JPH0620563B2 - Hydraulic control device - Google Patents
Hydraulic control deviceInfo
- Publication number
- JPH0620563B2 JPH0620563B2 JP1027054A JP2705489A JPH0620563B2 JP H0620563 B2 JPH0620563 B2 JP H0620563B2 JP 1027054 A JP1027054 A JP 1027054A JP 2705489 A JP2705489 A JP 2705489A JP H0620563 B2 JPH0620563 B2 JP H0620563B2
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic
- resonance
- signal
- hydraulic control
- amplitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B31/00—Rolling stand structures; Mounting, adjusting, or interchanging rolls, roll mountings, or stand frames
- B21B31/16—Adjusting or positioning rolls
- B21B31/20—Adjusting or positioning rolls by moving rolls perpendicularly to roll axis
- B21B31/32—Adjusting or positioning rolls by moving rolls perpendicularly to roll axis by liquid pressure, e.g. hydromechanical adjusting
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
- Control Of Fluid Pressure (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、圧延機のロール圧下制御などに用いる油圧制
御装置に関する。The present invention relates to a hydraulic control device used for roll reduction control of a rolling mill and the like.
油圧装置に用いられる作動油は、本来圧縮性流体であ
り、アクチュエータ内で圧縮されることにより圧力を発
生し、この圧力を駆動力としてアクチュエータを作動さ
せるものである。The hydraulic oil used in the hydraulic device is originally a compressive fluid, and is compressed in the actuator to generate a pressure, which is used as a driving force to operate the actuator.
アクチュエータを適切に作動させるために、一般的に、
第５図に示す油圧制御系が用いられてきた。すなわち、
アクチュエータ１としての油圧シリンダに対して油圧制
御弁２を付設し、この油圧制御弁２に対して油圧制御器
３からの制御信号を与えるようにするとともに、アクチ
ュエータ１の現作動状況、たとえばシリンダであれば、
ロッドの位置信号をセンサー４により検出し、この信号
を比較器５を介して油圧制御器３にフィードバックしな
がら、油圧制御装置設定器６により与えられる設定値に
一致するようにしていた。In order to properly operate the actuator,
The hydraulic control system shown in FIG. 5 has been used. That is,
A hydraulic control valve 2 is attached to a hydraulic cylinder as the actuator 1, and a control signal from the hydraulic controller 3 is given to the hydraulic control valve 2, and the current operating condition of the actuator 1, for example, in the cylinder. if there is,
The position signal of the rod is detected by the sensor 4, and this signal is fed back to the hydraulic control device 3 via the comparator 5 while being matched with the set value given by the hydraulic control device setting device 6.
この種の油圧制御系において、油圧源としての油圧ポン
プから油圧制御弁２を介してアクチュエータ１までの配
管、ホースには、所定の距離があり、そこに空間があ
り、またアクチュエータ１内部にも空間がある。In this type of hydraulic control system, a pipe and a hose from a hydraulic pump as a hydraulic source to an actuator 1 via a hydraulic control valve 2 have a predetermined distance, there is a space there, and also inside the actuator 1. There is space.
このような空間が存在する下で、前述のように、油圧は
作動油の圧縮により発生するものであるため、油圧制御
弁２の出側直近に発生した局所的圧力波が、配管、ホー
ス、アクチュエータ１内を減衰しながら伝播してゆき、
アクチュエータ１の末端で反射して帰ってきた圧力波と
干渉する現象が生じる。In the presence of such a space, as described above, the hydraulic pressure is generated by the compression of the hydraulic oil. Therefore, the local pressure wave generated immediately near the outlet side of the hydraulic control valve 2 is It propagates while being attenuated in the actuator 1,
A phenomenon occurs in which it interferes with the pressure wave that is reflected back at the end of the actuator 1.
このとき、油圧制御弁２の開度の変化周期と、反射波が
油圧制御弁２に帰ってくる周期が一致すると、圧力波は
増幅され、大きな振動が生じ、結果的にアクチュエータ
１が振動を継続するようになる。このような現象を油圧
共振現象という。At this time, if the change cycle of the opening degree of the hydraulic control valve 2 and the cycle in which the reflected wave returns to the hydraulic control valve 2 match, the pressure wave is amplified and a large vibration occurs, resulting in the actuator 1 vibrating. It will continue. Such a phenomenon is called a hydraulic resonance phenomenon.
