JP6961021B2 - Synchronous control method based on the synchronous control system of the hydraulic cylinder for raising and lowering the tundish for continuous casting - Google Patents

Description

The present invention belongs to the field of hydraulic drive control, and particularly relates to a synchronous control method based on a synchronous control system for a hydraulic cylinder for raising and lowering a tundish for continuous casting.

A tundish for a continuous casting machine generally moves up and down synchronously by four hydraulic cylinders (one drive hydraulic cylinder and three driven hydraulic cylinders). Regarding the synchronous control of the tundish elevating hydraulic cylinder for continuous casting, currently, the hydraulic cylinder synchronous control method based on the hydraulic 4 synchronous motor, or the general-purpose drive / driven hydraulic cylinder synchronous control method based on the independent PI controller and the proportional control valve is available. Mainly used, these two types of Matil hydraulic cylinder synchronous control means, especially the hydraulic cylinder synchronous control method based on the hydraulic 4 synchronous motor, have the synchronous control accuracy of the leak of the hydraulic system (for example, the internal leak of the hydraulic cylinder). It is easily affected by factors such as uneven manufacturing accuracy of hydraulic parts and uneven load. The 1 # and 2 # continuous casting machine tundish in the south area of the horse steel long material division moves the hydraulic cylinder up and down synchronously by the hydraulic 4 synchronous motor, while the 4 # continuous casting machine tundish is an independent PI. The lifting and lowering hydraulic cylinders are synchronously controlled by a general-purpose drive / driven hydraulic cylinder synchronous control method based on the controller and proportional control valve, and in the actual production process, the 1 # and 2 # continuous casting machine tundish is always a hydraulic 4 synchronous motor. Due to abnormal operation of the lifting hydraulic cylinder or an internal leak of the lifting hydraulic cylinder, the lifting hydraulic cylinder does not operate synchronously, and the 4 # continuous casting machine tundish has a lifting hydraulic pressure due to factors such as an internal leak of the lifting hydraulic cylinder. The phenomenon that the cylinders do not operate synchronously also occurs, which causes the continuous casting tundish to be distorted or displaced. Once the continuous casting tundish is misaligned, the molten steel in the tundish is prone to spillage, which can endanger personal and equipment safety, as well as the tundish outlet of the continuous casting mold. Unable to center with the inlet, the molten steel tends to flow out of the continuous casting mold, interrupting continuous casting, ladle molten steel returning to the furnace, tundish molten steel scrapping, and the continuous casting process. As can be seen from the above, if the continuous casting tundish is distorted and the position of the dipping nozzle of the tundish is not centered, the flow state of the molten steel in the crystallizer becomes asymmetric, the thermal center shifts, and vertical cracks occur in the slab. Make it easier to generate.

An embodiment of the present invention provides a synchronous control method based on a synchronous control system for a hydraulic cylinder for raising and lowering a tundish for continuous casting, a hydraulic cylinder synchronous control method based on a conventional hydraulic 4-synchronous motor, or an independent PI controller and proportional. Synchronous control accuracy in the synchronous control method of general-purpose drive / driven hydraulic cylinders based on control valves is such as leaks in hydraulic systems (for example, internal leaks in hydraulic cylinders), uneven manufacturing accuracy of hydraulic parts, uneven load, etc. The purpose is to solve the problem of being easily affected by elements.

An embodiment of the present invention provides a synchronous control method based on a synchronous control system for a hydraulic cylinder for elevating and lowering a tundish for continuous casting, which method includes the following steps.

That is, it is a synchronous control method based on the synchronous control system of the continuous casting tundish elevating hydraulic cylinder, and the system is a synchronous control subsystem of the continuous casting tundish elevating drive hydraulic cylinder and the continuous casting tundish elevating. The synchronous control subsystem of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting includes the synchronous control subsystem of the driven hydraulic cylinder, and the synchronous control subsystem of the drive hydraulic cylinder composed of the functional blocks LZSTC01 to LZSTC11 and LZSTC24 to LZSTC26. Failure of the deviation overrun control unit, the synchronous position deviation speed correction unit of the drive hydraulic cylinder composed of the functional blocks LZSTC19 to LZSTC23 and LZSTC51 to LZSTC60, and the drive / driven hydraulic cylinder composed of the functional blocks LZSTC44 to LZSTC46. The interrupt control unit, the manual synchronous elevation control unit of the drive hydraulic cylinder composed of the functional blocks LZSTC12 to LZSTC15, LZSTC27 to LZSTC30, LZSTC34 to LZSTC38 and LZSTC43, and the functional blocks LZSTC16 to LZSTC18, LZSTC31 to LZSTC43, LZSTC43 And the position automatic holding control unit of the drive hydraulic cylinder composed of LZSTC48 to LZSTC50, and the elevating speed closed loop control unit of the drive hydraulic cylinder composed of the functional blocks LZSTC47, LZSTC61 to LZSTC63, and LZSTC67. The synchronous control subsystem of the driven hydraulic cylinder for raising and lowering the tundish for continuous casting consists of the synchronous position deviation overrun control unit of the driven hydraulic cylinder composed of the functional blocks LZSTC100, LZSTC101 and LZSTC104, and the functional blocks LZSTC116 to LZSTC120 and LZSTC121. Synchronous position deviation speed correction unit of the driven flood control cylinder composed of ~ LZSTC130, and the manual synchronous raising / lowering control unit of the driven hydraulic cylinder composed of the functional blocks LZSTC102, LZSTC103, LZSTC105 to LZSTC108, LZSTC134 to LZSTC136 and LZSTC138, and the function. Blocks LZSTC110-10 to LZSTC115, LZSTC131 to LZSTC133, LZSTC137 and LZSTC1 The position automatic holding control unit of the driven hydraulic cylinder composed of 38 and the elevating speed closed loop control unit of the driven hydraulic cylinder composed of the functional blocks LZSTC139 to LZSTC142 and LZSTC146 are included, and the driving hydraulic cylinder and the driven hydraulic pressure are included. In order to realize the synchronous ascending or descending movement of the cylinder, the synchronous control method of the continuous casting tundish elevating hydraulic cylinder based on the synchronous control system of the continuous casting tundish elevating hydraulic cylinder is a continuous casting tundish elevating and lowering. It is characterized by including a synchronous control method of a drive hydraulic cylinder for driving and a synchronous control method of a driven hydraulic cylinder for raising and lowering a tundish for continuous casting.

Among them, the synchronous control method of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting includes the following steps.

That is, A1, when the continuous casting tundish moves downward, the synchronous position deviation overrun control unit of the drive hydraulic cylinder has a minimum value ΔSms of the difference between the position value of the drive hydraulic cylinder and the position value of each driven hydraulic cylinder. b. Obtain min, and ΔSms. b. When the numerical value (value) of min is less than or equal to the negative value of the set maximum permissible position deviation, the driving hydraulic cylinder is set with the position deviation value between the driving hydraulic cylinder and the driven hydraulic cylinder that descends the slowest. The descent is stopped until it becomes larger than the negative value of the maximum permissible position deviation, and during the ascending movement of the tundish for continuous casting, the synchronous position deviation overrun control unit of the drive hydraulic cylinder is operated with the actual position value of the drive hydraulic cylinder and each. Maximum value of the difference from the actual position value of the driven hydraulic cylinder ΔSms. f. The max is obtained, and ΔSms. f. If the value of max is greater than or equal to the positive value of the set maximum permissible position deviation, the drive hydraulic cylinder is in the maximum permissible position where the position deviation value between the drive hydraulic cylinder and the slowest rising driven hydraulic cylinder is set. Stop rising until it is less than the positive value of the deviation,
A2, If the synchronous position deviation value ΔSms of the drive hydraulic cylinder exceeds the set range during the ascending or descending movement of the continuous casting tundish, the synchronous position deviation speed correction unit of the drive hydraulic cylinder will be driven / driven hydraulic pressure. The moving speed of the drive hydraulic cylinder is corrected until the position deviation value ΔSms between the cylinders is within the set range again.
The synchronous position deviation speed correction unit of the drive hydraulic cylinder includes a speed correction subunit of the drive hydraulic cylinder and a synchronous deviation high speed correction subunit of the drive hydraulic cylinder.
When the continuous casting tundish moves downward, if the synchronous position deviation value ΔSms of the drive hydraulic cylinder exceeds the first set range, the speed correction subsystem of the drive hydraulic cylinder sets the synchronous position deviation value ΔSms of the drive hydraulic cylinder. Is inverted and then multiplied by the downward synchronous position deviation speed correction coefficient of the drive hydraulic cylinder, and the speed correction value of the drive hydraulic cylinder is used. When ΔSms exceeds the first set range, the speed correction subsystem of the drive hydraulic cylinder is obtained by reversing the synchronous position deviation value ΔSms of the drive hydraulic cylinder and then multiplying by the drive hydraulic cylinder ascending synchronous position deviation speed correction coefficient. , Is the speed correction value of the drive hydraulic cylinder,
When the continuous casting tundish moves downward or upward, if the synchronous position deviation value ΔSms of the drive hydraulic cylinder exceeds the second set range, the synchronous deviation high-speed correction subsystem of the drive hydraulic cylinder will synchronize the drive hydraulic cylinder. The synchronous position deviation speed correction value of the driving hydraulic cylinder in the direction opposite to the position deviation value ΔSms is used as the speed correction value of the driving hydraulic cylinder.
A3, In the flood control system for raising and lowering the tundish for continuous casting, the failure of the displacement sensor of the drive for raising and lowering the tundish or any of the driven hydraulic cylinders, the failure of the hydraulic system, the prohibition of raising and lowering the tundish for continuous casting, and the emergency stop. When the occurrence occurs, the failure interrupt control unit of the drive / driven hydraulic cylinder controls to close the output of the ascending / descending speed closed loop control unit of the drive / driven hydraulic cylinder, and always keeps the control voltage of the drive / driven hydraulic cylinder proportional valve closed. Zero, that is, the lift control of the drive / driven hydraulic cylinder is closed,
A4, When the hydraulic control system for raising and lowering the tundish for continuous casting is in the tundish raising and lowering manual interlocking mode or the tundish raising and lowering manual / automatic interlocking mode, the drive system is driven while the manual lowering instruction of the continuous casting tundish is issued. If the synchronous position deviation value ΔSms of the cylinder is larger than the negative value of the set maximum allowable position deviation and the drive hydraulic cylinder is not located at the descending end position, the manual synchronous elevation control unit of the drive hydraulic cylinder is driven / driven hydraulic pressure. The manual lowering speed setting value of the cylinder is output to the ascending / descending speed closed loop control unit of the driving hydraulic cylinder, and the ascending / descending speed closed loop control unit of the driving hydraulic cylinder is released to be between the driving hydraulic cylinder and the driven hydraulic cylinder that descends the slowest. If the position deviation of is out of the set range, the position deviation between the driving hydraulic cylinder and the driven hydraulic cylinder that descends the slowest is corrected by the synchronous position deviation speed correction unit of the driving hydraulic cylinder, and the driving hydraulic cylinder and the slowest descending. If the position deviation with the driven hydraulic cylinder is less than or equal to the negative value of the set maximum allowable position deviation, the driving hydraulic cylinder has the negative value of the maximum allowable position deviation for which the position deviation values of both are set again. The descending movement is stopped until it becomes larger, and while the manual ascending instruction of the continuous casting tundish is issued, the synchronous position deviation value ΔSms of the drive hydraulic cylinder is smaller than the set positive value of the maximum allowable position deviation, and When the driving hydraulic cylinder is not located at the ascending end position, the manual synchronous elevating control unit of the driving hydraulic cylinder outputs the manual ascending speed set value of the driving / driven hydraulic cylinder to the elevating speed closed loop control unit of the driving hydraulic cylinder and drives. Lifting speed of the hydraulic cylinder When the closed loop control unit is released and the position deviation between the driving hydraulic cylinder and the slowest rising driven hydraulic cylinder exceeds the set range, the driving hydraulic cylinder and the slowest rising driven hydraulic cylinder The position deviation between is corrected by the synchronous position deviation speed correction unit of the driving hydraulic cylinder, and the position deviation between the driving hydraulic cylinder and the driven hydraulic cylinder that rises the slowest is greater than or equal to the positive value of the set maximum allowable position deviation. If, the drive hydraulic cylinder stops ascending movement until the position deviation values of both are smaller than the positive value of the maximum allowable position deviation set again.
A5, At the end of the manual elevating instruction for the continuous casting tundish, the difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the drive hydraulic cylinder is set after the end of the manual elevating instruction for the continuous casting tundish. If the position deviation is greater than the positive tolerance, the drive hydraulic cylinder position regulator and the drive hydraulic cylinder elevating speed closed loop control unit are in the open state, and the drive hydraulic cylinder position regulator is the drive / driven hydraulic cylinder position. In order to reduce the difference between the holding value SZWBZ and the actual position value of the driving hydraulic cylinder, the position where the difference between the position holding value SZWBZ of the driving / driven hydraulic cylinder and the actual position value of the driving hydraulic cylinder is set. The position correction speed reference value of the corresponding drive flood control cylinder is output until it becomes less than the positive allowable value of the deviation, and after the manual ascending / descending instruction of the continuous casting tundish is completed, the position holding value SZWBZ of the drive / driven hydraulic cylinder is driven. If the difference from the actual position value of the hydraulic cylinder is less than the negative tolerance of the set position deviation, the position regulator of the drive hydraulic cylinder and the elevating speed closed loop control unit of the drive hydraulic cylinder are in the open state, and the drive hydraulic cylinder In the position regulator, in order to increase the difference between the position holding value SZWBZ of the driving / driven hydraulic cylinder and the actual position value of the driving hydraulic cylinder, the position holding value SZWBZ of the driving / driven hydraulic cylinder and the actual position of the driving hydraulic cylinder are used. The position correction speed reference value of the corresponding drive hydraulic cylinder is output until the difference from the value becomes equal to or more than the negative allowable value of the set position deviation.
A6, If there is no interruption failure in the drive / driven flood control cylinder, when the release signal of the lift speed control unit of the drive hydraulic cylinder is transmitted from the manual synchronous lift control unit of the drive hydraulic cylinder or the position automatic holding control unit of the drive hydraulic cylinder. , The lifting speed of the driving hydraulic cylinder The closed loop control subsystem automatically holds the position of the manual synchronous lifting control unit or the driving hydraulic cylinder after the driving hydraulic cylinder reaches the desired position and is within the allowable position deviation range. The input speed setting is converted to the control voltage of the proportional control valve of the corresponding drive hydraulic cylinder and output until the enable signal of the ascending / descending speed control unit of the drive hydraulic cylinder transmitted from the unit is closed.

