CN202207713U - Double valve linkage closed loop control device for realizing roller bending and balance of working roller - Google Patents
Double valve linkage closed loop control device for realizing roller bending and balance of working roller Download PDFInfo
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- CN202207713U CN202207713U CN2011202054578U CN201120205457U CN202207713U CN 202207713 U CN202207713 U CN 202207713U CN 2011202054578 U CN2011202054578 U CN 2011202054578U CN 201120205457 U CN201120205457 U CN 201120205457U CN 202207713 U CN202207713 U CN 202207713U
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- servo valve
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Abstract
The utility model discloses a double valve linkage closed loop control device for realizing roller bending and balance of a working roller, mainly comprising a control circuit, four bending roller hydraulic cylinders, two electro hydraulic servo valves, two pressure transducers, and two safety valves, wherein: the four bending roller hydraulic cylinders are characterized in that, no-rod chambers are in a parallel connection at one end and then are connected with a work oil port A of a first electro hydraulic servo valve via a hydraulic lock, rod chambers are in a parallel connection at one end and are connected with a work oil port B of a second electro hydraulic servo valve via a second hydraulic lock; a safety valve is respectively disposed between the no-rod chambers at one end and the hydraulic lock, and between the rod chambers at one end and the hydraulic lock; a pressure transducer is respectively disposed on an oil path close to the no-rod chambers at one end and on an oil path close to the rod chambers at one end; and the control circuit is formed by a bending roller calculating module, a dynamic pressure feedback module, a controller, a proportion coefficient, and a compensation value. The double valve linkage closed loop control device is advantaged by high rolling yield, good control performance, improvement of control precision, good application effect, etc.
Description
Technical field
The utility model relates to control device, particularly relates to a kind of dual-valve linkage closed-loop control device that is used to realize the roller and the balance of working roll.
Background technology
At present, in strip-mill strip or planisher, the asymmetrical cylinder of normal configuration parallel connection is to realize the roller and the balance of working roll; Be easy to generate superpressure and cavitation erosion when controlling asymmetrical cylinder with single servo valve; The system of the two servo valves of configuration often only is used for closed-loop control with a valve, and another valve takes back oil circuit, and a control weak effect and a chamber that takes back oil circuit are easy to produce cavitation erosion; When realizing the working roll equilibrium function, the impact that produces with open loop control mode is big, is easy to damage equipment and produces oil liquid leakage.
The roller balance sysmte of working roll is the core subsystem of HAGC system, and is particularly important to the plate shape quality of strip.Work roll bending control will aspire for stability, accurately and response fast; When switching, positive and negative roller pattern require soft impulse power little; And require impulsive force as far as possible little during the working roll Balance Control.
Summary of the invention
The utility model technical problem to be solved is: a kind of dual-valve linkage closed-loop control device that is used to realize the roller and the balance of working roll is provided, to solve the problem that prior art exists.
The technical scheme that its technical problem that solves the utility model adopts is: mainly be made up of control loop and 4 roller hydraulic cylinders, 2 electrohydraulic servo valves, 2 pressure sensors, 2 safety valves; Wherein: said 4 roller hydraulic cylinders; The parallel connection of their rodless cavity one end is after linked to each other with the actuator port A of first electrohydraulic servo valve by first hydraulic lock, and their rod chamber one end is parallelly connected after linked to each other with the actuator port B of second electrohydraulic servo valve by second hydraulic lock; Between rodless cavity one end and the hydraulic lock, between rod chamber one end and hydraulic lock, dispose a safety valve respectively; On oil circuit, dispose a pressure sensor respectively on the oil circuit near rodless cavity one end, near rod chamber one end; Said control loop is made up of bending roller force computing module, dynamic pressure feedback module, controller, proportionality coefficient and two offsets, and wherein, the measured value of said pressure sensor is fed to bending roller force computing module and dynamic pressure feedback module; The output of bending roller force computing module and setting value relatively back get into controller; Stack first offset is as the command signal of first electrohydraulic servo valve after the output of the output of controller and dynamic pressure feedback module relatively; Multiply by proportionality coefficient after the output relatively of the output of controller and dynamic pressure feedback module and second offset that superposes, as the command signal of second electrohydraulic servo valve.