油圧共振現象は、配管、ホース内の圧力上昇を招き、そ
の配管、ホースの破損や接続部外れなどのトラブルの原
因となる。さらに、アクチュエータの微妙な振動が機械
系全体の振動を原因となる場合や、これに伴って製品品
質に悪影響を及ぼす場合があり、是非とも避けなければ
ならない現象である。The hydraulic resonance phenomenon causes an increase in pressure in the pipe and the hose, and causes troubles such as damage to the pipe and the hose and disconnection of the connection part. Further, delicate vibrations of the actuator may cause vibrations of the entire mechanical system and may adversely affect product quality, which is a phenomenon that must be avoided.
油圧共振現象は、配管、ホース、アクチュエータの空間
的形状によって一義的に決まり、油の温度、粘度の変化
があるものの、空間的形状に応じてほぼ所定の共振周波
数を示す。たとえば、第４図の油圧系を考えると、その
共振周波数ｆ（Hz）は、(1)式で与えられる。The hydraulic resonance phenomenon is uniquely determined by the spatial shapes of pipes, hoses, and actuators, and although there is a change in oil temperature and viscosity, it exhibits a substantially predetermined resonance frequency depending on the spatial shape. For example, considering the hydraulic system in FIG. 4, its resonance frequency f (Hz) is given by the equation (1).
ｆ＝Ｃ／４ｌ………(1) ここに、Ｃ：油中音速（ｍ／ｓ） ｌ：配管長（ｍ） 上記の油圧共振現象を避けるために、従来、次のような
方法が知られている。f = C / 4l (1) where C: sound velocity in oil (m / s) l: pipe length (m) In order to avoid the above hydraulic resonance phenomenon, the following method is conventionally known. Has been.
(1)制御系のゲインを下げて、共振による発振を避け
る。(1) Reduce the gain of the control system to avoid oscillation due to resonance.
(2)制御系内部に、フィルター、進み補償要素などの位
相補償要素を挿入し、共振を避ける。(2) Insert phase compensation elements such as filters and lead compensation elements inside the control system to avoid resonance.
(3)配管、ホースを最大限短くし、共振周波数を低く抑
える。(3) Keep the resonance frequency low by making the piping and hose as short as possible.
しかしながら、上記の(1)の方法では、ゲインを下げる
結果、応答性が悪くなり、高い応答性を要求される場合
においては、有効ではない。However, the above method (1) is not effective when the response is deteriorated as a result of lowering the gain and high response is required.
(2)の方法にあっては、共振除去効果が十分ではない。The method (2) does not have sufficient resonance elimination effect.
(3)の方法は有効であることもあるが、反面、通常配管
系統の大幅な変更を必要とすることが多く、このために
被駆動体の設計を見直すことも必要となったり、コスト
的に問題が大きい。さらに、高応答性を要求される装置
の場合、アクチュエータ内の油圧共振が問題になること
があり、(3)の方法にのみ頼ることはできない。Method (3) may be effective, but on the other hand, it often requires major changes to the piping system, which requires a redesign of the driven body and is costly. The problem is big. Furthermore, in the case of a device that requires high responsiveness, hydraulic resonance in the actuator may be a problem, and the method (3) cannot be used alone.
このように、従来の方法では、油圧共振現象を完全に解
消しきれておらず、もって、油圧制御装置の高応答化、
高精度化の達成ができなかった。As described above, in the conventional method, the hydraulic resonance phenomenon has not been completely eliminated, so that the hydraulic control device has a high response,
High accuracy could not be achieved.
そこで、本発明の主たる目的は、確実に油圧共振現象を
解消でき、もって油圧制御装置の高応答化および高精度
化を図ることができる油圧制御装置を提供することにあ
る。Therefore, a main object of the present invention is to provide a hydraulic control device that can surely eliminate the hydraulic resonance phenomenon, and thus can improve the response and accuracy of the hydraulic control device.