The method for controlling the driven hydraulic cylinder for raising and lowering the tundish for continuous casting includes the following steps.

That is, when B1, the tundish for continuous casting moves downward, the synchronous position deviation overrun control unit of the driven hydraulic cylinder acquires the difference ΔSsnm between the position value of each driven hydraulic cylinder and the position value of the driving hydraulic cylinder. If the value of ΔSsnm is less than or equal to the negative value of the set maximum allowable position deviation, the driven hydraulic cylinder is operated until the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder becomes larger than the set negative value of the maximum allowable position deviation. Stop the descent and
During the ascending movement of the tundish for continuous casting, the synchronous position deviation overrun control unit of the driven hydraulic cylinder acquires the difference ΔSsnm between the position value of each driven hydraulic cylinder and the position value of the driving hydraulic cylinder, and the numerical value of ΔSsnm is obtained. If it is equal to or greater than the set positive value of the maximum allowable position deviation, the driven hydraulic cylinder stops ascending until the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder becomes smaller than the set positive value of the maximum allowable position deviation. ,
B2, If the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the set range during the ascending or descending movement of the tundish for continuous casting, the synchronous position deviation speed correction unit of the driven hydraulic cylinder will be replaced with the driven hydraulic cylinder. The movement speed of the driven hydraulic cylinder is corrected until the position deviation value ΔSsnm with the driving hydraulic cylinder is within the set range again.
The synchronous position deviation speed correction unit of the driven hydraulic cylinder includes the speed correction subunit of the driven hydraulic cylinder and the synchronous deviation high speed correction subunit of the driven hydraulic cylinder.
When the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the first set range when the tundish for continuous casting moves downward, the speed correction subsystem of the driven hydraulic cylinder sets the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder. Is inverted and then multiplied by the descending synchronous position deviation speed correction coefficient of the driven hydraulic cylinder, and the speed correction value of the driven hydraulic cylinder is used. When ΔSsnm exceeds the first set range, the speed correction subsystem of the driven hydraulic cylinder reverses the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder and then multiplies the rising synchronous position deviation speed correction coefficient of the driven hydraulic cylinder. The one is used as the speed correction value of the driven flood control cylinder.
When the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the second set range when the tundish for continuous casting moves up or down, the synchronous deviation high-speed correction subsystem of the driven hydraulic cylinder is synchronized with the driven hydraulic cylinder. The synchronous position deviation speed correction value of the driven hydraulic cylinder in the direction opposite to the position deviation value ΔSsnm is used as the speed correction value of the driven hydraulic cylinder.
B3, When the hydraulic control system for raising and lowering the tundish for continuous casting is in the tundish raising and lowering manual interlocking mode or the tundish raising and lowering manual / automatic interlocking mode, the driven hydraulic control is issued while the manual lowering instruction of the tundish for continuous casting is issued. If the synchronous position deviation value ΔSsnm of the cylinder is larger than the negative value of the set maximum allowable position deviation and the driving hydraulic cylinder is not located at the descending end position, the manual synchronous raising / lowering control unit of the driven hydraulic cylinder is driven / driven hydraulic pressure. The manual descent speed set value of the cylinder is output to the elevating speed closed loop control unit of the driven hydraulic cylinder, and the elevating speed closed loop control unit of the driven hydraulic cylinder is released, and the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the set range. In this case, the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is corrected by the synchronous position deviation speed correction unit of the driving hydraulic cylinder, and the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is less than or equal to the negative value of the set maximum allowable position deviation. In some cases, the driven hydraulic cylinder stops the descending movement until the position deviation value of both becomes larger than the negative value of the set maximum allowable position deviation, and the manual ascending instruction of the continuous casting tundish is issued. In the meantime, if the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is smaller than the positive value of the set maximum allowable position deviation and the driving hydraulic cylinder is not located at the ascending end position, the manual synchronous raising / lowering control unit of the driven hydraulic cylinder , The manual ascending speed set value of the drive / driven hydraulic cylinder is output to the elevating speed closed loop control unit of the driven hydraulic cylinder, and the elevating speed closed loop control unit of the driven hydraulic cylinder is released to release the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder. When exceeds the set range, the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is corrected by the synchronous position deviation speed correction unit of the driven hydraulic cylinder, and the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is the set maximum allowable position deviation. If it is greater than or equal to the positive value, the driven hydraulic cylinder stops ascending movement until the position deviation values of both are smaller than the positive value of the maximum allowable position deviation set again.
B4, At the end of the manual elevating instruction of the continuous casting tundish, the difference between the position holding value SZWBZ of the drive / driven flood control cylinder and the actual position value of the driven hydraulic cylinder is set after the end of the manual elevating instruction of the continuous casting tundish. If the position deviation is greater than the positive permissible value, the position regulator of the driven hydraulic cylinder and the elevating speed closed loop control unit of the driven hydraulic cylinder are in the open state, and the position regulator of the driven hydraulic cylinder is the position of the drive / driven hydraulic cylinder. In order to reduce the difference between the holding value SZWBZ and the actual position value of the driven hydraulic cylinder, the position where the difference between the position holding value SZWBZ of the driving / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder is set. The position correction speed reference value of the corresponding driven hydraulic cylinder is output until it becomes less than the positive allowable value of the deviation, and after the manual ascending / descending instruction of the continuous casting tundish is completed, the position holding value SZWBZ of the driven / driven hydraulic cylinder and the driven If the difference from the actual position value of the hydraulic cylinder is less than the negative tolerance of the set position deviation, the position regulator of the driven hydraulic cylinder and the ascending / descending speed closed loop control unit of the driven hydraulic cylinder are in the open state, and the driven hydraulic cylinder In the position regulator, in order to increase the difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder, the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position of the driven hydraulic cylinder are used. The position correction speed reference value of the corresponding driven flood control cylinder is output until the difference from the value becomes equal to or more than the negative allowable value of the set position deviation.
B5, If there is no interruption failure in the drive / driven hydraulic cylinder, when the release signal of the driven hydraulic cylinder lifting speed control unit is transmitted from the manual synchronous lifting control unit of the driven hydraulic cylinder or the position automatic holding control unit of the driven hydraulic cylinder, The lift speed closed loop control subsystem of the driven hydraulic cylinder is the manual synchronous lift control unit of the driven hydraulic cylinder or the driven hydraulic cylinder after the driven hydraulic cylinder reaches the desired position and is within the allowable position deviation range. Until the enable signal of the ascending / descending speed control unit of the driven hydraulic cylinder transmitted from the automatic position holding unit is closed, the input speed setting is converted into the control voltage of the proportional control valve of the corresponding driven hydraulic cylinder and output.

The present invention is a method for synchronously controlling a hydraulic cylinder for raising and lowering a tundish for continuous casting according to an embodiment, and exceeds a set range by a synchronous position deviation speed correction unit for a driving hydraulic cylinder and a synchronous position deviation speed correction unit for a driven hydraulic cylinder. When the position deviation between the driving and driven hydraulic cylinders is corrected in real time and the deviation between the two continues to increase so as to exceed the set maximum allowable position deviation, the synchronous position deviation overrun control unit of the driving hydraulic cylinders and The synchronous position deviation overrun control unit of the driven hydraulic cylinder is controlled to stop the movement of the driving hydraulic cylinder or the driven hydraulic cylinder having a high moving speed until the position deviation between the two becomes smaller than the set maximum allowable position deviation again. In addition, the automatic position holding control unit of the driving hydraulic cylinder and the automatic position holding control unit of the driven hydraulic cylinder prevent the drive / driven hydraulic cylinder from being misaligned without manual instruction, and therefore, this tundish for continuous casting. The lifting and lowering hydraulic cylinder synchronous control method not only realizes the synchronous movement of the continuous casting tundish lifting and lowering hydraulic cylinder, but also has high failure resistance during operation of the continuous casting tundish lifting and lowering hydraulic cylinder, making it a hydraulic cylinder. When a leak occurs, the manufacturing accuracy of the hydraulic parts varies, and the load is uneven, it is possible to realize the synchronous movement of the flood control cylinder for raising and lowering the tundish for continuous casting.

