CN114483723A - Control method and device for synchronous lifting of equipment - Google Patents
Control method and device for synchronous lifting of equipment Download PDFInfo
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- CN114483723A CN114483723A CN202111602402.5A CN202111602402A CN114483723A CN 114483723 A CN114483723 A CN 114483723A CN 202111602402 A CN202111602402 A CN 202111602402A CN 114483723 A CN114483723 A CN 114483723A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 56
- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims description 49
- 230000008569 process Effects 0.000 claims description 28
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000001174 ascending effect Effects 0.000 claims description 5
- 230000010355 oscillation Effects 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 238000009749 continuous casting Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
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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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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Abstract
The invention provides a method and a device for controlling synchronous lifting of equipment, which comprises the following steps: executing moving operation on each execution point preset on the equipment according to the moving direction indicated by the lifting instruction of the equipment; acquiring real-time positions of the execution points in real time, and selecting the execution point with the most rear real-time position as a compensation point based on the moving direction according to a preset time interval; performing motion compensation processing on the compensation point to increase the moving speed of the compensation point in the moving direction; when the equipment moves to the preset position, the execution point with the most front real-time position is locked based on the moving direction, and a new compensation point is selected from the rest execution points. The invention can solve the problems that the quantity of compensation transmission is randomly generated and multi-point control is easy to cause system oscillation and influence the synchronization precision in the prior art; and the energy supply system is specially designed.
Description
Technical Field
The invention relates to the technical field of wet metallurgy, in particular to a method and a device for controlling synchronous lifting of equipment.
Background
In the continuous casting production process, some large-scale equipment need be gone up and down in step, for example, the pans need adjust the height of pans through the pans elevating system, but whatever kind of elevating system all need control the pans and keep the level throughout in the lift process, and the tank car mostly adopts 4 a actuating mechanism to accomplish the lift function in the middle of at present.
In order to ensure the synchronous lifting process of the tundish car, the synchronous lifting function of the tundish car is realized by detecting the difference between the position values of the 4 points and controlling the respective compensation transmission through the execution of the execution mechanism. In the existing control method, the number of compensation transmissions participating in control is random number, and random multipoint control easily causes system oscillation and influences synchronization precision while the number of the compensation transmissions is formed; the compensation transmission action quantity is random, and the energy supply needs to meet the requirement that all compensation transmissions act simultaneously, so the capacity of the energy supply system is large, and the energy supply system is generally required to be specially designed.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method and an apparatus for controlling synchronous lifting of a device, so as to solve the problems that the number of the current compensation transmissions is randomly generated and controlled in multiple points, which easily causes system oscillation and affects the synchronization precision; and the energy supply needs to meet the requirement that all compensation transmissions act simultaneously, so that the energy supply system has large capacity, and the energy supply system needs to be specially designed.
The invention provides a control method for synchronous lifting of equipment, which comprises the following steps:
executing moving operation on each execution point preset on the equipment according to the moving direction indicated by the lifting instruction of the equipment;
acquiring real-time positions of the execution points in real time, and selecting the execution point with the most rear real-time position as a compensation point based on the moving direction according to a preset time interval;
performing motion compensation processing on the compensation point to increase the moving speed of the compensation point in the moving direction;
when the device moves to a preset position, locking an execution point at the most front real-time position based on the moving direction, taking the locked execution point as a first locking point, taking the real-time position when the first locking point is locked as a first locking position, and selecting a new compensation point from the rest execution points;
and performing motion compensation processing on the new compensation points, and locking an execution point of which the real-time position reaches or exceeds the first locking position in the motion direction at each time until all the execution points are locked, thereby completing the lifting of the equipment.
In addition, it is preferable that, when the lifting command of the device is a lifting command of the device, the execution point is moved upward; the compensation point is an execution point corresponding to the real-time position with the minimum position value; the moving compensation processing of the compensation points comprises the following steps: the speed at which the compensation point is moved upwards is increased.
In addition, it is preferable that, when the lifting command of the device is a landing command of the device, the execution point is moved downward; the compensation point is an execution point corresponding to the real-time position with the maximum position value; the motion compensation processing on the compensation points comprises the following steps: the speed at which the compensation point is moved downwards is increased.
In addition, it is preferable that, in the process of performing the moving operation on each execution point preset on the device according to the moving direction indicated by the lifting command of the device, the execution point is moved by an execution mechanism preset on the execution point.
In addition, preferably, in the process of acquiring the real-time position of each execution point in real time, selecting the execution point with the rearmost real-time position based on the moving direction according to a preset time interval, and using the execution point as a compensation point, the real-time position of the execution point is acquired in real time by arranging a displacement sensor at the execution point; and/or selecting an execution point with the most back real-time position as a compensation point through a PLC automatic control system.
Further, it is preferable that, in the process of performing the motion compensation processing on the compensation point to increase the moving speed of the compensation point in the moving direction, the motion compensation processing is performed on the compensation point by a compensation transmission mechanism provided in advance at the compensation point.
In addition, it is preferable that, in the process of performing motion compensation processing on the new compensation point, locking the execution points, in the motion direction, at which one real-time position reaches or exceeds the first locking position each time until all the execution points are locked and completing the lifting of the equipment,
sequentially locking the execution points of which the real-time positions reach or exceed the first locking position, and locking one execution point each time; and after the execution point is locked each time, re-selecting a new compensation point again, and performing compensation processing on the re-selected new compensation point until the last execution point is locked to finish the lifting of the equipment.
In addition, it is preferable that the number of the execution points is four; and the four execution points are uniformly arranged around the whole body of the equipment; the compensation transmission mechanism is arranged at each execution point.
In addition, it is preferable that the apparatus is a tundish.
The invention provides a control device for synchronous lifting of equipment, which comprises:
the mobile execution module is used for executing mobile operation on each execution point preset on the equipment according to the mobile direction indicated by the lifting instruction of the equipment;
the compensation point selection module is used for acquiring the real-time positions of the execution points in real time, and selecting the execution point with the most back real-time position as the compensation point based on the moving direction according to a preset time interval;
the compensation execution module is used for carrying out motion compensation processing on the compensation point so as to increase the moving speed of the compensation point in the moving direction;
a first locking point locking module, configured to lock, when the device moves to a preset position, an execution point at which a real-time position is the most forward, based on the moving direction, take the locked execution point as a first locking point, take the real-time position at which the first locking point is locked as a first locking position, and select a new compensation point from the remaining execution points;
and the execution point locking module is used for carrying out movement compensation processing on the new compensation point, and locking an execution point of which the real-time position reaches or exceeds the first locking position in the movement direction at each time until all the execution points are locked, so that the equipment is lifted.
According to the technical scheme, the control method and the control device for synchronous lifting of the equipment provided by the invention have the advantages that compensation control is carried out on the compensation points by selecting one compensation point each time, the compensation direction is the same as the moving direction, and system oscillation easily caused by simultaneous participation of multi-point compensation transmission is avoided; the energy supply capacity of compensation transmission is reduced, the energy consumption is low, an independent energy supply system is not required, and the economic benefit is high; the more the number of the execution points is, the more obvious the economic benefit is.
To the accomplishment of the foregoing and related ends, one or more aspects of the invention comprise the features hereinafter fully described. The following description and the annexed drawings set forth in detail certain illustrative aspects of the invention. These aspects are indicative, however, of but a few of the various ways in which the principles of the invention may be employed. Further, the present invention is intended to include all such aspects and their equivalents.
Drawings
Other objects and results of the present invention will become more apparent and more readily appreciated as the same becomes better understood by reference to the following description taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 is a flowchart of a control method for synchronous lifting of a device according to an embodiment of the present invention;
fig. 2 is a structural diagram of a control device for synchronously lifting and lowering a device according to an embodiment of the present invention.
In the attached drawing, 1-main drive, 2-compensation drive mechanism, 3-actuating mechanism, 4-displacement sensor, 5-PLC automatic control system.
The same reference numbers in all figures indicate similar or corresponding features or functions.
Detailed Description
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details.
Aiming at the problems that the number of the conventional compensation transmission is randomly generated and multi-point control is performed, system oscillation is easily caused, and the synchronization precision is influenced; and the energy supply needs to meet the requirement that all compensation transmissions act simultaneously, so that the energy supply system has large capacity, the energy supply system needs to be specially designed, and the like.
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In order to explain the control method for synchronous lifting of the device provided by the present invention, fig. 1 shows a flow of the control method for synchronous lifting of the device according to an embodiment of the present invention; fig. 2 shows the structure of a control device for synchronous lifting of equipment according to an embodiment of the present invention.
As shown in fig. 1 and fig. 2, the method for controlling synchronous lifting of equipment provided by the invention comprises the following steps:
s1, executing moving operation on each execution point preset on the equipment according to the moving direction indicated by the lifting instruction of the equipment;
s2, acquiring real-time positions of the execution points in real time, and selecting the execution point with the most rear real-time position as a compensation point based on the moving direction according to a preset time interval;
s3, performing motion compensation processing on the compensation point to increase the moving speed of the compensation point in the moving direction;
s4, when the device moves to the preset position, based on the moving direction, locking the executing point at the most front position, using the locked executing point as the first locking point, using the real-time position when the first locking point is locked as the first locking position, and selecting a new compensation point from the rest executing points;
and S5, performing motion compensation processing on the new compensation points, and locking an execution point with a real-time position reaching or exceeding the first locking position in the motion direction at a time until all the execution points are locked to finish the lifting of the equipment.
Compensation control is carried out on the compensation points by selecting one compensation point each time, and the compensation direction is the same as the moving direction, so that system oscillation easily caused by simultaneous participation of multi-point compensation transmission is avoided; the energy supply capacity of compensation transmission is reduced, the energy consumption is low, an independent energy supply system is not required, and the economic benefit is high; the more the number of the execution points is, the more obvious the economic benefit is.
As a preferred embodiment of the present invention, when the lifting command of the device is a lifting command of the device, the execution point is moved upward; the compensation point is an execution point corresponding to the real-time position with the minimum position value; the motion compensation processing of the compensation points comprises the following steps: the speed at which the compensation point moves upward is increased.
When the processor receives a lifting instruction of the equipment, the processor performs upward movement on the execution point; in the moving process, the moving speeds of different execution points are different, so in order to enable the equipment to stably rise upwards, a point which moves slowest in the upwards moving process, namely an execution point corresponding to a real-time position with the minimum position value, is required to be obtained and used as a compensation point, the upward moving speed of the compensation point is increased, the moving position of each position in the equipment rising process is balanced, the rising speed of the compensation point is increased, the real-time position of the compensation point is larger than the positions of other execution points, the real-time position with the minimum value of the execution point is continuously updated, and one compensation point is selected according to a preset time interval, such as 1 second, so that the purpose of accelerating the rising speed of one compensation point, namely the execution point moving furthest backwards in the rising process is achieved each time, and the equipment is synchronously lifted.
As a preferred embodiment of the present invention, when the lifting command of the device is a landing command of the device, the downward movement is performed on the execution point; the compensation point is an execution point corresponding to the real-time position with the maximum position value; the motion compensation processing of the compensation points comprises the following steps: the speed at which the compensation point moves down is increased.
When the processor receives a landing instruction of the equipment, the processor executes downward movement on the execution point; in the moving process, the moving speeds of different execution points are different, so in order to make the equipment stably land downwards, a point which moves slowest when the equipment moves downwards, namely an execution point corresponding to a real-time position with the largest position value is required to be obtained as a compensation point, the moving speed of the compensation point is increased, the moving position of each position in the process of starting the balance equipment is balanced, the speed of the compensation point is accelerated to reduce the speed, the real-time position of the compensation point is inevitably smaller than the positions of other execution points, the real-time position with the largest value of the execution point is continuously updated, and one compensation point is selected according to a preset time interval, such as 1 second, so that the purpose of accelerating the falling of one compensation point at each time, namely the execution point moving furthest backwards in the process of landing is achieved, and the equipment is enabled to land synchronously.
As a preferred embodiment of the present invention, in the process of performing the moving operation on each execution point preset on the device according to the moving direction indicated by the lifting instruction of the device, the execution point is moved by the execution mechanism preset at the execution point.
The actuator may be a conventional actuator, such as a hydraulic cylinder. When the processor receives a lifting instruction, the instruction is transmitted to each execution mechanism through the main transmission, so that the execution mechanisms simultaneously execute the lifting or falling instruction.
As a preferred embodiment of the present invention, in the process of acquiring real-time positions of the execution points in real time, selecting an execution point closest to the real-time position based on the moving direction according to a preset time interval, and using the execution point as a compensation point, the real-time position of the execution point is acquired in real time by arranging a displacement sensor at the execution point; and/or selecting an execution point with the most back real-time position as a compensation point through a PLC automatic control system.
The real-time position of the execution point can be acquired in real time by arranging a displacement sensor at each execution point. And (4) quickly and accurately selecting a compensation point through a PLC automatic control system. The real-time position precision of the compensation point can be determined by the timing repetition time of a PLC automatic control system, and the PLC execution time is very fast, so the moving process is stable, and the synchronization precision is high.
As a preferred embodiment of the present invention, in the process of performing the movement compensation process on the compensation point to increase the moving speed of the compensation point in the moving direction, the movement compensation process is performed on the compensation point by the compensation transmission mechanism previously set at the compensation point.
When the compensation transmission mechanism executes the instruction, the action speed of each execution mechanism can be influenced. When the main transmission is in the rise, the compensation transmission mechanism executes the rise instruction, and the rise speed of the execution mechanism is accelerated;
when the main transmission is descending, the compensation transmission mechanism executes a descending instruction, and the speed reduction of the execution mechanism is accelerated.
In the preferred embodiment of the invention, in the process of performing motion compensation processing on the new compensation point, in the moving direction, each time locking one real-time position to reach or exceed the execution point of the first locking position until all the execution points are locked, and in the process of completing the lifting of the equipment,
sequentially locking the execution points of which the real-time positions reach or exceed the first locking position, and locking one execution point each time; and, after each locking of an execution point, re-selecting a new compensation point again, and re-selecting the new one again.
When the equipment is lifted (lowered) to a preset position, a main transmission lifting (lowering) instruction is cancelled, at the moment, the compensation transmission mechanism to which the execution mechanism with the largest (small) real-time bit belongs and the largest (small) position of the compensation transmission mechanism are locked, the real-time bit minimum (large) values of other execution mechanisms are continuously updated, the compensation transmission mechanism to which the execution mechanism belongs executes the lifting (lowering) instruction, once the real-time position is more than or equal to (less than or equal to) the locked largest (small) position, the compensation transmission mechanism to which the execution mechanism belongs is locked until all the compensation transmission mechanisms are locked, and the lifting (lowering) process is executed completely.
As a preferred embodiment of the present invention, the number of execution points is four; the four execution points are uniformly arranged around the whole body of the equipment; a compensating transmission mechanism is arranged at each execution point.
The number of the execution points is preferably four, and the four execution points are uniformly arranged around the whole body of the equipment so that the equipment can be stably kept in the lifting process.
As a preferred embodiment of the invention, the apparatus is a tundish. And the lifting device can also be used for other large-scale equipment needing synchronous lifting.
The invention provides a control device for synchronous lifting of equipment, which comprises:
the mobile execution module is used for executing mobile operation on each execution point preset on the equipment according to the moving direction indicated by the lifting instruction of the equipment;
the compensation point selection module is used for acquiring the real-time position of each execution point in real time, and selecting the execution point with the most rear real-time position as the compensation point based on the moving direction according to a preset time interval;
the compensation execution module is used for carrying out motion compensation processing on the compensation point so as to increase the moving speed of the compensation point in the moving direction;
the device comprises a first locking point locking module, a second locking point locking module and a compensation module, wherein the first locking point locking module is used for locking an execution point which is the most front of a real-time position based on a moving direction when the device moves to a preset position, taking the locked execution point as a first locking point, taking the real-time position of the first locking point when the first locking point is locked as a first locking position, and selecting a new compensation point from the rest execution points;
and the execution point locking module is used for performing motion compensation processing on the new compensation point, locking the execution point of which the real-time position reaches or exceeds the first locking position in the moving direction until all the execution points are locked, and finishing the lifting of the equipment.
Fig. 2 shows the structure of a control device for synchronous lifting of equipment according to an embodiment of the present invention.
As shown in fig. 2, an example apparatus of a control device for synchronously lifting and lowering a device provided by the present invention includes: the automatic compensation device comprises a main transmission 1, an executing mechanism 3, a compensation transmission mechanism 2 and a PLC automatic control system 5, wherein the executing mechanism 3, the compensation transmission mechanism 2 and the PLC automatic control system 5 are connected with the main transmission 1, the displacement sensor 4 and the compensation transmission mechanism 2 are both connected with the PLC automatic control system 5, and the executing mechanism 3 is connected with the compensation transmission mechanism 2.
When the main transmission 1 executes an ascending instruction, all the actuating mechanisms 3 ascend, and the other way round.
When the compensation transmission mechanisms 2 execute instructions, the speed of the action speed of the corresponding execution mechanism 3 can be influenced. The actuator 3 is responsible for executing the commands of the main transmission 1 and the compensating transmission 2. The displacement sensors 4 are responsible for detecting the real-time displacement of the respective actuators 3.
In order to better describe and explain the control method for synchronous lifting of the equipment provided by the invention, the following specific embodiments are provided.
Example 1
The current middle tank car executes lifting operation, the position values at a certain moment are respectively 5.1, 5.2, 5.0 and 5.4, the PLC automatic control system 5 selects the compensation transmission mechanism 2 of 5.0 to execute lifting instructions, the real-time positions at the next moment are respectively 5.5, 5.6, 5.8 and 5.7, the PLC automatic control system 5 selects the compensation transmission mechanism of 5.5 to execute lifting instructions, and the PLC automatic control system 5 continuously executes repeatedly at regular time; when the lifting operation of the intermediate tank car is finished, the real-time positions are respectively 15.1, 15.2, 15.0 and 15.4, the PLC automatic control system 5 cancels the action of the main transmission 1, locks the compensation transmission mechanism of 15.4 and the maximum value of 15.4, simultaneously selects the compensation transmission mechanism of 15.0 to execute a lifting instruction, the positions at the next moment are respectively 15.1, 15.2, 15.42 and 15.4, the PLC automatic control system 5 locks the compensation transmission mechanism of 15.42, the PLC automatic control system 5 selects the compensation transmission mechanism of 15.1 to execute the lifting instruction, the positions at the next moment are respectively 15.41, 15.2, 15.42 and 15.4, the PLC automatic control system 5 locks the compensation transmission mechanism of 15.41, the PLC automatic control system 5 selects the compensation transmission execution lifting instruction of 15.2, and when the value is 15.4, the compensation transmission mechanism is locked. At this point, all compensating gears are locked and the entire lift process is complete.
For example, the compensating gear requires 2A current for operation, the conventional control method requires an energy capacity of at least 8A current, and the larger the number of compensating gears 2, the larger the energy supply required. In the control method provided by the invention, no matter how many compensation transmission mechanisms exist, only one path of energy capacity of 2A current is needed to be provided because only one compensation transmission works at each time, so that an independent energy supply system is not needed to be designed.
According to the control method and the control device for synchronous lifting of the equipment, compensation control is carried out on the compensation points by selecting one compensation point each time, and the compensation direction is the same as the moving direction, so that system oscillation easily caused by simultaneous participation of multi-point compensation transmission is avoided; the energy supply capacity of compensation transmission is reduced, the energy consumption is low, an independent energy supply system is not required, and the economic benefit is high; the more the number of the execution points is, the more obvious the economic benefit is.
The control method and the device for synchronous lifting of the device proposed by the present invention are described above by way of example with reference to the accompanying drawings. However, it should be understood by those skilled in the art that various modifications can be made to the control method and apparatus for synchronous lifting of devices provided by the present invention without departing from the scope of the present invention. Therefore, the scope of the present invention should be determined by the contents of the appended claims.
Claims (10)
1. A control method for synchronous lifting of equipment is characterized by comprising the following steps:
executing moving operation on each execution point preset on the equipment according to the moving direction indicated by the lifting instruction of the equipment;
acquiring the real-time position of each execution point in real time, and selecting the execution point with the most back real-time position as a compensation point based on the moving direction according to a preset time interval;
performing motion compensation processing on the compensation point to increase the moving speed of the compensation point in the moving direction;
when the device moves to a preset position, locking an execution point at the most front real-time position based on the moving direction, taking the locked execution point as a first locking point, taking the real-time position when the first locking point is locked as a first locking position, and selecting a new compensation point from the rest execution points;
and performing motion compensation processing on the new compensation points, and locking an execution point of which the real-time position reaches or exceeds the first locking position in the motion direction at each time until all the execution points are locked, thereby completing the lifting of the equipment.
2. The synchronous lifting control method of equipment according to claim 1, wherein when the lifting command of the equipment is a lifting command of the equipment,
performing an upward movement on the execution point;
the compensation point is an execution point corresponding to the real-time position with the minimum position value;
the motion compensation processing on the compensation points comprises the following steps: the speed at which the compensation point is moved upward is increased.
3. The method for controlling synchronous ascending and descending of equipment according to claim 1, wherein when the ascending and descending command of the equipment is the descending command of the equipment,
performing a downward movement on the execution point;
the compensation point is an execution point corresponding to the real-time position with the maximum position value;
the motion compensation processing on the compensation points comprises the following steps: the speed at which the compensation point is moved downwards is increased.
4. The method for controlling synchronous ascending and descending of equipment according to claim 1, wherein in the process of executing the moving operation on each execution point preset on the equipment according to the moving direction indicated by the ascending and descending instruction of the equipment,
and executing movement on the execution point through an execution mechanism preset at the execution point.
5. The method for controlling synchronous lifting of equipment according to claim 1, wherein in the process of acquiring real-time positions of the execution points in real time, and selecting the execution point with the rearmost real-time position as the compensation point based on the moving direction according to a preset time interval,
the real-time position of the execution point is obtained in real time by arranging a displacement sensor at the execution point; and/or selecting an execution point with the most back real-time position as a compensation point through a PLC automatic control system.
6. The method for controlling synchronous lifting of equipment according to claim 1, wherein in the process of performing motion compensation processing on the compensation point to increase the moving speed of the compensation point in the moving direction, the compensation point is subjected to motion compensation processing through a compensation transmission mechanism preset at the compensation point.
7. The method for controlling synchronous lifting of equipment according to claim 1, wherein in the process of performing motion compensation processing on the new compensation point, in the motion direction, locking the execution points of which the real-time positions reach or exceed the first locking position one at a time until all the execution points are locked and lifting of the equipment is completed,
sequentially locking the execution points of which the real-time positions reach or exceed the first locking position, and locking one execution point each time; and after the execution point is locked each time, re-selecting a new compensation point, and performing compensation processing on the re-selected new compensation point until the last execution point is locked to finish the lifting of the equipment.
8. The method for controlling synchronous lifting of equipment according to claim 1,
the number of the execution points is four; and the four execution points are uniformly arranged around the whole body of the equipment; the compensation transmission mechanism is arranged at each execution point.
9. The method for controlling synchronous lifting of equipment according to claim 1,
the apparatus is a tundish.
10. The utility model provides a controlling means that equipment goes up and down in step which characterized in that includes:
the mobile execution module is used for executing mobile operation on each execution point preset on the equipment according to the mobile direction indicated by the lifting instruction of the equipment;
the compensation point selection module is used for acquiring the real-time positions of the execution points in real time, and selecting the execution point with the most back real-time position as the compensation point based on the moving direction according to a preset time interval;
the compensation execution module is used for carrying out motion compensation processing on the compensation point so as to increase the moving speed of the compensation point in the moving direction;
a first locking point locking module, configured to lock, when the device moves to a preset position, an execution point at which a real-time position is the most forward, based on the moving direction, take the locked execution point as a first locking point, take the real-time position at which the first locking point is locked as a first locking position, and select a new compensation point from the remaining execution points;
and the execution point locking module is used for carrying out movement compensation processing on the new compensation point, and locking an execution point of which the real-time position reaches or exceeds the first locking position in the movement direction at each time until all the execution points are locked, so that the equipment is lifted.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2860682Y (en) * | 2005-12-14 | 2007-01-24 | 大连华锐股份有限公司 | Middle tank car four-cylinder synchronization hydraulic lifting motion |
| CN1903698A (en) * | 2006-08-04 | 2007-01-31 | 长江三峡通航管理局 | Multipoint synchronous lifting device and its lifting method |
| CN102192206A (en) * | 2011-05-24 | 2011-09-21 | 中国重型机械研究院有限公司 | Hydraulic dynamic synchronization control and position compensation system |
| CN104832499A (en) * | 2015-03-20 | 2015-08-12 | 中冶赛迪电气技术有限公司 | Deviation-balancing-based lifting synchronization control method and apparatus of tundish car |
| CN105020192A (en) * | 2015-07-30 | 2015-11-04 | 中国重型机械研究院股份公司 | Novel steel ladle lifting synchronous control system |
| CN107314000A (en) * | 2017-06-22 | 2017-11-03 | 马鞍山钢铁股份有限公司 | Synchronisation control means based on continuous casting production lifting hydraulic cylinder synchronous control system |
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2021
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| CN2860682Y (en) * | 2005-12-14 | 2007-01-24 | 大连华锐股份有限公司 | Middle tank car four-cylinder synchronization hydraulic lifting motion |
| CN1903698A (en) * | 2006-08-04 | 2007-01-31 | 长江三峡通航管理局 | Multipoint synchronous lifting device and its lifting method |
| CN102192206A (en) * | 2011-05-24 | 2011-09-21 | 中国重型机械研究院有限公司 | Hydraulic dynamic synchronization control and position compensation system |
| CN104832499A (en) * | 2015-03-20 | 2015-08-12 | 中冶赛迪电气技术有限公司 | Deviation-balancing-based lifting synchronization control method and apparatus of tundish car |
| CN105020192A (en) * | 2015-07-30 | 2015-11-04 | 中国重型机械研究院股份公司 | Novel steel ladle lifting synchronous control system |
| CN107314000A (en) * | 2017-06-22 | 2017-11-03 | 马鞍山钢铁股份有限公司 | Synchronisation control means based on continuous casting production lifting hydraulic cylinder synchronous control system |
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