cylinder (102);
the oil is fed into the hydraulic cylinder (101) and then the piston rod (201) is pushed to displace, and the oil is fed into the hydraulic cylinder (102) and then the piston rod (202) is pushed to displace; the piston rod (201) is connected with the piston rod connection adjusting device (111), and the piston rod (202) is connected with the piston rod link adjusting device (112); the piston rod protecting sleeve (301) wraps the piston rod (201), the displacement sensor (501) and the piston rod connection adjusting device (111), and the piston rod protecting sleeve (302) wraps the piston rod (202), the displacement sensor (502) and the piston rod connection adjusting device (112);
the piston rod connection adjusting device (111) is connected with one end of the coupling shaft (141), and the piston rod connection adjusting device (112) is connected with one end of the coupling shaft (142); the other end of the coupling shaft (141) is hinged with the horizontal roller (13), and the other end of the coupling shaft (142) is hinged with the horizontal roller (13) and fixed without rotating; the connecting shaft (141) is fixedly connected with the limiting moving block (151), and the connecting shaft (142) is fixedly connected with the limiting moving block (152);
the limiting moving block (151) is embedded in the moving through groove (161), and the limiting moving block (151) is embedded in the moving through groove (161) and only moves up and down; the moving through groove (161) and the moving through groove (162) are arranged on the vertical fixing plate (17); the two ends of the roller (12) are connected with the connecting shaft (143) and the connecting shaft (144), the connecting shaft (143) and the connecting shaft (144) are fixed on the vertical fixing plate (17), and the motor (19) is connected with one end of the roller (12) and can drive the roller (12), the connecting shaft (143) and the connecting shaft (144) to rotate together.
2. Hydraulic roll servo with cylinder protection according to claim 1, characterized in that, unlike the previous position servo, the effect of multiple compliance factors on the system when the hydraulic cylinder (1) pushes the horizontal roll (13) is taken into account. The formula is as follows:
the formula I is as follows: Δ I ═ Ka(Ur-Uf)
The formula II is as follows: xv＝ΔIKxvGsv(s)
The formula III is as follows: qL＝KqXv-KcpL
The formula four is as follows:
Figure FDA0002730562260000011
the formula five is as follows: fg＝AppL＝mps2Xp+BpsXp+Fe
Formula six: xL＝XpKs2/(mLs2+BLs+Ks1+Ks2)
The formula seven: fe＝Ks2(Xp-XL)
The formula eight: delta Uf＝Kf(XL1-XL2)/2
Wherein in the formula I, Delta I is control current, KaFor gain of servo amplifier, UrFor input voltage, UfIs a feedback voltage; in the formula two, XvFor electro-hydraulic servo valvesAmount of core displacement, KxvFor servo valve gain, Gxv(s) is the servo valve transfer function; in the third formula, QLFor servo valve flow, KqFor servo valve flow gain, KcFor servo valve pressure gain, pLIs the load pressure; in the fourth formula, ApIs the effective area of the piston of the hydraulic cylinder, s is the mathematical operator of Laplace transform, XpFor piston displacement, CtpIs the total leakage coefficient of the hydraulic cylinder, VtThe cavity is a hydraulic cylinder cavity, and beta e is the effective volume elastic modulus; in the fifth formula, FgFor the hydraulic cylinder to output force, mpIs the mass of the piston rod, BpIs the piston rod viscous damping coefficient, FeOutputting force for a driving system; in the sixth formula, Ks2Is the coupling stiffness coefficient, X, between the hydraulic cylinder and the pressure sensorLFor load displacement, mLTo load mass, BLTo load viscous damping coefficient, Ks1Is the load elastic stiffness coefficient. The expression of the seven formula load force about multiple flexibility links; in the formula VIII, KfFor gain of displacement sensor, Δ UfThe two displacement difference values are subjected to feedback compensation for the pressure difference converted from half of the difference value of the two load displacements, and the position synchronous control precision is improved.
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CN113479814B (en) * 2021-06-09 2022-09-13 哈尔滨理工大学 Electro-hydraulic servo lifting platform with air spring and limiting protection function
CN113714284A (en) * 2021-08-27 2021-11-30 湖南湘投金天新材料有限公司 Pattern rolling forming unit and welded pipe production system with same
CN114523000A (en) * 2022-02-18 2022-05-24 湖南湘投金天新材料有限公司 Online continuous production system for welded pipe
CN114523000B (en) * 2022-02-18 2023-05-02 湖南湘投金天新材料有限公司 Online continuous production system for welded pipe

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