It is a hydraulic system diagram of the tundish elevating mechanism for continuous casting according to the Example of this invention. It is a structural schematic diagram of the synchronous control subsystem of the drive hydraulic cylinder for raising and lowering a tundish for continuous casting according to the Example of this invention. It is a structural schematic diagram of the synchronous control subsystem of the driven hydraulic cylinder for raising and lowering a tundish for continuous casting according to the Example of this invention.

In order to further clarify the object, technical solution and advantages of the present invention, the present invention will be described in more detail below in combination with drawings and examples. It should be understood that the specific examples described herein are merely for interpreting the present invention and are not intended to limit the present invention.

FIG. 1 is a hydraulic system diagram of a tundish elevating mechanism for continuous casting according to an embodiment of the present invention, and FIG. 2 is a structural schematic of a synchronous control subsystem of a tundish elevating drive hydraulic cylinder for continuous casting according to an embodiment of the present invention. FIG. 3 is a schematic structural diagram of a synchronous control subsystem of a driven hydraulic cylinder for raising and lowering a tundish for continuous casting according to an embodiment of the present invention, and is related to an embodiment of the present invention for the sake of simplicity. Only the part to be shown is shown.

In FIGS. 2 and 3, the SUB is a subtractor, the NSW is a functional block of the "digital amount input selector switch", and when I = "1", Y = X2, and when I = "0", Y. = X1 and NCM are functional blocks of "numerical comparison". If X1> X2, QUA is "1", if X1 = X2, QE is "1", and if X1 <X2, QL. Is "1", RSR is a functional block of "RS trigger that gives priority to reset end R", and when S is "1" and R is "0", Q is "1" and QN is When "0", S is "1", R is "1", Q is "0", QN is "1", S is "0", and R is "0". , Q and QN are kept as they are, and when S is "0" and R is "1", Q is "0", QN is "1", and RGJ is a functional block of "integrator". PIC is the functional block of the PI controller, ADD is the adder, OR is the "or" gate, AND is the "and" gate, NOT is the "not" gate, and SZWBZ is the continuous casting tongue. It is a position holding value of the drive / driven hydraulic cylinder for raising and lowering the dish. act is the actual position value of the drive hydraulic cylinder, and Ss1. act, Ss2. act and Ss3. act is the actual position value of the first, second and third driven hydraulic cylinders for raising and lowering the tundish for continuous casting, respectively, and ΔSms. b. min is the minimum value of the difference between the actual position value of the drive hydraulic cylinder and the actual position value of each driven hydraulic cylinder during the downward movement of the continuous casting tundish (that is, the drive hydraulic cylinder during the downward movement of the continuous casting tundish). (Position deviation value between the slowest descending driven hydraulic cylinder) and
ΔSms. f. max is the maximum value of the difference between the actual position value of the drive hydraulic cylinder and the actual position value of each driven hydraulic cylinder during the ascending movement of the continuous casting tundish (that is, the driving hydraulic cylinder during the ascending movement of the continuous casting tundish). Is the position deviation between ), And ΔSsnm is a driven hydraulic cylinder (Sn) synchronous position deviation value (that is, a position deviation value between the driven hydraulic cylinder and the driven hydraulic cylinder).

As shown in FIGS. Set the cylinder position retention and actual position values to positive or zero.

This continuous casting tundish elevating hydraulic cylinder synchronous control system includes a continuous casting tundish elevating drive hydraulic cylinder synchronous control subsystem and a continuous casting tundish elevating driven hydraulic cylinder synchronous control subsystem. The synchronous control subsystem of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting mainly consists of six control units, that is, the synchronous position deviation overrun of the drive hydraulic cylinder composed of the functional blocks LZSTC01 to LZSTC11 and LZSTC24 to LZSTC26. It is composed of a control unit, a synchronous position deviation speed correction unit of a drive hydraulic cylinder composed of LZSTC19 to LZSTC23 and LZSTC51 to LZSTC60 of functional blocks, and LZSTC12 to LZSTC15, LZSTC27 to LZSTC30, LZSTC34 to LZSTC38 and LZSTC43 of functional blocks. The manual synchronous elevating control unit of the drive hydraulic cylinder, the position automatic holding control unit of the drive hydraulic cylinder composed of the functional blocks LZSTC16 to LZSTC18, LZSTC31 to LZSTC33, LZSTC39 to LZSTC43 and LZSTC48 to LZSTC50, and the functional blocks LZSTC44 to LZSTC46. It is composed of a failure interrupt control unit for a drive / driven hydraulic cylinder composed of the above, and an ascending / descending speed closed loop control unit for the drive hydraulic cylinder composed of the functional blocks LZSTC47, LZSTC61 to LZSTC63 and LZSTC67.

In order to realize the synchronous ascending or descending movement of the drive hydraulic cylinder and the driven hydraulic cylinder, the synchronous control method of the continuous casting tundish elevating hydraulic cylinder based on this continuous casting tundish elevating hydraulic cylinder synchronous control system is used. The synchronous control method of the tundish elevating drive hydraulic cylinder for continuous casting and the synchronous control method of the driven hydraulic cylinder for continuous casting tundish elevating are included, among which, the synchronous control method of the tundish elevating drive hydraulic cylinder for continuous casting includes. Includes the following steps:

That is, A1, during the ascending or descending movement of the driving / driven hydraulic cylinder, the driving hydraulic cylinder moves the slowest in the desired movement direction during the ascending movement. If the position deviation is greater than or equal to a positive value (for example, 6 mm), or while moving down, the drive hydraulic cylinder will move the slowest in the desired movement direction. If it is less than or equal to the allowable position deviation value (for example, -6 mm), the drive hydraulic cylinder is controlled to stop moving until the position deviation of both is within the set maximum allowable position deviation, and then the drive is driven. The hydraulic cylinder accelerates to the set speed at the set acceleration and continues to move in the desired direction, thereby maximizing the positional deviation of the drive hydraulic cylinder from the slowest moving driven hydraulic cylinder in the desired movement direction. Control within the position deviation range. Based on this, the synchronous control subsystem of the drive hydraulic cylinder is designed with a synchronous position deviation overrun control unit of the drive hydraulic cylinder. In this unit, due to the functional blocks LZSTC01 to LZSTC07, the minimum value of the difference between the position value of the driving hydraulic cylinder and the position value of each driven hydraulic cylinder during the downward movement of the continuous casting tundish (that is, ΔSms.b.min) ) Is acquired, and the maximum value of the difference between the actual position value of the driving hydraulic cylinder and the actual position value of each driven hydraulic cylinder during the ascending movement of the continuous casting tundish by the functional blocks LZSTC01 to LZSTC03 and LZSTC08 to LZSTC11 ( That is, ΔSms.f.max) is acquired. In this way, when the continuous casting tundish moves downward, ΔSms. b. When the value of min is less than or equal to the negative value (for example, -6 mm) of the set maximum allowable position deviation, the output terminal QUA of the LZSTC26 of the functional block changes from the "1" state to the "0" state and is driven. Negative value of maximum permissible position deviation set for the position deviation value between the driving hydraulic cylinder and the driven hydraulic cylinder that descends the hydraulic cylinder slowest (for example, -6 mm, that is, the driving hydraulic cylinder and the slowest descending). The descent is stopped until the position deviation from the driven hydraulic cylinder is greater than 6 mm), and when the continuous casting tundish moves up, ΔSms. f. When the value of max is equal to or more than the set positive value of the maximum permissible position deviation (for example, 6 mm), the output terminal QL of the LZSTC25 of the functional block changes from the "1" state to the "0" state, and the drive system is hydraulically driven. Allow the cylinder to stop ascending until the position deviation value between the driving hydraulic cylinder and the slowest rising driven hydraulic cylinder is less than the set positive value of the maximum permissible position deviation (eg 6 mm). ..