Said first electrohydraulic servo valve and second electrohydraulic servo valve can adopt the identical servo valve of model.
Said controller adopts the PI controller.
The utility model compared with prior art has following main beneficial effect:
1. improved lumber recovery: the roller balance sysmte of working roll is the core subsystem of HAGC system.The control of high-performance roller is a key technology in the rolling mill hydraulic roll gap control system, thereby the plate shape quality that can improve strip improves lumber recovery.The utility model combines high performance hydraulic press down system and stable tension control system, plate two-shipper frame planisher and cover as thin as a wafer move back on the smooth unit of engineering the percentage elongation absolute precision be superior to 0.05% and plate shape good.
2. improved control performance: thus the dual-valve linkage control strategy has also been taken into account the balance of working roll and has been simplified system configuration and improved control performance.Disposed the work roll bending balance sysmte of the utility model, in addition configuration effort roller balanced hydraulic transmission loop; With the balance of hydraulic drive circuit realization working roll, impulsive force is big when arriving balance position, and homeostasis power is excessive, and equipment is prone to cause damage and is prone to cause hydraulic joint to reveal.With the balance of dual-valve linkage control realization working roll, equilibrant force can be set arbitrarily and can reduce hydraulic shock power.
3. improved control accuracy: use dual-valve linkage control strategy, guaranteed positive and negative curved height response, high accuracy and robust stability of working roll in the normal operation of rolling with dynamic pressure feedback; Move back the work roll bending balance dual-valve linkage hydraulic pressure closed-loop control system that has disposed the utility model on the smooth unit of engineering at plate two-shipper frame planisher as thin as a wafer and cover, the step response of positive and negative bending roller force is less than 50ms, and control accuracy is superior to 2%; Use dynamic pressure feedback can make the overshoot reduction even the non-overshoot of roller Force control system.
4. effect is good: the working roll Balance Control is used the dual-valve linkage closed-loop control of just curved pattern.Move back the work roll bending balance dual-valve linkage hydraulic pressure closed-loop control system that has disposed the utility model on the smooth unit of engineering at cover; The working roll balance is used the just curved control model of dual-valve linkage; When positive bending roller force was set to 100KN, hydraulic shock power was less than 10KN when arriving balance roll change position.
Description of drawings
Fig. 1 is the structural representation of dual-valve linkage closed-loop control device that is used to realize roller and the balance of working roll.
Among the figure: 1. the first roller hydraulic cylinder; 2. the second roller hydraulic cylinder; 3. the 3rd roller hydraulic cylinder; 4. the 4th roller hydraulic cylinder; 5. second pressure sensor; 6. second safety valve; 7. second hydraulic lock; 8. second electrohydraulic servo valve; 9. second offset; 10. proportionality coefficient; 11. first electrohydraulic servo valve; 12. first hydraulic lock; 13. first offset; 14. first safety valve; 15. first pressure sensor; 16. controller; 17. dynamic pressure feedback module; 18. bending roller force computing module.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing the utility model is described further.