上記課題は、油圧制御器からの電気信号に基づいて油圧
制御弁を動作させ、その動作に応じて油圧アクチュエー
タを作動させ、その際における油圧アクチュエータの作
動状況をセンサーにより検出して、この検出信号をフィ
ードバック電気信号として油圧制御器にフィードバック
して油圧アクチュエータの作動状況を制御する装置にお
いて； 掃引発振器からの所定の振幅を持った正弦波信号または
余弦波信号をその周波数を変えながら前記フィードバッ
ク信号に乗せ、前記フィードバック信号の中から、前記
正弦波または余弦波信号と同一の周波数成分を検出して
これを共振点とする共振成分測定装置と、この共振成分
測定装置によって測定された共振点近傍の周波数成分の
振幅と同一の振幅でかつ逆位相の補償信号を前記フィー
ドバック信号に与える共振点除去手段とを備えたことで
解決できる。The above-mentioned problem is to operate the hydraulic control valve based on the electric signal from the hydraulic controller, operate the hydraulic actuator in accordance with the operation, and detect the operating status of the hydraulic actuator at that time with a sensor. In a device for controlling the operating condition of the hydraulic actuator by feeding back to the hydraulic controller as a feedback electric signal; a sine wave signal or a cosine wave signal having a predetermined amplitude from the sweep oscillator is changed to the feedback signal while changing its frequency. The resonance component measuring device that puts the same frequency component as the sine wave signal or the cosine wave signal in the feedback signal and detects the same as the resonance point, and the vicinity of the resonance point measured by the resonance component measuring device. A compensation signal having the same amplitude as the frequency component but an opposite phase is used as the feedback signal. This can be solved by providing a resonance point removing means provided to the signal.
本発明にしたがって、共振点を検出するようにすると、
共振点を的確に検出できるとともに、共振点近傍の周波
数成分の振幅と同一の振幅でかつ逆位相の補償信号をフ
ィードバック信号に与えると共振を無くすまたは少なく
できる。According to the present invention, when the resonance point is detected,
Resonance can be accurately detected, and resonance can be eliminated or reduced by providing a feedback signal with a compensation signal having the same amplitude as the amplitude of the frequency component near the resonance point and having an opposite phase.
以下本発明をさらに詳説する。 The present invention will be described in more detail below.
第１図は、本発明の油圧制御装置を示したもので、従来
と同構成部分については、同符号を付して説明の一部を
省略する。FIG. 1 shows a hydraulic control device of the present invention. The same components as those of the related art are designated by the same reference numerals and a part of the description is omitted.
１０は共振成分測定装置、乗算器１１、掃引発振器１
２、平滑回路１３、振幅・位相分離器１４、発振周波数
設定器１５、コントローラ１６を含んでいる。Reference numeral 10 is a resonance component measuring device, a multiplier 11, a sweep oscillator 1
2. A smoothing circuit 13, an amplitude / phase separator 14, an oscillation frequency setting device 15, and a controller 16 are included.
前述のセンサー４から比較器５へのフィードバック信号
は、取り出されて乗算器１１に、掃引発振器１２からの
信号とともに与えられ、この乗算器１１において乗算さ
れ、平滑回路１３および振幅・位相分離器１４により、
その振幅成分が抽出される。The feedback signal from the sensor 4 to the comparator 5 described above is taken out and given to the multiplier 11 together with the signal from the sweep oscillator 12, multiplied by this multiplier 11, and smoothed by the smoothing circuit 13 and the amplitude / phase separator 14. Due to
The amplitude component is extracted.
掃引発振器１２は、ｓｉｎω0t、ｃｏｓω0tの２種類の
信号を出力するようにしてあり、乗算器１１による乗算
と、平滑回路１３による平滑とを、２種類の正弦波信号
に対して、独立に２回実施することで、フィードバック
信号の中から、掃引発振器１２からの発振周波数と同一
の周波数を持つ成分を、 ｆ0(t)＝ａｓｉｎω0t＋ｂｃｏｓω0t………(2) の形で表したときにおける、振幅ａ，ｂを得る。Sweep oscillator 12, sin .omega 0 t, Yes and to output the two kinds of signals cos .omega 0 t, and multiplication by multiplier 11, and a smoothing by the smoothing circuit 13, for two types of sinusoidal signals, By performing the operation twice independently, a component having the same frequency as the oscillation frequency from the sweep oscillator 12 can be obtained from the feedback signal as f 0 (t) = asin ω 0 t + b cos ω 0 t. Amplitudes a and b when expressed by are obtained.