A2, If the drive hydraulic cylinder frequently makes an emergency stop due to a position deviation that exceeds the maximum allowable position deviation during synchronous movement with the driven hydraulic cylinder, the drive hydraulic cylinder is likely to generate position vibration during synchronous movement, and the driven hydraulic cylinder is likely to generate position vibration. It will cause the position vibration of the cylinder. Therefore, not only the synchronous position deviation overrun control unit of the drive hydraulic cylinder but also the synchronous position deviation speed correction unit of the drive hydraulic cylinder is designed in the synchronous control subsystem of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting. .. During the synchronous movement of the drive / driven hydraulic cylinder, once the synchronous position deviation value ΔSms of the drive hydraulic cylinder exceeds the set range, the synchronous position deviation speed correction unit of this drive hydraulic cylinder is placed between the drive / driven hydraulic cylinders. The movement speed of the driving hydraulic cylinder is corrected in real time until the position deviation value of is within the set range again, so that the position deviation value ΔSms of the driving hydraulic cylinder reaches or exceeds the maximum allowable position deviation. It is greatly reduced. The synchronous position deviation speed correction unit of this drive hydraulic cylinder is driven in proportion to the reversal value of the synchronous position deviation value ΔSms of the drive hydraulic cylinder composed of two subunits, that is, LZSTC19 to LZSTC23 and LZSTC51 to LZSTC56 of the functional blocks. It is composed of a speed correction subsystem of the hydraulic cylinder and a synchronous deviation high-speed correction subsystem of the drive hydraulic cylinder composed of the functional blocks LZSTC57 to LZSTC60. Regarding the speed correction subsystem of the drive hydraulic cylinder, which is proportional to the reverse value of the synchronous position deviation value ΔSms of the drive hydraulic cylinder, the input terminal X2 of the functional block LZSTC56 in this subunit reverses the synchronous position deviation value ΔSms of the drive hydraulic cylinder. Then, it is equal to the setting coefficient (this setting coefficient is also called the synchronous position deviation speed correction coefficient of the drive hydraulic cylinder). Considering the large difference in the elevating speed of the tundish for continuous casting (generally, the ascending speed is about twice the descending speed), in this case, all the elevating synchronous position deviations of the drive hydraulic cylinders were set. In order to control within the permissible range, different synchronization position deviation speed correction factors, that is, the ascending synchronous position deviation speed correction coefficient of the driving hydraulic cylinder and the descending synchronous position deviation of the driving hydraulic cylinder, with respect to the ascending / descending synchronous control of the driving hydraulic cylinder. Adopt a speed correction coefficient. Therefore, for the speed correction subsystem of the drive hydraulic cylinder proportional to the inversion value of the synchronous position deviation value ΔSms of the hydraulic cylinder, the synchronous position deviation speed correction coefficient of the drive hydraulic cylinder composed of the functional blocks LZSTC19 to LZSTC23 and LZSTC54 is selected. A part is provided. When the drive hydraulic cylinder moves up, the output terminal Q of the functional block LZSTC23 in this part is in the "1" state, and thus the control terminal I of the functional block LZSTC54 of the "digital amount input changeover switch" in this part is also "1". 1 ”state is set, and therefore, the synchronous position deviation speed correction coefficient of the drive hydraulic cylinder is set to the ascending synchronous position deviation speed correction coefficient (for example, 20) of the drive hydraulic cylinder, and when the drive hydraulic cylinder descends or stops and moves, this portion. The output terminal Q of the functional block LZSTC23 in the above is also in the "0" state, and thus the control terminal I of the functional block LZSTC54 of the "digital amount input changeover switch" in this portion is also in the "0" state. Let the synchronous position deviation speed correction coefficient of the above be the descending synchronous position deviation speed correction coefficient (for example, 10) of the driving hydraulic cylinder. In this way, when the synchronous position deviation value ΔSms of the drive hydraulic cylinder exceeds the first set range (for example, ± 0.5 mm), the control end I end of the functional block LZSTC56 is changed from the “0” state to the “1” state. The output value of the output terminal Y of the functional block LZSTC56 is made equal to the input value of the input terminal X2, whereby this subsystem is speed-corrected in proportion to the inversion value of the synchronous position deviation value ΔSms of the drive hydraulic cylinder. The driven hydraulic cylinder moves the slowest with the driving hydraulic cylinder until the position deviation value ΔSms of the driving hydraulic cylinder becomes the first set range (for example, ± 0.5 mm) again by the speed correction value of this part. Gradually reduce the synchronization position deviation with the hydraulic cylinder. When the synchronous position deviation value ΔSms of the drive hydraulic cylinder exceeds the second set range when the continuous casting tundish moves downward or upward, the synchronous deviation high-speed correction subsystem of the drive hydraulic cylinder is synchronized with the drive hydraulic cylinder. The synchronous position deviation speed correction value of the drive hydraulic cylinder in the direction opposite to the position deviation value ΔSms is set as the speed correction value of the drive hydraulic cylinder, that is, the synchronous position deviation value ΔSms of the drive hydraulic cylinder is a positive value and the second setting. When it is larger than the normal end value (for example, 2 mm) provided in the range, the I end of the control terminal of the functional block LZSTC58 in the synchronous position deviation high-speed correction subsystem of this drive hydraulic cylinder is in the "0" state to the "1" state. The output value of the output terminal Y of this functional block LZSTC58 is made equal to the input value of the input terminal X2 (for example, -2V), and the position deviation value ΔSms of the drive hydraulic cylinder is set to the second by the speed correction value of this part. The synchronous position deviation value ΔSms (> 0) of the drive hydraulic cylinder is rapidly reduced until it becomes smaller than the normal end value (for example, 2 mm) provided in the setting range of 2, and the synchronous position deviation value ΔSms of the drive hydraulic cylinder is reduced. Is a negative value and is smaller than the negative end value (for example, -2 mm) in the second setting range, the I end of the control terminal of the functional block LZSTC60 in the synchronous position deviation high-speed correction subsystem of this drive hydraulic cylinder The state changes from "0" to "1", the output value of the output terminal Y of this functional block LZSTC60 is made equal to the input value of the input terminal X2 (for example, 2V), and the drive system is driven by the speed correction value of this part. The synchronous position deviation value ΔSms (<0) of the drive hydraulic cylinder is rapidly increased until the position deviation value ΔSms of the cylinder becomes larger than the negative end value (for example, -2 mm) in the second setting range. As can be seen from the above, the synchronous position deviation speed correction unit of this drive hydraulic cylinder can correct the speed of the drive hydraulic cylinder in real time before the overrun of the synchronous position deviation (for example, ± 6 mm). As a result, the driving hydraulic cylinder is prevented from making an emergency stop when the position deviation from the driven hydraulic cylinder that moves up and down the slowest during the synchronous movement exceeds the set maximum allowable position deviation value.

A3, In order to prevent the tundish elevating operation in the failure state of the tundish elevating hydraulic control system for continuous casting, the drive / driven hydraulic cylinder elevating failure interrupt control unit is set in the synchronous control subsystem of the drive hydraulic cylinder. Has been done. In the flood control system for raising and lowering the tundish for continuous casting, a failure of the displacement sensor of the drive for raising and lowering the tundish or one of the driven hydraulic cylinders, a failure of the hydraulic system, prohibition of raising and lowering the tundish for continuous casting, and an emergency stop occur. In this case, the output terminal Q of the functional block LZSTC46 in this unit changes from the "1" state to the "0" state, closes the output of the ascending / descending speed control unit of the drive / driven hydraulic cylinder, and of the proportional valve of the drive / driven hydraulic cylinder. The control voltage is always set to zero, that is, the elevating control of the drive / driven hydraulic cylinder is closed.

A4, Regarding the manual synchronous lift control unit of the drive hydraulic cylinder, when the continuous casting tundish lift hydraulic control system is in the tundish lift manual interlocking mode or the tundish lift manual / automatic interlocking mode, the continuous casting tundish is manually operated. While the lowering instruction is issued, the numerical value of the output terminal Y (that is, point A in FIG. 2) of the functional block LZSTC14 in this unit becomes equal to the drive hydraulic cylinder lowering speed set value (for example, -2V) and functions. The output terminal QL of the block LZSTC15 is in the "1" state, so that the maximum allowable position in which the position deviation value (immediate ΔSms.b.min) between the driving hydraulic cylinder and the driven hydraulic cylinder that descends the slowest is set is set. The output of the functional blocks LZSTC30, LZSTC37 and LZSTC43 in the manual synchronous lift control unit of this drive hydraulic cylinder is greater than the negative value of the deviation (eg -6 mm) and the drive hydraulic cylinder is not located at the descending end position. The terminal Q is in the "1" state, and thus the numerical value of the output terminal Y of the functional block LZSTC38 is the numerical value output from the output terminal Y of the functional block LZSTC14 (that is, the descending speed setting value of the drive / driven hydraulic cylinder (for example). -2V)), the manual synchronous elevating control unit of this driving hydraulic cylinder outputs the manual descending speed setting value of the driving / driven hydraulic cylinder to the elevating speed closed loop control unit of the driving hydraulic cylinder, and this unit also outputs. When the output terminal Q of the functional block LZSTC43 is in the "1" state, the ascending / descending speed closed loop control unit of the drive hydraulic cylinder is released. During the descent of the continuous casting tundish, the position deviation value between the drive hydraulic cylinder and the slowest descending driven hydraulic cylinder is corrected by the synchronous deviation speed correction unit of the drive hydraulic cylinder, and the position deviation values of both are set. If the maximum permissible position deviation is less than or equal to the negative value (eg, -6 mm), the drive hydraulic cylinder has a negative value of the maximum permissible position deviation (eg, -6) in which the position deviation values of both are set again. Stop the descent movement until it is greater than (millimeters). While the manual ascending instruction of the continuous casting tundish is issued, the numerical value of the output terminal Y (that is, point A in FIG. 2) of the functional block LZSTC14 in this unit is the ascending speed set value of the drive / driven hydraulic cylinder (for example). 4, 4V), the output terminal QUA of the functional block LZSTC15 is in the "1" state, thus the position deviation value (ie, ΔSms.f.max) between the driving hydraulic cylinder and the slowest rising driven hydraulic cylinder. ) Is less than the set positive value of the maximum permissible position deviation (eg 6 mm) and the drive hydraulic cylinder is not located in the ascending end position, of the functional block in the manual synchronous elevating control unit of this drive hydraulic cylinder. The output terminals Q of the LZSTC29, LZSTC37 and LZSTC43 are in the "1" state, and thus the numerical value of the output terminal Y of the functional block LZSTC38 is the numerical value output from the output terminal Y of the functional block LZSTC14 (that is, the drive / driven hydraulic cylinder). (For example, 4V)), and the manual synchronous lift control unit of the drive hydraulic cylinder outputs the manual rise speed set value of the drive / driven hydraulic cylinder to the lift speed closed loop control unit of the drive hydraulic cylinder. Further, this unit releases the ascending / descending speed closed loop control unit of the drive hydraulic cylinder when the output terminal Q of the LZSTC43 of the functional block is in the “1” state. During the rise of the continuous casting tundish, the position deviation value between the drive hydraulic cylinder and the driven hydraulic cylinder that rises the slowest is corrected by the synchronous deviation speed correction unit of the drive hydraulic cylinder, and the position deviation values of both are set. If the positive value of the maximum permissible position deviation (eg, 6 mm) is greater than or equal to the positive value of the maximum permissible position deviation (eg, 6 mm), the drive hydraulic cylinder has the positive value of the maximum permissible position deviation (for example, 6 mm) in which the position deviation values of both are set again. Stop ascending movement until it becomes smaller.

A5, After the continuous casting tundish has been raised or lowered to the desired operating position, when the operator finishes the manual raising / lowering instruction of the continuous casting tundish, the raising / lowering control proportional valves of the drive / driven hydraulic cylinder are both intermediate. In the position self-locking state, in this case, if there is some internal leak in the driving hydraulic cylinder, the driving hydraulic cylinder will move down to some extent after a certain period of time, and the actual position of the driving hydraulic cylinder will be moved from the desired operating position. Shift. In order to prevent the drive hydraulic cylinder from being misaligned without manual instruction, the drive hydraulic cylinder synchronous control subsystem is designed with an automatic position holding control unit for the drive hydraulic cylinder. At the end of the manual ascending / descending instruction of the continuous casting tundish, the output terminal Q of the functional block LZSTC17 in this unit changes from the "0" state to the "1" state, and at the same time, the functional block LZSTC18 of the "digital amount input changeover switch". The numerical value of the output terminal Y (that is, the position holding value SZWBZ of the drive / driven hydraulic cylinder) is always the numerical value input from the input terminal of this functional block X1 at the end timing of the manual ascending / descending instruction of the continuous casting tundish (that is,). It becomes equal to the actual position value of the drive hydraulic cylinder corresponding to the end timing of the manual ascending / descending instruction. As a result, when the elevating operation mode of the continuous casting tundish is in the manual / automatic interlocking mode, the manual elevating instruction of the continuous casting tundish is completed, and there is no interruption failure in the drive / driven hydraulic cylinder, it is for continuous casting. If the difference between the position holding value SZWBZ of the drive / driven flood control cylinder and the actual position value of the drive hydraulic cylinder is larger than the set positive allowable value of the position deviation (for example, 3 mm) after the manual ascending / descending instruction of the tundish is completed. , The output terminal Q of the functional block LZSTC49 in this unit is in the "1" state, and the enable control terminal (EN) of the functional block LZSTC50 (that is, the position regulator of the drive hydraulic cylinder) of the "PI controller" in this unit is set to "1". The position regulator of the drive hydraulic cylinder is released, the output terminal Q of the functional block LZSTC43 in this unit is set to the "1" state, and the elevating speed closed loop control unit of the drive hydraulic cylinder is also released. In this way, when there is a deviation between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the drive hydraulic cylinder, the position regulator of the drive / driven hydraulic cylinder is driven with the position holding value SZWBZ of the drive / driven hydraulic cylinder. Positive tolerance of position deviation set by the difference between the position holding value SZWBZ of the driving / driven hydraulic cylinder and the actual position value of the driving hydraulic cylinder in order to reduce the difference between the actual position value of the hydraulic cylinder. The position correction speed reference value of the corresponding drive hydraulic cylinder is output until it becomes less than or equal to the value (for example, 3 mm). Similarly, if the elevating operation mode of the continuous casting tundish is in the manual / automatic interlocking mode, the manual elevating instruction of the continuous casting tundish is completed, and there is no interruption failure in the drive / driven hydraulic cylinder, it is for continuous casting. The difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the drive hydraulic cylinder after the manual elevating instruction of the tundish is completed should be smaller than the negative allowable value of the position deviation (for example, -3 mm). For example, the output terminal Q of the functional block LZSTC49 in this unit is also in the "1" state, and the enable control terminal (EN) of the functional block LZSTC50 (that is, the position regulator of the drive hydraulic cylinder) of the "PI controller" in this unit is set to "1". The position regulator of the drive hydraulic cylinder is set to the "1" state, the output terminal Q of the functional block LZSTC43 in this unit is also set to the "1" state, and the ascending / descending speed closed loop control unit of the drive hydraulic cylinder is also set to the released state. .. In this way, when there is a deviation between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the drive hydraulic cylinder, the position regulator of the drive / driven hydraulic cylinder is driven with the position holding value SZWBZ of the drive / driven hydraulic cylinder. In order to increase the difference between the actual position value of the hydraulic cylinder, the difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the drive hydraulic cylinder is set. For example, the position correction speed reference value of the corresponding drive hydraulic cylinder is output until it becomes -3 mm) or more.

A6, the manual synchronous lifting control unit of the driving hydraulic cylinder or the position automatic holding control unit of the driving hydraulic cylinder releases the lifting speed closed loop control unit of the driving hydraulic cylinder because the output terminal Q of the functional block LZSTC43 is "1". When transmitting a signal (that is, the enable signal of the ascending / descending speed control unit of the driving hydraulic cylinder), the LZSTC62 of the speed setting integration block function block and the LZSTC63 of the speed regulator function block in the elevating speed closed loop control unit of this driving hydraulic cylinder are in the released state. Thus, if the speed setting input from the input terminal X of the LZSTC62 of the speed setting integration block functional block in this unit is not zero, this unit will reach the desired position of the drive hydraulic cylinder by the functional block LZSTC67. And after the position deviation range is within the allowable range, the enable signal of the drive system elevating speed control unit transmitted from the manual synchronous elevating control unit of the drive system cylinder or the position automatic holding unit of the drive system cylinder is closed. Outputs the control voltage of the proportional control valve of the corresponding drive hydraulic cylinder.

The synchronous control subsystem of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting includes a forward / reverse dead zone compensation unit for the proportional control valve of the drive hydraulic cylinder composed of the functional blocks LZSTC64 to LZSTC67, and for raising and lowering the tundish for continuous casting. Synchronous control methods for drive hydraulic cylinders further include:

That is, A7, considering that a specific dead zone generally exists between the control voltage of the proportional control valve of the hydraulic cylinder and the opening degree of the proportional valve, the control voltage of the proportional control valve becomes a predetermined value. Only when it reaches, the opening degree of the proportional control valve changes, and it becomes almost proportional to the control voltage of the proportional control valve. Therefore, in order to improve the control response of the proportional control valve of the drive hydraulic cylinder, a forward / reverse dead zone compensation unit of the proportional control valve of the drive hydraulic cylinder is provided, and a speed regulator function block LZSTC63 in the ascending / descending speed control unit of the drive hydraulic cylinder. When the numerical value of the output terminal Y (that is, the control voltage of the proportional control valve of the drive hydraulic cylinder) is larger than zero, the control terminal I of the functional block LZSTC65 in the forward / reverse dead zone compensation unit of the proportional control valve of the drive hydraulic cylinder is "1". The output terminal Y of the functional block LZSTC65 outputs the dead zone compensation voltage (for example, 1V) of the proportional control valve in the forward direction, whereby the control voltage of the proportional control valve output from the speed regulator functional block. By superimposing the dead zone compensation voltage of the proportional control valve in the forward direction and becoming the control voltage of the proportional control valve of the drive hydraulic cylinder, the adjustment speed of the forward opening of the proportional control valve of the drive hydraulic cylinder is accelerated. When the numerical value of the output terminal Y of the LZSTC63 of the speed regulator function block in the ascending / descending speed closed loop control unit of the driving hydraulic cylinder (that is, the control voltage of the proportional control valve of the driving hydraulic cylinder) is smaller than zero, the proportionality of this driving hydraulic cylinder. The control terminal I of the functional block LZSTC66 in the forward / reverse dead zone compensation unit of the control valve is in the “1” state, and the output terminal Y of the functional block LZSTC66 is the dead zone compensation voltage (for example, -1V) of the proportional control valve in the reverse direction. Is output, and as a result, the control voltage of the proportional control valve output from the speed regulator function block and the dead zone compensation voltage of the proportional control valve in the opposite direction are superimposed to become the control voltage of the proportional control valve of the drive hydraulic cylinder. Therefore, the adjustment speed of the reverse opening degree of the proportional control valve of the drive hydraulic cylinder is accelerated.

The synchronous control subsystem of the driven hydraulic cylinder for raising and lowering the tundish for continuous casting is mainly composed of five control units, that is, the synchronous position deviation overrun control unit of the driven hydraulic cylinder composed of the functional blocks LZSTC100, LZSTC101 and LZSTC104. , Synchronous position deviation speed correction unit of the driven hydraulic cylinder composed of the functional blocks LZSTC116 to LZSTC120 and LZSTC121 to LZSTC130, and the driven hydraulic cylinder composed of the functional blocks LZSTC102, LZSTC103, LZSTC105 to LZSTC108, LZSTC134 to LZSTC136 and LZSTC138. Manual synchronous elevating control unit, the position automatic holding control unit of the driven hydraulic cylinder composed of the functional blocks LZSTC110 to LZSTC115, LZSTC131 to LZSTC133, LZSTC137 and LZSTC138, and the driven hydraulic cylinder consisting of the functional blocks LZSTC139 to LZSTC142 and LZSTC146. It is composed of an ascending / descending speed closed loop control unit of a hydraulic cylinder.

The control method of the driven hydraulic cylinder for raising and lowering the tundish for continuous casting includes the following steps.

That is, during the synchronous ascending or descending movement of B1, the driving / driven hydraulic cylinder, the maximum permissible position deviation in which the positional deviation of the driven hydraulic cylinder from the driving hydraulic cylinder is set in the desired movement direction while the driven hydraulic cylinder is moving up or down. Negative value of maximum allowable position deviation when the position deviation from the driven hydraulic cylinder is set in the desired movement direction when the driven hydraulic cylinder is more than a positive value (for example, 6 mm) or while moving downward. When it is less than (for example, -6 mm), the driven hydraulic cylinder is controlled to stop moving until the position deviation value of both is smaller than the set maximum allowable position deviation, and then the driven hydraulic cylinder is changed. , Accelerates to the set speed at the set acceleration and continues to move in the desired direction, thereby controlling the position deviation of the driven flood control cylinder from the driving hydraulic cylinder in the desired movement direction within the maximum allowable position deviation range. .. Based on this, the synchronous control subsystem of the driven hydraulic cylinder is designed with a synchronous position deviation overrun control unit of the driven hydraulic cylinder. When the continuous casting tundish moves downward, if the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is less than or equal to the negative value (for example, -6 mm) of the set maximum allowable position deviation, the output terminal of the functional block LZSTC104. The QU changes from the "1" state to the "0" state, and the driven hydraulic cylinder is moved to a negative value of the maximum permissible position deviation set by the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder (for example, -6 mm, that is, driven. Stop descending until the position deviation between the hydraulic cylinder and the drive hydraulic cylinder is less than 6 mm), and when the continuous casting tundish moves up, the maximum permissible position with a value of ΔSsnm set. When the deviation is greater than or equal to a positive value (eg, 6 mm), the output terminal QL of the functional block LZSTC101 changes from a "1" state to a "0" state, and the driven hydraulic cylinder is moved between the driven hydraulic cylinder and the driven hydraulic cylinder. The rise is stopped until the position deviation value between is less than the positive value of the set maximum permissible position deviation (eg, 6 mm).

B2, If the driven hydraulic cylinder frequently makes an emergency stop due to a position deviation exceeding the maximum allowable position deviation during the synchronous movement with the drive hydraulic cylinder, the driven hydraulic cylinder is likely to generate position vibration during the synchronous movement, and the drive system is hydraulically driven. It will cause the position vibration of the cylinder. Therefore, in the synchronous control subsystem of the driven hydraulic cylinder for raising and lowering the tundish for continuous casting, not only the synchronous position deviation overrun control unit of the driven hydraulic cylinder but also the synchronous position deviation speed correction unit of the driven hydraulic cylinder is designed. .. During the synchronous movement of the drive / driven hydraulic cylinder, once the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the set range (for example, ± 0.5 mm), the synchronous position deviation speed correction unit of this driven hydraulic cylinder. Corrects the moving speed of the driven hydraulic cylinder in real time until the position deviation value between the driven hydraulic cylinder and the driven hydraulic cylinder is within the set range again, thereby between the driven hydraulic cylinder and the driven hydraulic cylinder. The probability that the position deviation of will reach or exceed the maximum allowable position deviation will be greatly reduced. The synchronous position deviation speed correction unit of this driven hydraulic cylinder is driven in proportion to the reversal value of the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder composed of two subunits, that is, the functional blocks LZSTC116 to LZSTC120 and LZSTC121 to LZSTC126. It is composed of a speed correction subsystem of the hydraulic cylinder and a synchronous deviation high-speed correction subsystem of the driven hydraulic cylinder composed of the functional blocks LZSTC127 to LZSTC130. Regarding the speed correction subsystem of the driven hydraulic cylinder, which is proportional to the reversal value of the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder, the input terminal X2 of the functional block LZSTC126 in this subunit reverses the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder. Then, it is equal to the setting coefficient (this setting coefficient is also called the synchronous position deviation velocity correction coefficient of the driven hydraulic cylinder). Considering the large difference in the elevating speed of the tundish for continuous casting (generally, the ascending speed is about twice the descending speed), in this case, all the elevating synchronous position deviations of the driven hydraulic cylinders were set. In order to control within the permissible range, different synchronous position deviation velocity correction factors, that is, the ascending synchronous position deviation velocity correction coefficient of the driven hydraulic cylinder and the descending synchronous position deviation of the driven hydraulic cylinder, are used for the ascending / descending synchronous control of the driven hydraulic cylinder. Adopt a speed correction coefficient. Therefore, the speed correction subsystem of the driven hydraulic cylinder, which is proportional to the reversal value of the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder, includes the synchronous position deviation speed correction of the driven hydraulic cylinder composed of the functional blocks LZSTC116 to LZSTC120 and LZSTC124. A coefficient selection part is provided. When the driven hydraulic cylinder moves up, the output terminal Q of the functional block LZSTC120 in this part is in the "1" state, and the control terminal I of the functional block LZSTC124 of the "digital amount input changeover switch" in this part is also in the "1" state. Therefore, the synchronous position deviation speed correction coefficient of the driven hydraulic cylinder is set to the ascending synchronous position deviation speed correction coefficient (for example, 20) of the driven hydraulic cylinder, and when the driven hydraulic cylinder descends or stops and moves, the functional block in this part. The output terminal Q of the LZSTC120 is also in the "0" state, and thus the control terminal I of the functional block LZSTC124 of the "digital amount input changeover switch" in this part is also in the "0" state, and thus the synchronous position deviation of the driven hydraulic cylinder. Let the speed correction coefficient be the descending synchronous position deviation speed correction coefficient (for example, 10) of the driven hydraulic cylinder. In this way, when the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the first set range (for example, ± 0.5 mm), the I end of the control terminal of the functional block LZSTC126 is changed from the “0” state to “1”. The state changes and the output value of the output terminal Y of the functional block LZSTC126 is equalized to the input value of its input terminal X2, whereby this subsystem has a speed proportional to the inversion value of the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder. The correction value is output, and the speed correction value of this part causes the driven hydraulic cylinder and the driving hydraulic cylinder until the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder becomes the first set range (for example, ± 0.5 mm) again. Gradually reduce the synchronization position deviation between and.

When the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the second set range when the tundish for continuous casting moves down or up, the synchronous deviation high-speed correction subsystem of the driven hydraulic cylinder is synchronized with the driven hydraulic cylinder. The synchronous position deviation speed correction value of the driven hydraulic cylinder in the direction opposite to the position deviation value ΔSsnm is used as the speed correction value of the driven hydraulic cylinder, that is, the synchronized position deviation value ΔSsnm of the driven hydraulic cylinder is a positive value and the second setting. When it is larger than the normal end value (for example, 2 mm) in the range, the I end of the control terminal of the functional block LZSTC128 in the synchronous position deviation high-speed correction subsystem of this driven hydraulic cylinder changes from the "0" state to the "1" state. , The output value of the output terminal Y of this functional block LZSTC128 is made equal to the input value of the input terminal X2 (for example, -2V), and the position deviation value ΔSsnm of the driven hydraulic cylinder is second depending on the speed correction value of this portion. The synchronous position deviation value ΔSsnm (> 0) of the driven hydraulic cylinder is rapidly reduced until it becomes smaller than the normal value (for example, 2 mm) in the setting range of, and the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is a negative value. If it is smaller than the negative end value (for example, -2 mm) in the second setting range, the I end of the control terminal of the functional block LZSTC130 in the synchronous position deviation high-speed correction subsystem of this driven hydraulic cylinder is "0". The state changes to the "1" state, the output value of the output terminal Y of this functional block LZSTC130 is made equal to the input value (for example, 2V) of the input terminal X2, and the speed correction value of this part determines that the driven hydraulic cylinder The synchronous position deviation value ΔSsnm (<0) of the driven hydraulic cylinder is rapidly increased until the position deviation value ΔSsnm becomes larger than the negative end value (for example, -2 mm) in the second setting range. As can be seen from the above, the synchronous position deviation speed correction unit of this driven hydraulic cylinder allows the speed of the driven hydraulic cylinder to be corrected in real time before the overrun of the synchronous position deviation (eg ± 6 mm). As a result, the driven flood control cylinder is prevented from making an emergency stop due to the position deviation from the driving hydraulic cylinder exceeding the maximum allowable position deviation value during synchronous movement.

B3, Regarding the manual synchronous elevating control unit of the driven hydraulic cylinder, when the tundish elevating hydraulic control system for continuous casting is in the tundish elevating manual interlocking mode or the tundish elevating manual / automatic interlocking mode, the tundish for continuous casting is manually operated. While the lowering instruction is issued, the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder must be larger than the negative value (-6 mm) of the set maximum allowable position deviation, and the driven hydraulic cylinder must be located at the lower end position. The output terminals Q of the functional blocks LZSTC106, LZSTC135 and LZSTC138 in the manual synchronous elevating control unit of this driven hydraulic cylinder are in the "1" state, and the numerical values of the output terminals Y of the functional block LZSTC136 are the synchronous control subs of the drive hydraulic cylinder. It becomes equal to the numerical value output from the output terminal Y of the functional block LZSTC14 in the system (that is, the lowering speed set value (for example, -2V) of the driven / driven hydraulic cylinder), and the manual synchronous raising / lowering control unit of this driven hydraulic cylinder is The manual descent speed set value of the drive / driven hydraulic cylinder is output to the elevating speed closed loop control unit of the driven hydraulic cylinder. Cylinder elevating speed Closed loop Control unit is released. During the descent of the tundish for continuous casting, the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is corrected by the synchronous deviation speed correction unit of the driven hydraulic cylinder, and a negative value of the maximum allowable position deviation set with a numerical value of ΔSsnm ( For example, when it is less than -6 mm), the driven hydraulic cylinder stops moving down until the value of ΔSsnm becomes larger than the negative value of the maximum permissible position deviation set again (like -6 mm). While the manual ascending instruction of the tundish for continuous casting is issued, the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is smaller than the set positive value of the maximum allowable position deviation (for example, 6 mm), and the driven hydraulic cylinder is If it is not located at the terminal position, the output terminals Q of the functional blocks LZSTC103, LZSTC135 and LZSTC138 in the manual synchronous elevating control unit of this driven hydraulic cylinder will be in the "1" state, and the numerical value of the output terminal Y of the functional block LZSTC136 will be It becomes equal to the numerical value output from the output terminal Y of the functional block LZSTC14 in the synchronous control subsystem of the drive hydraulic cylinder (that is, the ascending speed set value (for example, 4V) of the drive / driven hydraulic cylinder), and the driven hydraulic cylinder is manually operated. The synchronous lifting control unit outputs the manual lowering speed setting value of the drive / driven hydraulic cylinder to the raising / lowering speed closed loop control unit of the driven hydraulic cylinder, and at the same time, this unit is in the state where the output terminal Q of the functional block LZSTC138 is "1". By presenting, the ascending / descending speed closed loop control unit of the driven flood control cylinder is released. During the rise of the tundish for continuous casting, the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is corrected by the synchronous deviation speed correction unit of the driven hydraulic cylinder, and the value of ΔSsnm is set as a positive value of the maximum allowable position deviation. For example, if it is 6 mm) or more, the driven hydraulic cylinder stops ascending movement until the value of ΔSsnm becomes smaller than the positive value of the maximum allowable position deviation set again (for example, 6 mm).

B4, After the continuous casting tundish has been raised or lowered to the desired operating position, when the operator finishes the manual raising / lowering instruction of the continuous casting tundish, the raising / lowering control proportional valves of the drive / driven hydraulic cylinder are both intermediate. In the position self-locking state, in this case, if there is some internal leak in the driven hydraulic cylinder, the driven hydraulic cylinder will move down to some extent after a certain period of time, and the actual position of the driven hydraulic cylinder will be moved from the desired operating position. Shift. In order to prevent the driven hydraulic cylinders from being misaligned without manual instructions, the driven hydraulic cylinder synchronous control subsystem is designed with an automatic position holding control unit for the driven hydraulic cylinders. If the elevating operation mode of the continuous casting tundish is in the manual / automatic interlocking mode, the manual elevating instruction of the continuous casting tundish is completed, and there is no interruption failure in the drive / driven hydraulic cylinder, the continuous casting tundish If the difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder after the end of the manual lifting instruction is larger than the set positive allowable value of the position deviation (for example, 3 mm), this unit The output terminal Q of the functional block LZSTC114 in the above is in the "1" state, and the enable control terminal (EN) of the functional block LZSTC115 (that is, the position regulator of the driven hydraulic cylinder (Sn)) of the "PI controller" in this unit is set to "1". The position regulator of the driven hydraulic cylinder (Sn) is released, and the output terminal Q of the LZSTC138 of the functional block in this unit is set to the "1" state. Is also released. In this way, when there is a deviation between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder, the position regulator of the driven hydraulic cylinder is driven by the position holding value SZWBZ of the drive / driven hydraulic cylinder. In order to reduce the difference between the actual position value of the hydraulic cylinder, the difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder is set. The position correction speed reference value of the corresponding driven hydraulic cylinder is output until it becomes (for example, 3 mm) or less. Similarly, if the elevating operation mode of the continuous casting tundish is in the manual / automatic interlocking mode, the manual elevating instruction of the continuous casting tundish is completed, and there is no interruption failure in the drive / driven hydraulic cylinder, it is for continuous casting. The difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder after the manual ascending / descending instruction of the tundish is completed should be smaller than the negative allowable value (for example, -3 mm) of the set position deviation. For example, the output terminal Q of the functional block LZSTC114 in this unit is also in the "1" state, and the enable control terminal (EN) of the functional block LZSTC115 (that is, the position regulator of the driven hydraulic cylinder) of the "PI controller" in this unit is set to "1". The position regulator of the driven hydraulic cylinder is set to the "1" state, the output terminal Q of the functional block LZSTC138 in this unit is also set to the "1" state, and the elevating speed closed loop control unit of the driven hydraulic cylinder is also set to the released state. .. In this way, when there is a deviation between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder, the position regulator of the driven hydraulic cylinder is driven by the position holding value SZWBZ of the drive / driven hydraulic cylinder. In order to increase the difference value between the actual position value of the hydraulic cylinder, the difference value between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder is set. The position correction speed reference value of the corresponding driven hydraulic cylinder is output until the permissible value of (for example, -3 mm) or more is reached.

B5, When there is no interruption failure in the drive / driven flood control cylinder, the manual synchronous elevating control unit of the driven hydraulic cylinder or the position automatic holding control unit of the driven hydraulic cylinder has the output terminal Q of the functional block LZSTC138 set to "1". When transmitting the release signal of the elevating speed control unit of the driven hydraulic cylinder (that is, the enable signal of the elevating speed control unit of the driven hydraulic cylinder), the speed setting integration block function block in the elevating speed closed loop control unit of this driven hydraulic cylinder If the LZSTC141 and the LZSTC142 of the speed regulator function block are in the released state and the speed setting input from the input terminal X of the LZSTC142 of the speed setting integration block function block in this unit is not zero, this unit is in the function block LZSTC146. The driven hydraulic cylinder transmitted from the manual synchronous lifting control unit of the driven hydraulic cylinder or the position automatic holding unit of the driven hydraulic cylinder after the driven hydraulic cylinder has reached the desired position and is within the allowable position deviation range. The control voltage of the proportional control valve of the corresponding driven hydraulic cylinder is output until the enable signal of the ascending / descending speed control unit is closed.