The utility model provides is used to realize the dual-valve linkage closed-loop control device of the roller and the balance of working roll; Its structure is as shown in Figure 1; Mainly form by control loop and 4 roller hydraulic cylinders, 2 electrohydraulic servo valves, 2 pressure sensors, 2 safety valves; Wherein: said roller hydraulic cylinder is the first roller hydraulic cylinder 1, the second roller hydraulic cylinder 2, the 3rd roller hydraulic cylinder 3 and the 4th roller hydraulic cylinder 4; The parallel connection of their rodless cavity one end is after linked to each other by the actuator port A of first hydraulic lock 12 with first electrohydraulic servo valve 11, and their rod chamber one end is parallelly connected after linked to each other by the actuator port B of second hydraulic lock 7 with second electrohydraulic servo valve 8; Configuration first safety valve 14 between hydraulic cylinder rodless cavity one end and first hydraulic lock 12, configuration second safety valve 6 is avoided superpressure with protection equipment between hydraulic cylinder rod chamber one end and second hydraulic lock 7; On near the oil circuit of hydraulic cylinder rodless cavity one end, dispose first pressure sensor 15, near the oil circuit of hydraulic cylinder rod chamber one end, dispose second pressure sensor 5, the pressure of measuring hydraulic cylinder two chambeies is to be used to calculate actual bending roller force and calculating dynamic pressure value of feedback.
Said control loop is made up of bending roller force computing module 18, dynamic pressure feedback module 17, controller 16, first offset 13, second offset 9 and proportionality coefficient 10, and wherein: the measured value of first pressure sensor 15 and second pressure sensor 5 is fed to bending roller force computing module 18 and dynamic pressure feedback module 17; The output of bending roller force computing module 18 and setting value relatively back get into controller 16; Stack first offset 13 is as the command signal of first electrohydraulic servo valve 11 after the output of the output of controller 16 and dynamic pressure feedback module 17 relatively; Multiply by proportionality coefficient 10 after the output relatively of the output of controller 16 and dynamic pressure feedback module 17 and second offset 9 that superposes, as the command signal of second electrohydraulic servo valve 8.Controller 16 is the PI controller.
Said bending roller force computing module 18 is: the total lifting surface area of rodless cavity of establishing parallelly connected asymmetrical cylinder is A
1, the total lifting surface area of rod chamber is A
2, the detected pressures of rodless cavity is P
1, the detected pressures of rod chamber is P
2, then the bending roller force computing formula is P
1* A
1-P
2* A
2
The transfer function of said dynamic pressure feedback module 17 is: (P
1-P
2* A
2/ A
1) * K
Fp* T
p s/ (T
p s+ 1), T wherein
pBe dynamic pressure feedback time constant, 1/T
pApproximate 1/3 of hydraulic natural frequency, the K of being taken as
FpBe the dynamic pressure feedback oscillator, s is the Laplace transform complex variable.
Said controller 16 adopts the PI controller, and this controller is " proportional+integral " adjuster, is applicable to the elastic load to be main roller Force control system.
Said first offset 13 is used to compensate the partially zero of first electrohydraulic servo valve 11, to replenish the machinery or the electronic zero-setting of electrohydraulic servo valve.
Said second offset 9 is used to compensate the partially zero of second electrohydraulic servo valve 8, to replenish the machinery or the electronic zero-setting of electrohydraulic servo valve.
Said proportionality coefficient 10 be hydraulic cylinder two chamber lifting surface areas than n=A
2/ A
1
Said second hydraulic lock 7 and first hydraulic lock 12 are used for the keying of hydraulic circuit, all can adopt the electromagnetic hydraulic pressure lock, and for example adopting model is the WANDFLUH Solenoid ball valve of ZS22101A.
The utility model provides the above-mentioned dual-valve linkage closed-loop control device that is used to realize the roller and the balance of working roll, its course of work is following:
Referring to Fig. 1; The work roll bending balance is with asymmetrical cylinder (the first roller hydraulic cylinder 1 of four parallel connections of two servo valve controls; The second roller hydraulic cylinder, 2, the three roller hydraulic cylinders, 3, the four roller hydraulic pressure 4) realize; Wherein the A actuator port of first electrohydraulic servo valve 11 connects the parallel connected end of 4 roller hydraulic cylinder rodless cavities, and the B actuator port of this servo valve blocks; The actuator port of the B of second electrohydraulic servo valve 8 connects the parallel connected end of 4 roller hydraulic cylinder rod chambers, and the A actuator port of this servo valve blocks.The stifled last actuator port of above-mentioned servo valve is made triple valve usefulness, when work roll bending and balance hydraulic control system long-play cause the valve core of servo valve serious wear and when influencing control performance, interchangeable two servo valves are with reduction servo valve maintenance cost.The keying that the electromagnetic hydraulic pressure lock is used for hydraulic circuit respectively is set between two servo valves and hydraulic cylinder two chambeies.Be provided with that safety valve is used for protection system in order to avoid superpressure damage equipment and pipeline.The pressure that pressure sensor is used to detect hydraulic cylinder two chambeies is set, so that calculating bending roller force and dynamic pressure feedback are to constitute close loop control circuit.