この値に基づいて、振幅・位相分離器１４において、振
幅Ａおよび位相ψを次のように算出できる。Based on this value, the amplitude / phase separator 14 can calculate the amplitude A and the phase ψ as follows.
かくして、フィードバック信号を、次式のように、任意
の周波数（ω０）をもつ正弦波信号ｆ0(t)の合成として
検知することができる。 Thus, the feedback signal can be detected as a combination of sinusoidal signals f 0 (t) having an arbitrary frequency (ω 0 ) as in the following equation.
ｆ0(t)＝Ａｓｉｎ（ω0t＋ψ）………(4) かかる共振点検出の統合を行うのがコントローラ１６
で、発振周波数設定器１５への発振周波数の位相の変更
と設定指示、発振周波数を種々変更および掃引したとき
における、各周波数ごとの検出信号の中から振幅の最大
値を示す周波数（共振周波数）を検出し、これを共振点
とし、かつそのときにおける振幅を取り込む機能を有し
ている。f 0 (t) = Asin (ω 0 t + ψ) (4) The controller 16 integrates such resonance point detection.
Then, the frequency (resonance frequency) showing the maximum value of the amplitude among the detection signals for each frequency when changing and setting the phase of the oscillation frequency to the oscillation frequency setting device 15, changing the oscillation frequency variously and sweeping. Has the function of detecting the signal as a resonance point and taking in the amplitude at that time.
このようにして求められた共振周波数および共振成分の
振幅および位相に基づいて、共振点除去装置１７は、共
振点成分除去用発振器１８を駆動し、油圧制御装置３へ
のフィードバック信号から共振周波数成分を減算器１９
において差し引くことで除去するように構成してある。
この際、共振点除去装置１７は、第２図例のように、フ
ィードバック信号中における共振周波数成分の振幅を検
出しながら、その振幅を最小とするように、共振除去用
発振器１８からの発振周波数の振幅を調節する機能を持
っている。The resonance point removing device 17 drives the resonance point component removing oscillator 18 based on the resonance frequency and the amplitude and phase of the resonance component thus obtained, and the resonance frequency component is fed from the feedback signal to the hydraulic control device 3. Subtractor 19
It is configured to be removed by subtracting at.
At this time, the resonance point removing device 17 detects the amplitude of the resonance frequency component in the feedback signal and minimizes the amplitude of the resonance frequency from the resonance removing oscillator 18 as shown in FIG. Has the function of adjusting the amplitude of.
第２図は、上記信号処理過程における信号波形および数
式で示したものである。これによって、信号処理過程が
より一層明白になるであろう。FIG. 2 shows signal waveforms and mathematical expressions in the signal processing process. This will make the signal processing process more apparent.
第３図（ａ）および（ｂ）はフィードバック信号に対し
て、共振点除去制御出力信号との関係を示したものであ
る。FIGS. 3A and 3B show the relationship between the feedback signal and the resonance point elimination control output signal.
上記例では、共振点が１点の場合について論じたが、複
数の共振点が存在する系に対しても、共振点除去装置１
７及び発振器１８を複数組設けることにより対応出来る
ことは、言うまでもない。In the above example, the case where there is one resonance point has been discussed, but the resonance point removing device 1 can be applied to a system having a plurality of resonance points.
Needless to say, this can be dealt with by providing a plurality of sets of 7 and oscillator 18.
以上のとおり、本発明によれば、共振による不安定状況
を解消して、高い応答性および高精度を示す油圧制御系
を構成できる。As described above, according to the present invention, an unstable situation due to resonance can be eliminated, and a hydraulic control system exhibiting high responsiveness and high accuracy can be configured.
第１図は本発明の制御装置の概要図、第２図は信号処理
過程における波形図、第３図（ａ）および（ｂ）は共振
点の除去前後の波形図、第４図は共振周波数の説明用模
式図、第５図は従来例の概要図である。 １……アクチュエータ、２……油圧制御弁 ３……油圧制御器、４……センサー ５……比較器、６……油圧制御装置設定器 １０……共振成分測定装置、１１……乗算器 １２……掃引発振器、１３……平滑回路 １４……振幅・位相分離器 １５……発振周波数設定器、１６……コントローラ １７……共振点除去装置 １８……共振点成分除去用発振器 １９……減算器FIG. 1 is a schematic diagram of a control device of the present invention, FIG. 2 is a waveform diagram in a signal processing process, FIGS. 3 (a) and 3 (b) are waveform diagrams before and after removal of a resonance point, and FIG. 4 is a resonance frequency. FIG. 5 is a schematic diagram for explaining the above, and FIG. 5 is a schematic diagram of a conventional example. 1 ... Actuator, 2 ... Hydraulic control valve 3 ... Hydraulic controller, 4 ... Sensor 5 ... Comparator, 6 ... Hydraulic controller setting device 10 ... Resonance component measuring device, 11 ... Multiplier 12 ...... Sweep oscillator, 13 ・ ・ ・ Smoothing circuit 14 …… Amplitude / phase separator 15 …… Oscillation frequency setting device, 16 …… Controller 17 …… Resonance point removal device 18 …… Resonance point component removal oscillator 19 …… Subtraction vessel
Claims (1)
制御弁を動作させ、その動作に応じて油圧アクチュエー
タを作動させ、その際における油圧アクチュエータの作
動状況をセンサーにより検出して、この検出信号をフィ
ードバック電気信号として油圧制御器にフィードバック
して油圧アクチュエータの作動状況を制御する装置にお
いて； 掃引発振器からの所定の振幅を持った正弦波信号または
余弦波信号をその周波数を変えながら前記フィードバッ
ク信号に乗せ、前記フィードバック信号の中から、前記
正弦波または余弦波信号と同一の周波数成分を検出して
これを共振点とする共振成分測定装置と、この共振成分
測定装置によって測定された共振点近傍の周波数成分の
振幅と同一の振幅でかつ逆位相の補償信号を前記フィー
ドバック信号に与える共振点除去手段とを備えたことを
特徴とする油圧制御装置。1. A hydraulic control valve is operated based on an electric signal from a hydraulic controller, a hydraulic actuator is operated in response to the operation, and the operating condition of the hydraulic actuator at that time is detected by a sensor. In a device for controlling the operating condition of a hydraulic actuator by feeding back a signal as a feedback electric signal to a hydraulic controller; the feedback signal while changing the frequency of a sine wave signal or a cosine wave signal having a predetermined amplitude from a sweep oscillator. And a resonance component measuring device that detects the same frequency component as the sine wave or cosine wave signal from the feedback signal and uses this as a resonance point, and the resonance point measured by this resonance component measuring device. The compensation signal having the same amplitude as the frequency component of the And a resonance point removing means provided to the hydraulic pressure control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1027054A JPH0620563B2 (en) | 1989-02-06 | 1989-02-06 | Hydraulic control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1027054A JPH0620563B2 (en) | 1989-02-06 | 1989-02-06 | Hydraulic control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02207913A JPH02207913A (en) | 1990-08-17 |
| JPH0620563B2 true JPH0620563B2 (en) | 1994-03-23 |
Family
ID=12210359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1027054A Expired - Lifetime JPH0620563B2 (en) | 1989-02-06 | 1989-02-06 | Hydraulic control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0620563B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5311549B2 (en) * | 2008-08-08 | 2013-10-09 | 株式会社日立製作所 | Vibration test equipment |
| JP5465045B2 (en) * | 2010-03-08 | 2014-04-09 | 株式会社日立製作所 | Hydraulic reduction control device, adjustment method and control program for hydraulic reduction control device |
-
1989
- 1989-02-06 JP JP1027054A patent/JPH0620563B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH02207913A (en) | 1990-08-17 |
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