The synchronous control subsystem of the driven hydraulic cylinder for raising and lowering the tundish for continuous casting includes a forward / reverse dead zone compensation unit for the proportional control valve of the driven hydraulic cylinder composed of the functional blocks LZSTC143 to LZSTC146, and for raising and lowering the tundish for continuous casting. Synchronous control methods for driven hydraulic cylinders further include:

That is, considering that there is generally a specific dead zone between the control voltage of the proportional control valve of B6 and the hydraulic cylinder and the opening degree of the proportional valve, the control voltage of the proportional control valve becomes a predetermined value. Only when it reaches, the opening degree of the proportional control valve changes, and it becomes almost proportional to the control voltage of the proportional control valve. Therefore, in order to improve the control response of the proportional control valve of the driven hydraulic cylinder, the ascending / descending speed control unit of the driven hydraulic cylinder is provided with a forward / reverse dead zone compensation unit of the proportional control valve of the driven hydraulic cylinder. When the numerical value of the output terminal Y of the LZSTC142 of the speed regulator function block in the ascending / descending speed closed loop control unit of the driven hydraulic cylinder (that is, the control voltage of the proportional control valve of the driven hydraulic cylinder) is larger than zero, the proportional control valve of this driven hydraulic cylinder. The control terminal I of the functional block LZSTC144 in the forward / reverse dead zone compensation unit is in the “1” state, and the output terminal Y of the functional block LZSTC144 outputs the dead zone compensation voltage (for example, IV) of the forward proportional control valve. As a result, the control voltage of the proportional control valve output from the speed regulator function block and the dead zone compensation voltage of this forward proportional control valve are superimposed to become the control voltage of the proportional control valve of the driven hydraulic cylinder, so that the driven hydraulic cylinder The adjustment speed of the forward opening of the proportional control valve is accelerated, and the numerical value of the output terminal Y of the speed regulator function block LZSTC142 in the lifting speed control unit of the driven hydraulic cylinder (that is, the control of the proportional control valve of the driven hydraulic cylinder). When the voltage) is smaller than zero, the control terminal I of the functional block LZSTC145 in the forward / reverse dead zone compensation unit of the proportional control valve of the driven hydraulic cylinder is in the “1” state, and the output terminal Y of the functional block LZSTC145 is proportional in the reverse direction. The dead zone compensation voltage (for example, -1V) of the control valve is output, so that the control voltage of the proportional control valve output from the speed regulator function block and the dead zone compensation voltage of the proportional control valve in the opposite direction are superimposed and driven. By becoming the control voltage of the proportional control valve of the hydraulic cylinder, the adjustment speed of the reverse opening degree of the proportional control valve of the driven hydraulic cylinder is accelerated.

The present invention is a method for synchronously controlling a hydraulic cylinder for raising and lowering a tundish for continuous casting according to an embodiment, and exceeds a set range by a synchronous position deviation speed correction unit for a driving hydraulic cylinder and a synchronous position deviation speed correction unit for a driven hydraulic cylinder. If the position deviation between the drive and driven hydraulic cylinders is corrected in real time and the deviation between the two continues to increase until the set maximum allowable position deviation is reached, the synchronous position deviation overrun control unit of the drive and driven hydraulic cylinders and the driven The synchronous position deviation overrun control unit of the hydraulic cylinder controls the movement of the driving hydraulic cylinder or the driven hydraulic cylinder, which has a high moving speed, to be stopped until the position deviation between the two becomes smaller than the set maximum allowable position deviation again. Furthermore, the automatic position holding control unit of the driving hydraulic cylinder and the automatic position holding control unit of the driven hydraulic cylinder prevent the drive / driven hydraulic cylinder from being displaced without manual instruction, and therefore, the tundish for continuous casting is raised and lowered. The flood control cylinder synchronous control method for continuous casting not only realizes the synchronous movement of the flood control cylinder for continuous casting tundish elevating, but also has high failure resistance during operation of the continuous casting tundish lifting hydraulic cylinder, and leaks to the hydraulic cylinder. When the manufacturing accuracy of the hydraulic parts varies and the load is uneven, it is possible to realize the synchronous movement of the flood control cylinder for raising and lowering the tundish for continuous casting.

The above description is merely a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equal substitutions, improvements, etc. made in the spirit and principles of the present invention are all within the scope of the present invention. It shall be included in.

Claims (6)

Synchronous control based on the synchronous control system of the continuous casting tundish elevating hydraulic cylinder including the synchronous control subsystem of the continuous casting tundish elevating drive hydraulic cylinder and the synchronous control subsystem of the continuous casting tundish elevating driven hydraulic cylinder. In the method, the synchronous control subsystem of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting includes the synchronous position deviation overrun control unit of the drive hydraulic cylinder and the synchronous position deviation speed correction unit of the drive hydraulic cylinder, and the continuous. The synchronous control subsystem of the driven hydraulic cylinder for raising and lowering the tundish for casting includes a synchronous position deviation overrun control unit for the driven hydraulic cylinder and a synchronous position deviation speed correction unit for the driven hydraulic cylinder, and for raising and lowering the tundish for continuous casting. The synchronous control method of the hydraulic cylinder for raising and lowering the tundish for continuous casting based on the synchronous control system of the hydraulic cylinder is
1) When the continuous casting tundish moves downward, the synchronous position deviation overrun control unit of the drive hydraulic cylinder has a minimum value of the difference between the position value of the drive hydraulic cylinder and the position value of each driven hydraulic cylinder ΔSms. b. Obtain min, and ΔSms. b. If the value of min is less than or equal to the negative value of the set maximum permissible position deviation, the drive hydraulic cylinder is the maximum permissible position where the position deviation value between the drive hydraulic cylinder and the slowest descending driven hydraulic cylinder is set. When the descent is stopped until it becomes larger than the negative value of the deviation and the tundish for continuous casting moves down, the synchronous position deviation overrun control unit of the driven hydraulic cylinder is the position value of each driven hydraulic cylinder and the driving hydraulic cylinder. When the difference ΔSsnm from the position value is acquired and the value of ΔSsnm is equal to or less than the negative value of the set maximum allowable position deviation, the driven hydraulic cylinder is the maximum allowable value in which the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is set. Stopping the descent until it is greater than the negative value of the position deviation,
2) During the ascending movement of the tundish for continuous casting, the synchronous position deviation overrun control unit of the drive hydraulic cylinder has a maximum value of the difference between the actual position value of the drive hydraulic cylinder and the actual position value of each driven hydraulic cylinder ΔSms. f. The max is obtained, and ΔSms. f. If the value of max is greater than or equal to the positive value of the set maximum permissible position deviation, the drive hydraulic cylinder is in the maximum permissible position where the position deviation value between the drive hydraulic cylinder and the slowest rising driven hydraulic cylinder is set. The ascending is stopped until it becomes smaller than the positive value of the deviation, and during the ascending movement of the tundish for continuous casting, the synchronous position deviation overrun control unit of the driven hydraulic cylinder is the position value of each driven hydraulic cylinder and the driving hydraulic cylinder. When the difference ΔSsnm from the position value is acquired and the value of ΔSsnm is equal to or more than the positive value of the set maximum allowable position deviation, the driven hydraulic cylinder is the maximum allowable value in which the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is set. Stopping the climb until it is less than the positive value of the position deviation,
3) When the synchronous position deviation value ΔSms of the drive hydraulic cylinder exceeds the set range during the ascending or descending movement of the continuous casting tundish, the synchronous position deviation speed correction unit of the drive hydraulic cylinder is driven / driven hydraulic pressure. Correcting the moving speed of the drive hydraulic cylinder until the position deviation value ΔSms between the cylinders is within the set range again,
4) If the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the set range during the ascending or descending movement of the tundish for continuous casting, the synchronous position deviation speed correction unit of the driven hydraulic cylinder will be replaced with the driven hydraulic cylinder. Synchronizing the continuous casting tundish elevating hydraulic cylinder, including correcting the moving speed of the driven hydraulic cylinder until the position deviation value ΔSsnm with and from the drive hydraulic cylinder is within the set range again. Synchronous control method based on the control system. 1) The synchronous position deviation speed correction unit of the drive hydraulic cylinder includes the speed correction subunit of the drive hydraulic cylinder and the synchronous deviation high speed correction subunit of the drive hydraulic cylinder, and the drive hydraulic cylinder when the tundish for continuous casting moves downward. When the synchronous position deviation value ΔSms of The speed correction value of the drive hydraulic cylinder is multiplied by the correction coefficient, and when the continuous casting tundish moves upward, if the synchronous position deviation value ΔSms of the drive hydraulic cylinder exceeds the first set range, the drive flood control For the speed correction subsystem of the cylinder, the speed correction value of the drive hydraulic cylinder is obtained by reversing the synchronous position deviation value ΔSms of the drive hydraulic cylinder and then multiplying it by the drive hydraulic cylinder rise synchronous position deviation speed correction coefficient, which is used for continuous casting. When the tundish moves down or up, if the synchronous position deviation value ΔSms of the drive hydraulic cylinder exceeds the second set range, the synchronous deviation high-speed correction subsystem of the drive hydraulic cylinder will be used for the synchronous position deviation value of the drive hydraulic cylinder. The synchronous position deviation speed correction value of the driving hydraulic cylinder in the direction opposite to ΔSms is used as the speed correction value of the driving hydraulic cylinder.
2) The synchronous position deviation speed correction unit of the driven hydraulic cylinder includes the speed correction subunit of the driven hydraulic cylinder and the synchronous deviation high speed correction subunit of the driven hydraulic cylinder, and the driven hydraulic cylinder when the tundish for continuous casting moves downward. When the synchronous position deviation value ΔSsnm of the Multiplying the correction coefficient is used as the speed correction value of the driven hydraulic cylinder, and when the continuous casting tundish moves upward, if the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the first set range, the driven hydraulic pressure For the speed correction subsystem of the cylinder, the speed correction value of the driven hydraulic cylinder is obtained by inverting the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder and then multiplying it by the driven hydraulic cylinder rising synchronous position deviation speed correction coefficient.
3) When the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder exceeds the second set range when the continuous casting tundish moves downward or upward, the synchronous deviation high-speed correction subsystem of the driven hydraulic cylinder is the driven hydraulic cylinder. The flood control for raising and lowering a tundish for continuous casting according to claim 1, wherein the synchronous position deviation speed correction value of the driven hydraulic cylinder in the direction opposite to the synchronous position deviation value ΔSsnm is used as the speed correction value of the driven hydraulic cylinder. Synchronous control method based on the synchronous control system of cylinders. In the synchronous control subsystem of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting and the synchronous control subsystem of the driven hydraulic cylinder for raising and lowering the tundish for continuous casting according to claim 1, the failure interrupt control unit and the driven hydraulic cylinder of the drive hydraulic cylinder A hydraulic cylinder failure interrupt control unit, a drive hydraulic cylinder elevating speed closed loop control unit, and a driven hydraulic cylinder elevating speed closed loop control unit have been added. In the event of a failure of the displacement sensor of the drive or any of the driven hydraulic cylinders, a failure of the hydraulic system, a prohibition of raising and lowering the tundish for continuous casting and an emergency stop, the failure interrupt control unit of the drive hydraulic cylinder is of the drive hydraulic cylinder. The output of the ascending / descending speed closed loop control unit is controlled to be closed, and the failure interrupt control unit of the driven hydraulic cylinder is controlled to close the output of the ascending / descending speed closed loop control unit of the driven hydraulic cylinder. The flood control for continuous casting tundish elevating according to claim 1, wherein the control voltage and the control voltage of the driven hydraulic cylinder proportional valve are always zero, that is, the elevating control of the driving and driven hydraulic cylinders is closed. Synchronous control method based on the synchronous control system of cylinders. In the synchronous control subsystem of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting and the synchronous control subsystem of the driven hydraulic cylinder for raising and lowering the tundish for continuous casting according to claim 1, the manual synchronous raising and lowering control unit of the drive hydraulic cylinder. A manual synchronous lifting control unit for the driven hydraulic cylinder, a lifting speed closed loop control unit for the driving hydraulic cylinder, and a lifting speed closed loop control unit for the driven hydraulic cylinder have been added.
1) When the hydraulic control system for raising and lowering the tundish for continuous casting is in the tundish raising and lowering manual interlocking mode or the tundish raising and lowering manual / automatic interlocking mode, the drive system is driven while the manual lowering instruction of the tundish for continuous casting is issued. If the synchronous position deviation value ΔSms of the cylinder is larger than the negative value of the set maximum allowable position deviation and the drive hydraulic cylinder is not located at the descending end position, the manual synchronous elevation control unit of the drive hydraulic cylinder is driven / driven. The manual descent speed set value of the hydraulic cylinder is output to the ascending / descending speed closed loop control unit of the driving hydraulic cylinder, and the elevating speed closed loop control unit of the driving hydraulic cylinder is released to release the driving hydraulic cylinder and the driven hydraulic cylinder that descends the slowest. If the position deviation between the two exceeds the set range, the position deviation between the driving hydraulic cylinder and the driven hydraulic cylinder that descends the slowest is corrected by the synchronous position deviation speed correction unit of the driving hydraulic cylinder, and the driving hydraulic cylinder and the slowest. If the position deviation with the descending driven hydraulic cylinder is less than or equal to the negative value of the set maximum allowable position deviation, the driving hydraulic cylinder is negative of the maximum allowable position deviation in which the position deviation values of both are set again. The descending movement is stopped until it becomes larger than the value, and while the manual ascending instruction of the continuous casting tundish is issued, the synchronous position deviation value ΔSms of the drive hydraulic cylinder is smaller than the positive value of the set maximum allowable position deviation. If the drive hydraulic cylinder is not located at the ascending end position, the manual synchronous elevating control unit of the driving hydraulic cylinder outputs the manual ascending speed set value of the driving / driven hydraulic cylinder to the elevating speed closed loop control unit of the driving hydraulic cylinder. , Elevating speed of the driving hydraulic cylinder When the closed loop control unit is released and the position deviation between the driving hydraulic cylinder and the slowest rising driven hydraulic cylinder exceeds the set range, the driving hydraulic cylinder and the slowest rising driven hydraulic system The position deviation from the cylinder is corrected by the synchronous position deviation speed correction unit of the driving hydraulic cylinder, and the position deviation between the driving hydraulic cylinder and the driven hydraulic cylinder that rises the slowest is set. If it is equal to or more than the value, the drive hydraulic cylinder stops ascending movement until the position deviation values of both are smaller than the positive value of the maximum allowable position deviation set again.
2) When the hydraulic control system for raising and lowering the tundish for continuous casting is in the tundish raising and lowering manual interlocking mode or the tundish raising and lowering manual / automatic interlocking mode, the driven hydraulic control is issued while the manual lowering instruction of the tundish for continuous casting is issued. If the synchronous position deviation value ΔSsnm of the cylinder is larger than the negative value of the set maximum allowable position deviation and the drive hydraulic cylinder is not located at the descending end position, the manual synchronous elevation control unit of the driven hydraulic cylinder is driven / driven. The manual descent speed set value of the hydraulic cylinder is output to the elevating speed closed loop control unit of the driven hydraulic cylinder, the elevating speed closed loop control unit of the driven hydraulic cylinder is released, and the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is set. When the range is exceeded, the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is corrected by the synchronous position deviation speed correction unit of the driving hydraulic cylinder, and the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is negative of the maximum allowable position deviation set. If it is less than or equal to the value, the driven hydraulic cylinder stops the descending movement until the position deviation value of both becomes larger than the negative value of the set maximum allowable position deviation, and the manual ascending instruction of the continuous casting tundish is issued. If the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is smaller than the set positive value of the maximum allowable position deviation and the driving hydraulic cylinder is not located at the ascending end position, the manual synchronous raising and lowering control of the driven hydraulic cylinder is performed. The unit outputs the manual ascending speed set value of the drive / driven hydraulic cylinder to the elevating speed closed loop control unit of the driven hydraulic cylinder, and also releases the elevating speed closed loop control unit of the driven hydraulic cylinder to release the synchronous position deviation of the driven hydraulic cylinder. When the value ΔSsnm exceeds the set range, the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is corrected by the synchronous position deviation speed correction unit of the driven hydraulic cylinder, and the maximum allowable position in which the synchronous position deviation value ΔSsnm of the driven hydraulic cylinder is set is set. The claim is characterized in that, if the deviation is greater than or equal to the positive value, the driven hydraulic cylinder stops ascending movement until the position deviation values of both are smaller than the positive value of the maximum allowable position deviation set again. The synchronous control method based on the synchronous control system of the flood control cylinder for raising and lowering a tundish for continuous casting according to 1. Automatic position holding control of the drive hydraulic cylinder in the synchronous control subsystem of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting and the synchronous control subsystem of the driven hydraulic cylinder for raising and lowering the tundish for continuous casting according to claim 1. The unit, the position automatic holding control unit of the driven flood control cylinder, the ascending / descending speed closed loop control unit of the driving hydraulic cylinder, and the ascending / descending speed closed loop control unit of the driven hydraulic cylinder have been added.
1) At the end of the manual elevating instruction of the continuous casting tundish, the difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the drive hydraulic cylinder is set after the end of the manual elevating instruction of the continuous casting tundish. If the position deviation is greater than the positive tolerance, the drive hydraulic cylinder position regulator and the drive hydraulic cylinder elevating speed closed loop control unit are in the open state, and the drive hydraulic cylinder position regulator is the drive / driven hydraulic cylinder position. In order to reduce the difference between the holding value SZWBZ and the actual position value of the driving hydraulic cylinder, the position where the difference between the position holding value SZWBZ of the driving / driven hydraulic cylinder and the actual position value of the driving hydraulic cylinder is set. The position correction speed reference value of the corresponding drive hydraulic cylinder is output until it becomes less than the positive allowable value of the deviation, and the position holding value of the drive / driven hydraulic cylinder SZWBZ after the manual ascending / descending instruction of the continuous casting tundish is completed. If the difference between and the actual position value of the drive hydraulic cylinder is less than the negative tolerance of the set position deviation, the position regulator of the drive hydraulic cylinder and the elevating speed closed loop control unit of the drive hydraulic cylinder are in the open state, and the drive hydraulic system is in the open state. The position regulator of the cylinder is used to increase the difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the drive hydraulic cylinder. The position correction speed reference value of the corresponding drive flood control cylinder is output until the difference from the actual position value becomes equal to or more than the negative allowable value of the set position deviation.
2) At the end of the manual elevating instruction for the continuous casting tundish, the difference between the position holding value SZWBZ of the drive / driven flood control cylinder and the actual position value of the driven hydraulic cylinder is set after the end of the manual elevating instruction for the continuous casting tundish. If the position deviation is greater than the positive permissible value, the position regulator of the driven hydraulic cylinder and the elevating speed closed loop control unit of the driven hydraulic cylinder are in the open state, and the position regulator of the driven hydraulic cylinder is the position of the drive / driven hydraulic cylinder. In order to reduce the difference between the holding value SZWBZ and the actual position value of the driven hydraulic cylinder, the position where the difference between the position holding value SZWBZ of the driving / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder is set. The position correction speed reference value of the corresponding driven hydraulic cylinder is output until it becomes less than the positive allowable value of the deviation, and the position holding value of the driven / driven hydraulic cylinder SZWBZ after the manual ascending / descending instruction of the continuous casting tundish is completed. If the difference between and the actual position value of the driven hydraulic cylinder is less than the negative tolerance of the set position deviation, the position regulator of the driven hydraulic cylinder and the ascending / descending speed closed loop control unit of the driven hydraulic cylinder are in the open state and the driven hydraulic pressure. The position regulator of the cylinder is to increase the difference between the position holding value SZWBZ of the drive / driven hydraulic cylinder and the actual position value of the driven hydraulic cylinder. The continuous casting according to claim 1, wherein the position correction speed reference value of the corresponding driven hydraulic cylinder is output until the difference from the actual position value becomes equal to or more than the negative allowable value of the set position deviation. A synchronous control method based on the synchronous control system for the flood control cylinder for raising and lowering the tundish. In the synchronous control subsystem of the drive hydraulic cylinder for raising and lowering the tundish for continuous casting and the synchronous control subsystem of the driven hydraulic cylinder for raising and lowering the tundish for continuous casting according to claim 1, the position automatic holding control unit of the drive hydraulic cylinder. The position automatic holding control unit of the driven hydraulic cylinder, the elevating speed closed loop control unit of the driven hydraulic cylinder, the elevating speed closed loop control unit of the driven hydraulic cylinder, the manual synchronous elevating control unit of the driven hydraulic cylinder, and the manual synchronous elevating control unit of the driven hydraulic cylinder It has been expanded and
1) If there is no interruption failure in the drive / driven flood control cylinder, when the release signal of the lift speed control unit of the drive hydraulic cylinder is transmitted from the manual synchronous lift control unit of the drive hydraulic cylinder or the position automatic holding control unit of the drive hydraulic cylinder. , The lifting speed of the driving hydraulic cylinder The closed loop control subsystem automatically holds the position of the manual synchronous lifting control unit or the driving hydraulic cylinder after the driving hydraulic cylinder reaches the desired position and is within the allowable position deviation range. Lifting speed control of drive hydraulic cylinder transmitted from the unit Until the enable signal of the unit is closed, the input speed setting is converted to the control voltage of the proportional control valve of the corresponding drive hydraulic cylinder and output.
2) If there is no interruption failure in the drive / driven hydraulic cylinder, when the release signal of the driven hydraulic cylinder lifting speed control unit is transmitted from the manual synchronous lifting control unit of the driven hydraulic cylinder or the position automatic holding control unit of the driven hydraulic cylinder, The lift speed closed loop control subsystem of the driven hydraulic cylinder is the manual synchronous lift control unit of the driven hydraulic cylinder or the driven hydraulic cylinder after the driven hydraulic cylinder reaches the desired position and is within the allowable position deviation range. Until the enable signal of the ascending / descending speed control unit of the driven hydraulic cylinder transmitted from the automatic position holding unit is closed, the input speed setting is converted to the control voltage of the proportional control valve of the corresponding driven hydraulic cylinder and output. The synchronous control method based on the synchronous control system for the flood control cylinder for raising and lowering a tundish for continuous casting according to claim 1.

Images