Dual-valve linkage carries out positive and negative roller and the balance that the power closed-loop control realizes working roll to asymmetrical cylinder.With the interior ring of dynamic pressure feedback construction system, outer shroud is for using the bending roller force control loop of PI controller, the control signal of second electrohydraulic servo valve 8 be first electrohydraulic servo valve 11 control signal n doubly.First offset 13 and second offset 9 are respectively applied for the partially zero of two electrohydraulic servo valves of compensation.When setting value is to carry out just curved control correct time, when being negative, setting value bears curved control, and Balance Control is used and is just bent control model.Introduce ring in the dynamic pressure feedback make the roller system when positive and negative curved switching zero crossing and the impulsive force that controls to when reaching the roll change position of balance as far as possible little.
The unaccounted parts of the utility model are prior art.
The utility model provides the above-mentioned dual-valve linkage closed-loop control device that is used to realize the roller and the balance of working roll, it is in the roller of the working roll of realizing strip-mill strip or planisher and the application in the balance.During application, its step comprises:
1. use same controller to carry out the dual-valve linkage closed-loop control to realize the positive and negative curved and balance of working roll:
First electrohydraulic servo valve 11 and second electrohydraulic servo valve 8 use same controller to realize the positive roller of working roll, negative roller and balance; Its essence is two threeway servo valves to be used as a four-way servo valve come usefulness, controls each control chamber of two threeway servo valves simultaneously.Controller is a PI controller 16.
2. the working roll Balance Control is used the dual-valve linkage of just curved pattern:
Adopt the method for just curved control model during the working roll Balance Control, setting value is being for just and positive bending roller force limiting threshold value is set is heavy 1.5 ~ 3 times of working roll roller, makes positive bending roller force be enough to the weight of support works roller and don't excessive as for impulsive force.
3. the ratio of bivalve control signal equals the ratio of hydraulic cylinder two cavity areas:
If the total lifting surface area of the rodless cavity of all roller hydraulic cylinders is A1, the total lifting surface area of rod chamber is A2; When taking no account of first offset 13 and second offset 9, the ratio of second electrohydraulic servo valve 8 and both command signals of first electrohydraulic servo valve 11 is a proportionality coefficient 10, its ratio value n=A
2/ A
1
4. be provided with in the dynamic pressure feedback and encircle to improve the performance of roller Force control system:
The dynamic pressure backfeed loop is the interior ring of bending roller force control loop, and essence is to have disposed " power speed " feedback in the bending roller force control loop, makes the damping ratio of this hydraulic pressure Force control system increase, and don't as for the rapidity that influences hydraulic control system.
Through above-mentioned steps, finally realize the roller and the balance of working roll.
