CN112247085B - Control method and device for thin strip continuous casting side seal pressing mechanism - Google Patents

Control method and device for thin strip continuous casting side seal pressing mechanism Download PDF

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CN112247085B
CN112247085B CN202010926639.8A CN202010926639A CN112247085B CN 112247085 B CN112247085 B CN 112247085B CN 202010926639 A CN202010926639 A CN 202010926639A CN 112247085 B CN112247085 B CN 112247085B
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pressing force
opening degree
preset
calculating
side sealing
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CN112247085A (en
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李振垒
袁国
张元祥
康健
汤洋
张晓明
王黎筠
王国栋
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Northeastern University China
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Northeastern University China
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/06—Continuous casting of metals, i.e. casting in indefinite lengths into moulds with travelling walls, e.g. with rolls, plates, belts, caterpillars
    • B22D11/0622—Continuous casting of metals, i.e. casting in indefinite lengths into moulds with travelling walls, e.g. with rolls, plates, belts, caterpillars formed by two casting wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/06—Continuous casting of metals, i.e. casting in indefinite lengths into moulds with travelling walls, e.g. with rolls, plates, belts, caterpillars
    • B22D11/0637—Accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/16—Controlling or regulating processes or operations
    • B22D11/18—Controlling or regulating processes or operations for pouring

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Abstract

The invention discloses a control method and a control device for a thin strip continuous casting side seal pressing mechanism, relates to the technical field of metallurgy, and aims to solve the problems that in the prior art, when the thin strip continuous casting side seal pressing mechanism presses side seal plates, liquid leakage between the side seal plates and a continuous casting molten pool cannot be guaranteed, the abrasion speed of the side seal plates can be reduced as much as possible, and the pouring time is prolonged. The method mainly comprises the following steps: detecting the real-time pressing force of the side sealing plate; if the real-time pressing force is not less than the preset pressing force threshold value, calculating the dynamic opening degree of the servo valve according to an opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve; acquiring the current cylinder rod displacement of the oil cylinder; calculating the current wear rate of the current cylinder rod displacement; calculating the target pressing force of the side sealing plate according to a pressing force PID control algorithm; and calculating the dynamic opening degree of the servo valve according to the opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve. The invention is mainly applied to the process of strip continuous casting pouring.

Description

Control method and device for thin strip continuous casting side seal pressing mechanism
Technical Field
The invention relates to the technical field of metallurgy, in particular to a control method and a control device for a thin strip continuous casting side seal pressing mechanism.
Background
The thin strip continuous casting is to directly cast and roll liquid molten steel into a thin strip blank with the thickness of less than 5mm, and the thin strip blank can be coiled into a hot rolled coil by a coiling machine only through one or two hot rolling processes. In the production process of thin-strip continuous casting, in order to prevent molten steel stored between the crystallizing rollers from leaking from the edge and ensure the high stability of a continuous casting molten pool, two side sealing plates are used for blocking two ends of the continuous casting molten pool, the side sealing plates are in certain contact with the end surfaces of the crystallizing rollers, and the side sealing plates are continuously worn during the rotation process of the crystallizing rollers. If the side sealing plates are worn too seriously, the side sealing plates cannot seal the continuous casting pool, continuous production needs to be suspended, and pouring is restarted after new side sealing plates are replaced. In the process of replacing the side sealing plate, refractory materials such as a tundish, a distribution bag and a water gap can be continuously cooled, if the temperature is too low, molten steel is solidified at the refractory materials when the casting is started again, or the temperature of the molten steel is too low to generate cold steel in a smelting pool, and finally the system is out of control, so that the quality of a band is influenced, and even the casting is stopped passively. In the production cost of strip casting, the specific gravity of the refractory material cost is large, and it is desirable to extend the service life of the refractory material to reduce the refractory material cost and continuously cast the refractory material for as long as possible.
In order to press the side sealing plates to the surface of the crystallization roller, the two side sealing mechanisms respectively push the side sealing plates to be pressed to the crystallization roller by different servo oil cylinders. If the thrust of the servo oil cylinder is insufficient, the side seal meeting plate can be pushed away by molten steel in the continuous casting molten pool, and steel leakage is caused. If the thrust of servo cylinder is too big, then the wearing and tearing speed of side seal board is very fast, and the live time of side seal board shortens, reduces resistant material live time, increases ton steel resistant material cost. The pressing mechanism in the prior art only discloses a strict structure, the position of a part needing to be pressed is often relatively stable, and the pressing function is realized only according to a preset pressing stroke. The problem that awaits solving at present, thin area continuous casting side seal hold-down mechanism is not only guaranteeing not to leak steel between side seal board and the continuous casting molten bath compressing tightly the in-process of side seal board, can reduce side seal board wearing and tearing speed as far as possible again, and it is long when increasing the stable use of resistant material.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for controlling a side seal pressing mechanism for continuous casting of thin strip, and mainly aims to solve the problem that in the process of pressing a side seal plate, the side seal pressing mechanism for continuous casting of thin strip in the prior art cannot ensure no steel leakage between the side seal plate and a continuous casting molten pool, and can reduce the wear rate of the side seal plate as much as possible.
According to one aspect of the invention, a method for controlling a thin strip continuous casting side seal pressing mechanism is provided, which comprises the following steps:
detecting the real-time pressing force of the side sealing plate when the oil cylinder servo valve is opened according to the preset initial opening degree;
if the real-time pressing force is not less than a preset pressing force threshold value, calculating the dynamic opening degree of the servo valve by taking a preset initial pressing force as a target value and the real-time pressing force as a dynamic value according to an opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve so that the servo valve adjusts the opening degree of the servo valve according to the dynamic opening degree;
acquiring the current cylinder rod displacement of the oil cylinder according to a preset sampling period;
calculating the current wear rate of the side sealing plate according to the current cylinder rod displacement;
calculating the target pressing force of the side sealing plate by taking a preset ideal wear rate as a target value and the current wear rate as a dynamic value according to a pressing force PID control algorithm;
and calculating the dynamic opening degree of the servo valve by taking the target pressing force as a target value and the real-time pressing force as a dynamic value according to the opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve.
According to another aspect of the present invention, there is provided a control device for a thin strip continuous casting side seal pressing mechanism, comprising:
the detection module is used for detecting the real-time pressing force of the side sealing plate when the oil cylinder servo valve is opened at the preset initial opening degree;
the sending module is used for calculating the dynamic opening degree of the servo valve by taking a preset initial pressing force as a target value and the real-time pressing force as a dynamic value according to an opening degree PID control algorithm if the real-time pressing force is not less than a preset pressing force threshold value, and sending the dynamic opening degree to the servo valve so that the servo valve adjusts the opening degree of the servo valve according to the dynamic opening degree;
the acquisition module is used for acquiring the current cylinder rod displacement of the oil cylinder according to a preset sampling period;
the first calculation module is used for calculating the current wear rate of the side sealing plate according to the current cylinder rod displacement;
the second calculation module is used for calculating the target pressing force of the side sealing plate by taking a preset ideal wear rate as a target value and the current wear rate as a dynamic value according to a pressing force PID control algorithm;
and the sending module is also used for calculating the dynamic opening degree of the servo valve by taking the target pressing force as a target value and the real-time pressing force as a dynamic value according to the opening degree PID control algorithm and sending the dynamic opening degree to the servo valve.
According to still another aspect of the present invention, a computer storage medium is provided, and the computer storage medium stores at least one executable instruction, which causes a processor to execute operations corresponding to the control method of the thin strip continuous casting side seal pressing mechanism.
According to still another aspect of the present invention, there is provided a computer apparatus including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the control method of the thin strip continuous casting side seal pressing mechanism.
By the technical scheme, the technical scheme provided by the embodiment of the invention at least has the following advantages:
the invention provides a control method and a device of a thin-strip continuous casting side seal pressing mechanism, which comprises the steps of firstly detecting the real-time pressing force of a side seal plate when an oil cylinder servo valve is opened according to a preset initial opening degree, if the real-time pressing force is not less than a preset pressing force threshold value, taking the preset initial pressing force as a target value, taking the real-time pressing force as a dynamic value, calculating the dynamic opening degree of the servo valve according to an opening degree PID control algorithm, sending the dynamic opening degree to the servo valve, then obtaining the current rod displacement of an oil cylinder according to a preset sampling period, then calculating the current wear rate of the side seal plate according to the current rod displacement, then taking the preset ideal wear rate as the target value, taking the current wear rate as the dynamic value, calculating the target pressing force of the side seal plate according to a pressing force PID control algorithm, finally taking the target pressing force as the target value, taking the real-time pressing force as the dynamic value, and according to the opening degree PID control algorithm, and calculating the dynamic opening degree of the servo valve and sending the dynamic opening degree to the servo valve. Compared with the prior art, the embodiment of the invention adopts the PID control algorithm for the target pressing force and the opening degree, and accurately controls the wear rate of the side sealing plate in the dynamic process, thereby not only ensuring no leakage between the side sealing plate and a continuous casting molten pool, but also reducing the wear speed of the side sealing plate as much as possible, ensuring that the side sealing plate is uniformly worn at a lower speed, and finally prolonging the service life of the side sealing plate.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic perspective view illustrating a thin strip continuous casting side seal pressing mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic side view illustrating a thin strip casting side seal pressing mechanism according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a control method of a thin strip continuous casting side seal pressing mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a cross-sectional structure of a cylinder according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating another control method for the thin strip continuous casting side seal pressing mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a force-bearing area of a side seal plate according to an embodiment of the present invention;
fig. 7 is a block diagram illustrating a control device of a thin strip continuous casting side seal pressing mechanism according to an embodiment of the present invention;
fig. 8 is a block diagram showing a control device of another thin strip continuous casting side seal pressing mechanism according to an embodiment of the present invention;
fig. 9 shows a schematic structural diagram of a computer device according to an embodiment of the present invention.
Description of the drawings: 1-crystallization roller, 2-side sealing plate, 3-side sealing mechanism, 4-oil cylinder, 5-smelting pool, 6-cylinder rod, 7-rod cavity, 8-piston, 9-rodless cavity, 10-first hydraulic oil inlet and outlet, and 11-second hydraulic oil inlet and outlet.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In the thin-strip continuous casting production process, the side sealing effect is mainly influenced by the material of the side sealing plate, the relative position between the side sealing plate and the crystallizing roller, the force transmission mode of a side sealing mechanism and other factors, and the pressing force of the side sealing has no obvious influence on the side sealing effect as long as the pressing force of the side sealing is greater than the minimum pressing force allowed by the side sealing, and only the wear rate is influenced. Fig. 1 and fig. 2 are schematic diagrams of a thin strip continuous casting side seal pressing mechanism, wherein an oil cylinder is connected with the side seal pressing mechanism, the side seal pressing mechanism is connected with a side seal plate, and the oil cylinder directly acts on the side seal pressing mechanism and indirectly acts on the side seal plate, so that liquid does not leak between the side seal plate and a continuous casting pool. The oil cylinder is provided with two oil cavities, namely a rodless cavity and a rod cavity, and the oil inlet and the oil outlet of the two oil cavities of the oil cylinder are controlled through the opening degree of the servo valve. When the opening of the servo valve is positive, oil enters the rodless cavity, oil exits from the rod cavity, and the thrust of the oil cylinder is increased. The larger the opening degree is in the forward direction, the higher the oil inlet speed of the rodless cavity and the oil outlet speed of the rod cavity are, and the higher the thrust increasing speed is. When the opening of the servo valve is negative, the rodless cavity produces oil, the rod cavity produces oil, and the oil cylinder reduces thrust. The larger the negative direction of the opening degree is, the higher the oil outlet speed of the rodless cavity and the oil inlet speed of the rod cavity are, and the higher the thrust is reduced. Therefore, the pressure can be controlled by controlling the opening of the servo valve, so that the side sealing plate can be ensured to control the oil cylinder by pushing force as small as possible, liquid leakage between the side sealing plate and a continuous casting molten pool can be avoided, and the abrasion speed of the side sealing plate can be controlled within an allowable range.
An embodiment of the present invention provides a method for controlling a thin strip continuous casting side seal pressing mechanism, as shown in fig. 3, the method includes:
301. and when the oil cylinder servo valve is opened according to the preset initial opening degree, detecting the real-time pressing force of the side sealing plate.
As shown in fig. 4, the cylinder rod is used for connecting the load, which in the present invention is referred to as a side seal plate. The piston divides the interior of the cylinder into two regions, a rod chamber and a rodless chamber. When the thrust of the hydraulic pressure of the rodless cavity to the piston is larger than the pressure of the hydraulic oil in the rod cavity to the piston, the piston moves towards the cylinder rod side, and the cylinder rod extends out of the oil cylinder. Correspondingly, when the thrust of the hydraulic oil in the rodless cavity to the piston is smaller than the pressure of the hydraulic oil in the rod cavity to the piston, the piston moves towards the cylinder rod side, and the cylinder rod retracts into the oil cylinder.
In the process of extending the cylinder rod, the cylinder rod drives the thin-strip continuous casting side sealing mechanism to touch the side sealing plate, so that the cylinder rod of the oil cylinder cannot extend continuously, the thrust of hydraulic oil in the rodless cavity to the piston is still greater than the pressure of the hydraulic oil in the rod cavity to the piston, the surplus force acts on the side sealing plate, and the surplus force is the pressing force of the side sealing plate.
In order to ensure that the side sealing plates can be pressed against the crystallization roller, the oil cylinder servo valve is opened with a preset initial opening degree, and the real-time pressing force of the side sealing plates is detected when the oil cylinder servo valve is opened. The preset initial opening degree is a positive value, the servo valve controls hydraulic oil in the rod cavity to flow out from the second hydraulic oil inlet and outlet, and controls hydraulic oil to flow in from the first hydraulic oil inlet and outlet, so that the pressure of the hydraulic oil in the rod cavity is reduced, and the pressure of the hydraulic oil in the rod-free cavity is increased. The greater the preset initial opening, the faster the rate at which the real-time pressing force increases.
In the actual environment of strip casting, since a pressure sensor cannot be attached to the front end of the cylinder rod, the real-time pressing force is obtained by detecting the oil pressure of the oil pressure gauge of the oil cylinder and then calculating the oil pressure. The real-time pressing force is the difference value between the acting force of the rodless cavity to the piston and the acting force of the oil pressure of the rod cavity to the piston, wherein the acting force of the rodless cavity to the piston is the product of the oil pressure of the rodless cavity and the area of the piston; the acting force of the oil pressure of the rod cavity on the piston is the product of the oil pressure of the rod cavity and the effective area of the piston, and the effective area of the piston is the difference value between the area of the piston and the sectional area of the cylinder rod.
302. And if the real-time pressing force is not less than the preset pressing force threshold value, calculating the dynamic opening degree of the servo valve by taking the preset initial pressing force as a target value and the real-time pressing force as a dynamic value according to an opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve.
The preset compaction force threshold is a compaction force value which can ensure that the moving distance of the cylinder rod is enough to ensure that liquid is not leaked between the side sealing plates and the continuous casting molten pool. And if the real-time pressing force is not less than the preset pressing force threshold value, starting thin strip continuous casting, and calculating the dynamic opening degree of the servo valve according to an opening degree PID control algorithm. In the calculation process, the dynamic opening degree is calculated by taking the preset initial pressing force as a target value and taking the real-time pressing force as a dynamic value. The dynamic opening degree is sent to the servo valve, the servo valve adjusts the opening degree of the servo valve according to the dynamic opening degree, the amount of hydraulic oil in the rod cavity and the rodless cavity is constantly changed, the acting force of the rodless cavity on the piston and the acting force of the rod cavity oil pressure on the piston are constantly changed, namely the real-time pressing force is constantly changed, namely the opening degree of the servo valve is constantly recalculated.
303. And acquiring the current cylinder rod displacement of the oil cylinder according to a preset sampling period.
The current cylinder rod displacement refers to the worn thickness of the side sealing plate in a preset sampling period. The displacement sensor detects the moving distance of the cylinder rod in real time, and obtains the current cylinder rod displacement of the oil cylinder at preset time intervals according to a preset sampling period. The current cylinder rod displacement is relative to the initial position of the cylinder rod. The initial position is typically the position of the cylinder rod that extends the minimum distance.
304. And calculating the current wear rate of the side sealing plate according to the current cylinder rod displacement.
And counting the displacement of the first current cylinder rod and the displacement of the last cylinder rod in a plurality of preset sampling periods, and calculating the displacement difference, wherein the ratio of the displacement difference to the total sampling time is the current wear rate of the side sealing plate.
305. And calculating the target pressing force of the side sealing plate by taking the preset ideal wear rate as a target value and the current wear rate as a dynamic value according to a pressing force PID control algorithm.
As the forming process proceeds, the side seal pressing mechanism thermally expands, and the thermal expansion causes the advancing resistance of the side seal mechanism to increase, so that the preset initial pressing force as the target value of the opening degree PID control algorithm cannot adapt to the dynamic change generated in the strip casting process, and the target value needs to be recalculated.
The current wear rate is a dynamic variation generated in the thin strip continuous casting process, and the target pressing force which changes continuously is calculated by taking the current wear rate as a dynamic value. And in the thin-strip continuous casting process, the preset ideal wear rate is taken as the optimal side sealing plate wear target, the current wear rate is taken as a dynamic value, and the target pressing force of the side sealing plate is calculated according to a pressing force PID control algorithm.
306. And calculating the dynamic opening degree of the servo valve by taking the target pressing force as a target value and the real-time pressing force as a dynamic value according to an opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve.
The dynamic opening degree can be positive or negative, when the dynamic opening degree is positive, the servo valve controls the hydraulic oil in the rod cavity to flow out from the second hydraulic oil inlet and outlet and controls the hydraulic oil to flow in from the first hydraulic oil inlet and outlet, so that the pressure of the hydraulic oil in the rod cavity is reduced, and the pressure of the hydraulic oil in the rod-free cavity is increased; when the dynamic opening degree is negative, the servo valve controls hydraulic oil in the rod cavity to flow in from the second hydraulic oil inlet and outlet and controls hydraulic oil to flow out from the first hydraulic oil inlet and outlet, so that the pressure of the hydraulic oil in the rod cavity is increased, and the pressure of the hydraulic oil in the rodless cavity is reduced. Since the real-time pressing force is dynamically changed due to the influence of factors such as temperature, solution quality, attachment of the crystallization roll, rotation speed of the crystallization roll, liquid level height, wear of the side sealing plate and the like in the strip casting process, the dynamic opening degree calculated according to the real-time pressing force is also dynamically changed.
Illustratively, the calculation cycle of the program is 10ms, and the execution process of the double-layer PID algorithm is explained. After the first dynamic opening degree is obtained through calculation according to the opening degree PID control algorithm for the first time, the servo valve opens the servo valve according to the first opening degree and keeps the first dynamic opening degree, after the next calculation period is started for 10ms, the target pressing force of the side sealing plate is calculated through the pressing force PID control algorithm according to the new current wear rate, the second dynamic opening degree is calculated through the opening degree PID control algorithm according to the new target pressing force, and the servo valve opens the servo valve according to the second opening degree and keeps the second dynamic opening degree. In the thin strip continuous casting process, after the real-time pressing force reaches the preset pressing force threshold value or more for the first time, the pressing force PID control algorithm and the opening degree PID control algorithm are continuously and alternately used repeatedly, and the dynamic opening degree is calculated to adjust the opening degree of the servo valve in real time.
Calculating a target pressing force according to a pressing force PID control algorithm; and calculating the dynamic opening degree according to the opening degree PID control algorithm, and calculating the dynamic opening degree according with the actual requirement by using a double-layer PID algorithm. Meanwhile, the action frequency of the servo valve is high, the action accuracy of the servo valve is high, and the opening degree of the servo valve is adjusted frequently, quickly and accurately so as to accurately control the forward and backward state of the oil cylinder and accurately control the pressure of the oil cylinder pressing against the side sealing plate.
The invention provides a control method of a thin-strip continuous casting side seal pressing mechanism, which comprises the steps of firstly detecting the real-time pressing force of a side seal plate when an oil cylinder servo valve is opened according to a preset initial opening degree, if the real-time pressing force is not less than a preset pressing force threshold value, taking the preset initial pressing force as a target value, taking the real-time pressing force as a dynamic value, calculating the dynamic opening degree of the servo valve according to an opening degree PID control algorithm, sending the dynamic opening degree to the servo valve, then obtaining the current cylinder rod displacement of an oil cylinder according to a preset sampling period, then calculating the current wear rate of the side seal plate according to the current cylinder rod displacement, then taking a preset ideal rate as a target value, taking the current wear rate as a dynamic wear value, calculating the target pressing force of the side seal plate according to a pressing force PID control algorithm, finally taking the target pressing force as a target value, taking the real-time pressing force as a dynamic value, and controlling the opening degree PID control algorithm, and calculating the dynamic opening degree of the servo valve and sending the dynamic opening degree to the servo valve. Compared with the prior art, the embodiment of the invention adopts the PID control algorithm for the target pressing force and the opening degree, and accurately controls the wear rate of the side sealing plate in the dynamic process, thereby not only ensuring no leakage between the side sealing plate and a continuous casting molten pool, but also reducing the wear speed of the side sealing plate as much as possible, ensuring that the side sealing plate is uniformly worn at a lower speed, and finally prolonging the service life of the side sealing plate.
An embodiment of the present invention provides another method for controlling a thin strip continuous casting side seal pressing mechanism, as shown in fig. 5, the method includes:
501. and when the oil cylinder servo valve is opened according to the preset initial opening degree, detecting the real-time pressing force of the side sealing plate.
In order to ensure that the side sealing plates can be pressed against the crystallization roller, the oil cylinder servo valve is opened with a preset initial opening degree, and the real-time pressing force of the side sealing plates is detected when the oil cylinder servo valve is opened. The preset initial opening degree is a positive value, the setting range is 10% -20% of the maximum value of the positive opening degree, and the speed of the side sealing plate is ensured to be proper when the side sealing plate stretches out from the contraction position to the extension position.
In the actual environment of strip casting, since a pressure sensor cannot be attached to the front end of the cylinder rod, the real-time pressing force is obtained by detecting the oil pressure of the oil pressure gauge of the oil cylinder and then calculating the oil pressure. The real-time pressing force is the difference value between the acting force of the rodless cavity to the piston and the acting force of the oil pressure of the rod cavity to the piston, wherein the acting force of the rodless cavity to the piston is the product of the oil pressure of the rodless cavity and the area of the piston; the acting force of the oil pressure of the rod cavity on the piston is the product of the oil pressure of the rod cavity and the effective area of the piston, and the effective area of the piston is the difference value between the area of the piston and the sectional area of the cylinder rod.
502. And if the real-time pressing force is not less than the preset pressing force threshold value, calculating the dynamic opening degree of the servo valve by taking the preset initial pressing force as a target value and the real-time pressing force as a dynamic value according to an opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve.
The preset compaction force threshold is a compaction force value which can ensure that the moving distance of the cylinder rod is enough to ensure that liquid is not leaked between the side sealing plates and the continuous casting molten pool. And if the real-time pressing force is not less than the preset pressing force threshold value, canceling the fixed opening degree state, and calculating the dynamic opening degree of the servo valve according to an opening degree PID control algorithm. In the calculation process, the dynamic opening degree is calculated by taking the preset initial pressing force as a target value and taking the real-time pressing force as a dynamic value. The dynamic opening degree is sent to the servo valve, the servo valve adjusts the opening degree of the servo valve according to the dynamic opening degree, the amount of hydraulic oil in the rod cavity and the rodless cavity is constantly changed, the acting force of the rodless cavity on the piston and the acting force of the rod cavity oil pressure on the piston are constantly changed, namely the real-time pressing force is constantly changed, namely the opening degree of the servo valve is constantly recalculated.
The preset pressing force preset can be the product of a preset proportionality coefficient and the maximum pressing force of the oil cylinder. The preset proportionality coefficient can be in the range of 0.6-0.8, when the oil cylinder reaches the maximum pressing force of the oil cylinder, the oil pressure in the rod cavity is 0, the oil pressure in the rodless cavity is the system oil source pressure, and the maximum pressing force of the oil cylinder is equal to the product of the hydraulic system oil source pressure and the piston area.
In order to obtain more accurate dynamic opening degree through calculation, compensation is added to an integration link in an opening degree PID control algorithm, compensation is carried out by a method of correcting an integration coefficient, the corrected integration coefficient is the product of a control cycle period and a basic integration time coefficient, and the product of the control cycle period and a compensation coefficient is added. The value range of the basic integral time coefficient is 50-200, and the value range of the compensation coefficient is 0-300.
503. And acquiring the current cylinder rod displacement of the oil cylinder according to a preset sampling period.
The current cylinder rod displacement refers to the worn thickness of the side sealing plate in a preset sampling period. The displacement sensor detects the moving distance of the cylinder rod in real time, and obtains the current cylinder rod displacement of the oil cylinder at preset time intervals according to a preset sampling period. The current cylinder rod displacement is relative to the initial position of the cylinder rod. The initial position is typically the position of the cylinder rod that extends the minimum distance.
Before acquiring the current cylinder rod displacement, the method further comprises the following steps: calculating the rotation period of the thin strip continuous casting crystallization roller according to the rotation speed and the radius of the crystallization roller; determining the rotation period as the preset sampling period. The rotation period is equal to the ratio of the circumference of the crystallization roll to the rotation speed. Wherein the rotation speed is the linear speed at which the crystallization roller rotates. In the embodiment of the present invention, the rotation period is the same as the preset sampling period, and actually, the preset sampling period may be an integer multiple of the rotation period.
504. And calculating the displacement difference of the current cylinder rod displacement of the adjacent preset sampling periods.
At the initial stage of thin strip casting, the solution is initially poured into the smelting tank and impacts the side sealing plates greatly, and each initial parameter setting is not completely consistent with the casting process, so that the wear rate of the side sealing plates is unstable, namely, the displacement difference is unstable, the current wear rate obtained by calculation in an unstable state is not representative, and the current wear rate is used for dynamically adjusting the wear value which is not beneficial to stabilizing the side sealing plates. And if the displacement difference is larger than the preset floating range, the current cylinder rod displacement is obtained again.
505. And if the displacement difference is not larger than the preset floating range, calculating the current wear rate of the side sealing plate according to the current cylinder rod displacement.
Of course, it can also be set that when the preset number of continuous displacement differences are not larger than the preset floating range, the current wear rate is calculated. Specifically, calculating the wear rate includes: calculating the current wear rate according to a preset wear conversion formula
Figure BDA0002668592630000101
Where a is the current wear rate, p1Current cylinder rod displacement, p, for the first of said preset sampling periodsnCurrent cylinder rod displacement, t, for the nth preset sampling periodiIs as followsi times of the preset sampling period. Wherein the value range of n is 2-5. The time unit of the sampling period is second, the unit of the current cylinder rod displacement is mm, and the unit of the current wear rate is mm/min.
506. And calculating the target pressing force of the side sealing plate by taking the preset ideal wear rate as a target value and the current wear rate as a dynamic value according to a pressing force PID control algorithm.
As the forming process proceeds, the side seal pressing mechanism thermally expands, and the thermal expansion causes the advancing resistance of the side seal mechanism to increase, so that the preset initial pressing force as the target value of the opening degree PID control algorithm cannot adapt to the dynamic change generated in the strip casting process, and the target value needs to be recalculated.
The current wear rate is a dynamic variation generated in the thin strip continuous casting process, and the target pressing force which changes continuously is calculated by taking the current wear rate as a dynamic value. And in the thin-strip continuous casting process, the preset ideal wear rate is taken as the optimal side sealing plate wear target, the current wear rate is taken as a dynamic value, and the target pressing force of the side sealing plate is calculated according to a pressing force PID control algorithm.
In order to ensure that the side sealing plate can realize the side sealing effect, before calculating the target pressing force, the method further comprises the following steps: judging whether the target pressing force is smaller than a limiting pressing force, wherein the limiting pressing force is the minimum pressing force of the side sealing plate for ensuring no liquid leakage; and if so, calculating the dynamic opening degree of the servo valve by taking the limiting pressing force as a target value and the real-time pressing force as a dynamic value according to the opening degree PID control algorithm.
In the calculation process of calculating the limit pressing force, the static pressure of the smelting liquid on the side sealing plate needs to be considered, then the impact force generated by the flowing of the smelting liquid on the side sealing plate is considered on the basis of the static pressure, and the resultant force of the static pressure and the impact force is used as the limit pressing force of the side sealing plate. As shown in fig. 6, the method for calculating the force limiting and pressing force according to the force-bearing area of the side sealing plate includes: calculating the width of the liquid level of the molten pool according to a first preset formula
Figure BDA0002668592630000111
Wherein L is the molten pool liquid level width, r1The radius of the crystallization roller, h is the liquid level height in the molten pool, and S is the roll gap width of the thin-strip continuous casting crystallization roller; calculating the static pressure of the side sealing plate born by the side sealing plate according to a second preset formula, wherein the second preset formula is Phρ gh, where PhThe static pressure of the side sealing plate is high, rho is the density of liquid in the molten pool, h is the height of the liquid level in the molten pool, and g is the gravity acceleration; calculating the limiting pressing force according to a third preset formula
Figure BDA0002668592630000112
Wherein F0The side seal plate static pressure born by the side seal plate; calculating the limiting pressing force according to a fourth preset formula, wherein the fourth preset formula is F1＝k1F0In which F is1For said limiting pressing force, k1Coefficients are calculated for the pressure.
According to the adjusting capacity of the servo valve and the running period of a program, the target pressing force amplitude of single adjustment cannot be too large, the maximum amplitude range is obtained by multiplying the maximum overshoot percentage by the target pressing force calculated in the previous time, and the maximum amplitude range is added or subtracted to the target pressing force calculated in the previous time to serve as the current pressure range value. And if the calculated target pressing force exceeds the current pressure range value, taking the value which is closest to the target pressing force and belongs to the current pressure range as the final target pressing force.
507. And calculating the dynamic opening degree of the servo valve by taking the target pressing force as a target value and the real-time pressing force as a dynamic value according to an opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve.
The dynamic opening degree can be positive or negative, when the dynamic opening degree is positive, the servo valve controls the hydraulic oil in the rod cavity to flow out from the second hydraulic oil inlet and outlet and controls the hydraulic oil to flow in from the first hydraulic oil inlet and outlet, so that the pressure of the hydraulic oil in the rod cavity is reduced, and the pressure of the hydraulic oil in the rod-free cavity is increased; when the dynamic opening degree is negative, the servo valve controls hydraulic oil in the rod cavity to flow in from the second hydraulic oil inlet and outlet and controls hydraulic oil to flow out from the first hydraulic oil inlet and outlet, so that the pressure of the hydraulic oil in the rod cavity is increased, and the pressure of the hydraulic oil in the rodless cavity is reduced. Since the real-time pressing force is dynamically changed due to the influence of factors such as temperature, solution quality, attachment of the crystallization roll, rotation speed of the crystallization roll, liquid level height, wear of the side sealing plate and the like in the strip casting process, the dynamic opening degree calculated according to the real-time pressing force is also dynamically changed.
Calculating a target pressing force according to a pressing force PID control algorithm; and calculating the dynamic opening degree according to the opening degree PID control algorithm, and calculating the dynamic opening degree according with the actual requirement by using a double-layer PID algorithm. Meanwhile, the servo valve has high action frequency and small action amplitude, and the opening degree of the servo valve is frequently, quickly and accurately adjusted so as to accurately control the forward and backward state of the oil cylinder and accurately control the pressure of the oil cylinder pressing against the side sealing plate.
The embodiment of the invention is a method for controlling the thin strip casting side sealing mechanism on one side of the smelting pool, the thin strip casting side sealing mechanism on the other side of the smelting pool is also controlled by the same method, and the thin strip casting side sealing mechanisms on the two sides of the smelting pool are independent and unrelated with each other.
The invention provides a control method of a thin-strip continuous casting side seal pressing mechanism, which comprises the steps of firstly detecting the real-time pressing force of a side seal plate when an oil cylinder servo valve is opened according to a preset initial opening degree, if the real-time pressing force is not less than a preset pressing force threshold value, taking the preset initial pressing force as a target value, taking the real-time pressing force as a dynamic value, calculating the dynamic opening degree of the servo valve according to an opening degree PID control algorithm, sending the dynamic opening degree to the servo valve, then obtaining the current cylinder rod displacement of an oil cylinder according to a preset sampling period, then calculating the current wear rate of the side seal plate according to the current cylinder rod displacement, then taking a preset ideal rate as a target value, taking the current wear rate as a dynamic wear value, calculating the target pressing force of the side seal plate according to a pressing force PID control algorithm, finally taking the target pressing force as a target value, taking the real-time pressing force as a dynamic value, and controlling the opening degree PID control algorithm, and calculating the dynamic opening degree of the servo valve and sending the dynamic opening degree to the servo valve. Compared with the prior art, the embodiment of the invention adopts the PID control algorithm for the target pressing force and the opening degree, and accurately controls the wear rate of the side sealing plate in the dynamic process, thereby not only ensuring no leakage between the side sealing plate and a continuous casting molten pool, but also reducing the wear speed of the side sealing plate as much as possible, ensuring that the side sealing plate is uniformly worn at a lower speed, and finally prolonging the service life of the side sealing plate.
Further, as an implementation of the method shown in fig. 3, an embodiment of the present invention provides a control device for a thin strip continuous casting side seal pressing mechanism, as shown in fig. 7, the device includes:
the detection module 71 is used for detecting the real-time pressing force of the side sealing plate when the oil cylinder servo valve is opened at the preset initial opening degree;
a sending module 72, configured to calculate a dynamic opening degree of the servo valve according to an opening degree PID control algorithm with a preset initial pressing force as a target value and the real-time pressing force as a dynamic value if the real-time pressing force is not less than a preset pressing force threshold, and send the dynamic opening degree to the servo valve, so that the servo valve adjusts the opening degree of the servo valve according to the dynamic opening degree;
the obtaining module 73 is used for obtaining the current cylinder rod displacement of the oil cylinder according to a preset sampling period;
a first calculation module 74, configured to calculate a current wear rate of the side sealing plate according to the current cylinder rod displacement;
a second calculating module 75, configured to calculate a target pressing force of the side sealing plate according to a pressing force PID control algorithm, with a preset ideal wear rate as a target value and the current wear rate as a dynamic value;
the sending module 72 is further configured to calculate a dynamic opening degree of the servo valve according to the opening degree PID control algorithm by using the target pressing force as a target value and the real-time pressing force as a dynamic value, and send the dynamic opening degree to the servo valve.
The invention provides a control device of a thin-strip continuous casting side seal pressing mechanism, which comprises the steps of firstly detecting the real-time pressing force of a side seal plate when a servo valve of an oil cylinder is opened according to a preset initial opening degree, if the real-time pressing force is not less than a preset pressing force threshold value, taking the preset initial pressing force as a target value, taking the real-time pressing force as a dynamic value, calculating the dynamic opening degree of the servo valve according to an opening degree PID control algorithm, sending the dynamic opening degree to the servo valve, then obtaining the current rod displacement of the oil cylinder according to a preset sampling period, then calculating the current wear rate of the side seal plate according to the current rod displacement, then taking a preset ideal rate as a target value, taking the current wear rate as a dynamic wear value, calculating the target pressing force of the side seal plate according to a pressing force PID control algorithm, finally taking the target pressing force as a target value, taking the real-time pressing force as a dynamic value, and controlling the opening degree PID control algorithm, and calculating the dynamic opening degree of the servo valve and sending the dynamic opening degree to the servo valve. Compared with the prior art, the embodiment of the invention adopts the PID control algorithm for the target pressing force and the opening degree, and accurately controls the wear rate of the side sealing plate in the dynamic process, thereby not only ensuring no leakage between the side sealing plate and a continuous casting molten pool, but also reducing the wear speed of the side sealing plate as much as possible, ensuring that the side sealing plate is uniformly worn at a lower speed, and finally prolonging the service life of the side sealing plate.
Further, as an implementation of the method shown in fig. 5, another control device for a thin strip continuous casting side seal pressing mechanism is provided in an embodiment of the present invention, as shown in fig. 8, the control device includes:
the detection module 81 is used for detecting the real-time pressing force of the side sealing plate when the oil cylinder servo valve is opened at the preset initial opening degree;
a sending module 82, configured to calculate a dynamic opening degree of the servo valve according to an opening degree PID control algorithm with a preset initial pressing force as a target value and the real-time pressing force as a dynamic value if the real-time pressing force is not less than a preset pressing force threshold, and send the dynamic opening degree to the servo valve, so that the servo valve adjusts the opening degree of the servo valve according to the dynamic opening degree;
the obtaining module 83 is configured to obtain a current cylinder rod displacement of the oil cylinder according to a preset sampling period;
a first calculation module 84 for calculating a current wear rate of the side seal plate based on the current cylinder rod displacement;
the second calculation module 85 is used for calculating the target pressing force of the side sealing plate by taking a preset ideal wear rate as a target value and the current wear rate as a dynamic value according to a pressing force PID control algorithm;
the sending module 82 is further configured to calculate a dynamic opening degree of the servo valve according to the opening degree PID control algorithm by using the target pressing force as a target value and the real-time pressing force as a dynamic value, and send the dynamic opening degree to the servo valve.
Further, the apparatus further comprises:
a third calculating module 86, configured to calculate a rotation period of the thin-strip continuous casting crystallization roller according to the rotation speed of the thin-strip continuous casting crystallization roller and the radius of the crystallization roller before the current rod displacement of the oil cylinder is obtained according to a preset sampling period;
a determining module 87, configured to determine the rotation period as the preset sampling period.
Further, the apparatus further comprises:
a fourth calculating module 88, configured to calculate a displacement difference of the current cylinder rod displacement in the adjacent preset sampling period after the current cylinder rod displacement of the oil cylinder is obtained according to the preset sampling period;
the acquiring module 83 is further configured to acquire the current cylinder rod displacement again if the displacement difference is larger than a preset floating range;
the first calculating module 84 is further configured to calculate a current wear rate of the side sealing plate according to the current cylinder rod displacement if the displacement difference is not greater than the preset floating range.
Further, the first calculating module 84 is configured to:
calculating the current wear rate according to a preset wear conversion formula
Figure BDA0002668592630000141
Wherein a is the current wearRate, p1Current cylinder rod displacement, p, for the first of said preset sampling periodsnCurrent cylinder rod displacement, t, for the nth preset sampling periodiIs the time of the ith said preset sampling period.
Further, the apparatus further comprises:
a judging module 89, configured to, after calculating a target pressing force of the side sealing plate according to a pressing force PID control algorithm, judge whether the target pressing force is smaller than a limiting pressing force, where the limiting pressing force is a minimum pressing force of the side sealing plate that ensures no liquid leakage;
the second calculating module 85 is further configured to calculate the dynamic opening degree of the servo valve according to the opening degree PID control algorithm by using the limiting pressing force as a target value and the real-time pressing force as a dynamic value if the determination result is yes.
Further, the apparatus further comprises:
a fifth calculating module 810, configured to calculate a molten pool liquid level width according to a first preset formula before determining whether the target pressing force is smaller than the limiting pressing force, where the first preset formula is
Figure BDA0002668592630000151
Wherein L is the molten pool liquid level width, r1The radius of the crystallization roller, h is the liquid level height in the molten pool, and S is the roll gap width of the thin-strip continuous casting crystallization roller;
the fifth calculating module 810 is further configured to calculate a static pressure of the side sealing plate borne by the side sealing plate according to a second preset formula, where the second preset formula is Phρ gh, where PhThe static pressure of the side sealing plate is high, rho is the density of liquid in the molten pool, h is the height of the liquid level in the molten pool, and g is the gravity acceleration;
the fifth calculating module 810 is further configured to calculate the limiting pressing force according to a third preset formula
Figure BDA0002668592630000152
Wherein F0The side seal plate static pressure born by the side seal plate;
the fifth calculating module 810 is further configured to calculate the limiting pressing force according to a fourth preset formula, where the fourth preset formula is F1＝k1F0In which F is1For said limiting pressing force, k1Coefficients are calculated for the pressure.
The invention provides a control device of a thin-strip continuous casting side seal pressing mechanism, which comprises the steps of firstly detecting the real-time pressing force of a side seal plate when a servo valve of an oil cylinder is opened according to a preset initial opening degree, if the real-time pressing force is not less than a preset pressing force threshold value, taking the preset initial pressing force as a target value, taking the real-time pressing force as a dynamic value, calculating the dynamic opening degree of the servo valve according to an opening degree PID control algorithm, sending the dynamic opening degree to the servo valve, then obtaining the current rod displacement of the oil cylinder according to a preset sampling period, then calculating the current wear rate of the side seal plate according to the current rod displacement, then taking a preset ideal rate as a target value, taking the current wear rate as a dynamic wear value, calculating the target pressing force of the side seal plate according to a pressing force PID control algorithm, finally taking the target pressing force as a target value, taking the real-time pressing force as a dynamic value, and controlling the opening degree PID control algorithm, and calculating the dynamic opening degree of the servo valve and sending the dynamic opening degree to the servo valve. Compared with the prior art, the embodiment of the invention adopts the PID control algorithm for the target pressing force and the opening degree, and accurately controls the wear rate of the side sealing plate in the dynamic process, thereby not only ensuring no leakage between the side sealing plate and a continuous casting molten pool, but also reducing the wear speed of the side sealing plate as much as possible, ensuring that the side sealing plate is uniformly worn at a lower speed, and finally prolonging the service life of the side sealing plate.
According to an embodiment of the present invention, a computer storage medium is provided, and the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the control method of the thin strip continuous casting side seal pressing mechanism in any of the above method embodiments.
Fig. 9 is a schematic structural diagram of a computer device according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the computer device.
As shown in fig. 9, the computer apparatus may include: a processor (processor)902, a communication Interface 904, a memory 906, and a communication bus 908.
Wherein: the processor 902, communication interface 904, and memory 906 communicate with one another via a communication bus 908.
A communication interface 904 for communicating with network elements of other devices, such as clients or other servers.
The processor 902 is configured to execute a program 910, which may specifically execute relevant steps in the above-described control method embodiment of the thin strip continuous casting side seal pressing mechanism.
In particular, the program 910 may include program code that includes computer operating instructions.
The processor 902 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the invention. The computer device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
A memory 906 for storing a program 910. The memory 906 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 910 may specifically be configured to cause the processor 902 to perform the following operations:
detecting the real-time pressing force of the side sealing plate when the oil cylinder servo valve is opened according to the preset initial opening degree;
if the real-time pressing force is not less than a preset pressing force threshold value, calculating the dynamic opening degree of the servo valve by taking a preset initial pressing force as a target value and the real-time pressing force as a dynamic value according to an opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve so that the servo valve adjusts the opening degree of the servo valve according to the dynamic opening degree;
acquiring the current cylinder rod displacement of the oil cylinder according to a preset sampling period;
calculating the current wear rate of the side sealing plate according to the current cylinder rod displacement;
calculating the target pressing force of the side sealing plate by taking a preset ideal wear rate as a target value and the current wear rate as a dynamic value according to a pressing force PID control algorithm;
and calculating the dynamic opening degree of the servo valve by taking the target pressing force as a target value and the real-time pressing force as a dynamic value according to the opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The control method of the thin strip continuous casting side seal pressing mechanism is characterized in that the thin strip continuous casting side seal pressing mechanism comprises a side seal plate, a side seal mechanism and an oil cylinder;
a cylinder rod is arranged in the oil cylinder, the end part of the cylinder rod is connected with the side sealing mechanism, the side sealing mechanism is connected with the side sealing plate, the side sealing plate is pressed at the end part of a continuous casting molten pool to seal the continuous casting molten pool, and the continuous casting molten pool is arranged between two adjacent continuous casting crystallizing rollers;
the displacement adjustment of the cylinder rod is controlled through a servo valve so as to adjust the pressing force of the side sealing plate and the end part of the continuous casting molten pool;
the control method of the thin strip continuous casting side seal pressing mechanism comprises the following steps:
when the servo valve is opened at a preset initial opening degree, detecting the real-time pressing force of the side sealing plate;
if the real-time pressing force is not less than a preset pressing force threshold value, calculating the dynamic opening degree of the servo valve by taking the preset initial pressing force of the side sealing plate as a target value and the real-time pressing force as a dynamic value according to an opening degree PID control algorithm of the servo valve, and sending the dynamic opening degree to the servo valve so that the servo valve adjusts the opening degree of the servo valve according to the dynamic opening degree;
acquiring the current displacement of the cylinder rod according to a preset sampling period;
calculating the current wear rate of the side sealing plate according to the current displacement of the cylinder rod;
calculating the target pressing force of the side sealing plate by taking the preset ideal wear rate of the side sealing plate as a target value and the current wear rate as a dynamic value according to a pressing force PID control algorithm;
and judging whether the target pressing force is consistent with the preset pressing force, if not, calculating the dynamic opening degree of the servo valve by taking the target pressing force as a target value and the real-time pressing force as a dynamic value according to the opening degree PID control algorithm, and sending the dynamic opening degree to the servo valve.
2. The method of claim 1, wherein prior to obtaining the current displacement of the cylinder rod at the preset sampling period, the method further comprises:
calculating the rotation period of the thin strip continuous casting crystallization roller according to the rotation speed and the radius of the crystallization roller;
determining the rotation period as the preset sampling period.
3. The method of claim 1, wherein after acquiring the current rod displacement of the cylinder according to the preset sampling period, the method further comprises:
calculating the displacement difference of the current cylinder rod displacement of the adjacent preset sampling periods;
if the displacement difference is larger than a preset floating range, the current cylinder rod displacement of the next period is obtained again;
and if the displacement difference is not larger than the preset floating range, calculating the current wear rate of the side sealing plate according to the current cylinder rod displacement.
4. The method of claim 1, wherein said calculating a current wear rate of said side seal plate based on said current cylinder rod displacement comprises:
calculating the current wear rate according to a preset wear conversion formula
Figure FDA0003221706450000021
Where a is the current wear rate, p1Current cylinder rod displacement, p, for the first of said preset sampling periodsnCurrent cylinder rod displacement, t, for the nth preset sampling periodiIs the time of the ith said preset sampling period.
5. The method of claim 1, wherein after calculating the target compressive force of the side seal plate according to a compressive force PID control algorithm, the method further comprises:
judging whether the target pressing force is smaller than a limiting pressing force, wherein the limiting pressing force is the minimum pressing force of the side sealing plate for ensuring no liquid leakage;
and if so, calculating the dynamic opening degree of the servo valve by taking the limiting pressing force as a target value and the real-time pressing force as a dynamic value according to the opening degree PID control algorithm.
6. The method of claim 5, wherein prior to determining whether the target compressive force is less than a limiting compressive force, the method further comprises:
calculating the width of the liquid level of the molten pool according to a first preset formula
Figure FDA0003221706450000031
Wherein L is the molten pool liquid level width, r1The radius of the thin strip continuous casting crystallization roller, h is the liquid level height in the molten pool, and S is the roll gap width of the adjacent thin strip continuous casting crystallization roller;
calculating the static pressure of the side sealing plate born by the side sealing plate according to a second preset formula, wherein the second preset formula is Phρ gh, where PhThe static pressure of the side sealing plate is high, rho is the density of liquid in the molten pool, h is the height of the liquid level in the molten pool, and g is the gravity acceleration;
calculating the static pressure of the side sealing plate born by the side sealing plate according to a third preset formula, wherein the third preset formula is
Figure FDA0003221706450000032
Wherein F0The side seal plate static pressure born by the side seal plate;
calculating the limiting pressing force according to a fourth preset formula, wherein the fourth preset formula is F1＝k1F0In which F is1For said limiting pressing force, k1Coefficients are calculated for the pressure.
7. The control device of the thin strip continuous casting side seal pressing mechanism is characterized in that the thin strip continuous casting side seal pressing mechanism comprises a side seal plate, a side seal mechanism and an oil cylinder;
a cylinder rod is arranged in the oil cylinder, the end part of the cylinder rod is connected with the side sealing mechanism, the side sealing mechanism is connected with the side sealing plate, the side sealing plate is pressed at the end part of a continuous casting molten pool to seal the continuous casting molten pool, and the continuous casting molten pool is arranged between two adjacent continuous casting crystallizing rollers;
the displacement adjustment of the cylinder rod is controlled through a servo valve so as to adjust the pressing force of the side sealing plate and the end part of the continuous casting molten pool;
the control device includes:
the detection module is used for detecting the real-time pressing force of the side sealing plate when the oil cylinder servo valve is opened at the preset initial opening degree;
the sending module is used for calculating the dynamic opening degree of the servo valve by taking a preset initial pressing force as a target value and the real-time pressing force as a dynamic value according to an opening degree PID control algorithm if the real-time pressing force is not less than a preset pressing force threshold value, and sending the dynamic opening degree to the servo valve so that the servo valve adjusts the opening degree of the servo valve according to the dynamic opening degree;
the acquisition module is used for acquiring the current cylinder rod displacement of the oil cylinder according to a preset sampling period;
the first calculation module is used for calculating the current wear rate of the side sealing plate according to the current cylinder rod displacement;
the second calculation module is used for calculating the target pressing force of the side sealing plate by taking a preset ideal wear rate as a target value and the current wear rate as a dynamic value according to a pressing force PID control algorithm;
and the sending module is also used for calculating the dynamic opening degree of the servo valve by taking the target pressing force as a target value and the real-time pressing force as a dynamic value according to the opening degree PID control algorithm and sending the dynamic opening degree to the servo valve.
8. The apparatus of claim 7, further comprising:
the third calculation module is used for calculating the rotation period of the thin strip continuous casting crystallization roller according to the rotation speed of the thin strip continuous casting crystallization roller and the radius of the crystallization roller before the current cylinder rod displacement of the oil cylinder is obtained according to the preset sampling period;
a determining module, configured to determine the rotation period as the preset sampling period.
9. A computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the method of controlling a thin strip casting edge seal pressing mechanism according to any one of claims 1 to 6.
10. A computer device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction which causes the processor to execute the operation corresponding to the control method of the thin strip continuous casting side seal pressing mechanism according to any one of claims 1-6.
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