Application example:
In that plate two-shipper frame planisher and cover move back on the smooth unit of engineering as thin as a wafer; Disposed the dual-valve linkage closed-loop control device of roller and balance that is used to realize working roll of the utility model; Servo valve uses the D661-4652-G15 of two MOOG companies, and the hydraulic cylinder parameter is Φ 125/ Φ 70.When automatic roll change, the working roll balance is used the just curved control model of dual-valve linkage, and positive bending roller force is set to 100KN, and hydraulic shock power is less than 10KN when arriving balance roll change position; Depress timing signal at planisher and adopt the just curved control model of working roll dual-valve linkage, just curved power is set to 100KN, and control accuracy is superior to 2%; Normal when rolling, cold rolling levelling is general to adopt just curved control model, and just curved power control accuracy is superior to 2%; Just bending towards negative bending when switching, the impulsive force during zero crossing is less than 10KN; Bear when bending control model, negative curved power control accuracy is superior to 2%.The utility model combines high performance hydraulic press down system and stable tension control system, plate two-shipper frame planisher and cover as thin as a wafer move back on the smooth unit of engineering the percentage elongation absolute precision be superior to 0.05% and plate shape good.
Claims (3)
1. be used to realize the dual-valve linkage closed-loop control device of the roller and the balance of working roll; It is characterized in that mainly forming by control loop and 4 roller hydraulic cylinders, 2 electrohydraulic servo valves, 2 pressure sensors, 2 safety valves; Wherein: said 4 roller hydraulic cylinders; The parallel connection of their rodless cavity one end is after linked to each other with the actuator port A of first electrohydraulic servo valve by first hydraulic lock, and their rod chamber one end is parallelly connected after linked to each other with the actuator port B of second electrohydraulic servo valve by second hydraulic lock; Between rodless cavity one end and the hydraulic lock, between rod chamber one end and hydraulic lock, dispose a safety valve respectively; On oil circuit, dispose a pressure sensor respectively on the oil circuit near rodless cavity one end, near rod chamber one end; Said control loop is made up of bending roller force computing module, dynamic pressure feedback module, controller, proportionality coefficient and two offsets, and wherein, the measured value of said pressure sensor is fed to bending roller force computing module and dynamic pressure feedback module; The output of bending roller force computing module and setting value relatively back get into controller; Stack first offset is as the command signal of first electrohydraulic servo valve after the output of the output of controller and dynamic pressure feedback module relatively; Multiply by proportionality coefficient after the output relatively of the output of controller and dynamic pressure feedback module and second offset that superposes, as the command signal of second electrohydraulic servo valve.
2. the dual-valve linkage closed-loop control device that is used to realize the roller and the balance of working roll according to claim 1 is characterized in that said first electrohydraulic servo valve and second electrohydraulic servo valve are the identical servo valve of model.
3. the dual-valve linkage closed-loop control device that is used to realize the roller and the balance of working roll according to claim 1 is characterized in that said controller adopts the PI controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202054578U CN202207713U (en) | 2011-06-17 | 2011-06-17 | Double valve linkage closed loop control device for realizing roller bending and balance of working roller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202054578U CN202207713U (en) | 2011-06-17 | 2011-06-17 | Double valve linkage closed loop control device for realizing roller bending and balance of working roller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202207713U true CN202207713U (en) | 2012-05-02 |
Family
ID=45987269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202054578U Expired - Fee Related CN202207713U (en) | 2011-06-17 | 2011-06-17 | Double valve linkage closed loop control device for realizing roller bending and balance of working roller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202207713U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104624662A (en) * | 2014-12-17 | 2015-05-20 | 中冶南方工程技术有限公司 | Rolling mill working roller bending force control method and device based on two roller bending oil ways |
| CN108681254A (en) * | 2018-05-16 | 2018-10-19 | 江苏大学镇江流体工程装备技术研究院 | Hydraulic pressure automatic thickness pressure closed-loop control system instability condition derivation method |
-
2011
- 2011-06-17 CN CN2011202054578U patent/CN202207713U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104624662A (en) * | 2014-12-17 | 2015-05-20 | 中冶南方工程技术有限公司 | Rolling mill working roller bending force control method and device based on two roller bending oil ways |
| CN108681254A (en) * | 2018-05-16 | 2018-10-19 | 江苏大学镇江流体工程装备技术研究院 | Hydraulic pressure automatic thickness pressure closed-loop control system instability condition derivation method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120502 Termination date: 20180617 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |