A swing shear control method, device, equipment and medium

Abstract

The application discloses a swing shear control method, which is based on the motion characteristics of the two parts of the swing shear, i.e., the rotation of the swing shear crankshaft mainly completes shearing, and the swing hydraulic cylinder mainly completes swinging, and the two parts are coupled. The two motions (shearing and swinging) are first regarded as completely decoupled and divided into two independent parts, and then the characteristics of the partial coupling are simulated by iterative compensation to complete the solution. Specifically, a swing shear motion mechanism model PS(θ, l) = 0 is established first, and the speed curve of the swing hydraulic cylinder is optimized and solved by the iterative compensation method under the condition that the initial swing angle and the initial net height of the upper shear blade are given, and the shearing angle is solved at the same time, and then the final initial swing angle and the net height of the upper shear blade are iteratively optimized and solved. The target of the inner iteration is the optimal horizontal speed of the lower shear blade, and the target of the outer iteration is the recommended shearing angle.

Description

Technical Field

[0001] This invention relates to the field of steelmaking and rolling technology, specifically to a swing shear control method, device, equipment, and medium. Background Technology

[0002] Between continuous casting and steel rolling, a swing shear is needed to cut continuously produced slabs into slabs that meet certain length requirements, while maintaining a constant feed speed during the shearing process. Currently, swing shears all employ a two-degree-of-freedom multi-link mechanism. The crankshaft rotates at a constant speed, driving the upper and lower shear blades to complete the shearing; the swing cylinder extends and retracts at a variable speed, causing the upper and lower shear blades to adapt to the slab feed speed during the shearing process, thus achieving high-quality shearing.

[0003] Currently, the kinematic calculation models for oscillating shears with different plate thicknesses, feed rates, and recommended shearing angles are mainly mastered by foreign companies. In particular, the calculation model for the speed curve of the oscillating hydraulic cylinder during the shearing cycle is not yet mastered by domestic companies. Domestic scholars currently believe that crankshaft rotation and oscillating hydraulic cylinder extension / retraction are completely decoupled; that is, crank rotation completes the shearing, and the oscillating hydraulic cylinder completes the matching of the slab feed rate. The proposed oscillating cylinder speed curve algorithm calculates a lower shear blade speed with a large error compared to the optimal speed due to partial coupling, limiting its widespread engineering application and failing to meet the optimization requirements of the recommended shearing angle. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the present invention provides a swing shear control method, device, equipment and medium to solve the above technical problems.

[0005] This invention provides a method for controlling the swing cutter, the method comprising:

[0006] The speed curve of the swing hydraulic cylinder is compensated in the first iteration until the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade is less than the first error threshold.

[0007] The average shearing angle during the shearing process is obtained, and the initial swing angle and the initial net height of the upper shear blade are compensated in a second iteration based on the second error between the average shearing angle and the set recommended shearing angle, until the second error is less than the second error threshold.

[0008] The swing shear is controlled using the swing angle at the stop of the second iteration compensation, the net height of the upper shear blade, and the speed curve of the swing hydraulic cylinder at the stop of the first iteration compensation as control parameters.

[0009] In one embodiment of the present invention, the first iterative compensation includes:

[0010] The current speed curve of the lower shear blade is calculated based on the initial swing angle, the initial net height of the upper shear blade, the speed curve of the swing hydraulic cylinder, and the swing angle value of the four shearing states.

[0011] The speed curve of the swing hydraulic cylinder is compensated based on the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade to obtain a new speed curve of the swing hydraulic cylinder, thereby completing the first iterative compensation.

[0012] In one embodiment of the present invention, the shearing angle is configured as the angle between the shearing line and the vertical direction during the shearing process; the swing angle is configured as the angle between the crank and the vertical direction; and the net height of the upper shear blade is configured as the distance between the upper shear blade and the upper surface of the slab when the shearing line is collinear with the crank axis and perpendicular to the upper surface of the slab.

[0013] In one embodiment of the present invention, the four shearing states are configured as follows: the lower shear blade first reaches the lower surface of the slab; the distance between the upper and lower shear blades is the thickness of the slab; the upper and lower shear blades come into contact; and the lower shear blade returns to the lower surface of the slab.

[0014] In one embodiment of the present invention, the target speed curve of the lower shear blade is matched with the horizontal feed speed of the slab; wherein, during the contact between the lower shear blade and the slab and the shearing process of the slab, the speed of the lower shear blade is synchronized with the horizontal feed speed of the slab; the horizontal feed speed of the slab is less than the speed of the lower shear blade before the lower shear blade returns to the lower surface of the slab; the total displacement of the lower shear blade during the entire shearing cycle is 0.

[0015] In one embodiment of the present invention, the recommended shear angle is the optimal shear angle determined based on the slab temperature, slab material, slab thickness, and shear blade theory, with the shear cross-section quality as the objective.

[0016] In one embodiment of the present invention, the compensated swing hydraulic cylinder speed curve is expressed as: Vph'=Vph+f(Vdb-Vdc), where Vph' represents the compensated swing hydraulic cylinder speed curve, Vph represents the swing hydraulic cylinder speed curve before compensation, Vdb represents the target speed curve of the lower shear blade and Vdc represents the current speed curve of the lower shear blade, and f(Vdb-Vdc) represents the functional relationship between the target speed curve of the lower shear blade and the current speed curve of the lower shear blade.

[0017] The swing angle and net height of the upper shear edge at the stop of the second iteration compensation are expressed as: [α',h']=[α,h]+g(βb-βc), where α' represents the swing angle at the stop of the second iteration compensation, h' represents the net height of the upper shear edge at the stop of the second iteration compensation, βb represents the recommended shear angle, βc represents the average shear angle, and g(βb-βc) represents the functional relationship between the recommended shear angle and the average shear angle.

[0018] The present invention provides a swing-shear control device, the device comprising:

[0019] The first compensation module is used to perform a first iterative compensation on the speed curve of the swing hydraulic cylinder until the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade is less than the first error threshold.

[0020] The second compensation module is used to obtain the average shearing angle during the shearing process, and to perform a second iterative compensation on the initial swing angle and the initial net height of the upper shear blade based on the second error between the average shearing angle and the set recommended shearing angle, until the second error is less than the second error threshold.

[0021] The control module is used to control the swing shear using the swing angle at the second iteration compensation stop, the net height of the upper shear blade, and the swing hydraulic cylinder speed curve at the first iteration compensation stop as control parameters.

[0022] The present invention provides an electronic device, the electronic device comprising:

[0023] One or more processors;

[0024] A storage device for storing one or more programs that, when executed by one or more processors, cause the electronic device to perform the steps of the above-described shear control method.

[0025] The present invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer processor, causes the computer to perform the steps of the above-described shear control method.

[0026] The beneficial effects of the present invention: A swing shear control method of the present invention includes: performing a first iterative compensation on the speed curve of the swing hydraulic cylinder until a first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade is less than a first error threshold; obtaining the average shearing angle during the shearing process, and performing a second iterative compensation on the initial swing angle and the initial net height of the upper shear blade based on a second error between the average shearing angle and a set recommended shearing angle, until the second error is less than a second error threshold; using the swing angle, the net height of the upper shear blade, and the speed curve of the swing hydraulic cylinder at the end of the second iterative compensation as control parameters to control the swing shear. Based on the partially coupled motion characteristics of the swing shear crankshaft rotation mainly completing shearing and the swing hydraulic cylinder mainly completing swinging, the present invention first considers the two motions (shearing and swinging) as completely decoupled and divided into two independent parts, and then simulates their partially coupled characteristics through iterative compensation to complete the solution; specifically, it first establishes a swing shear motion mechanism model PS( θ , lGiven an initial swing angle and an initial upper shear blade height of 0, the velocity curve of the swing hydraulic cylinder is optimized by an iterative compensation method, and the shear angle is calculated simultaneously. Then, the final initial swing angle and upper shear blade height are iteratively optimized. The goal of the inner iteration is the optimal horizontal speed of the lower shear blade, and the goal of the outer iteration is the recommended shear angle.

[0027] Because of the above technical solution, the present invention designs the motion characteristics based on the decoupling of the two motion parts of the swing shear, which has a fast iteration speed and high robustness. Furthermore, the method of the present invention can ensure that a high-quality shearing process is completed without stopping the slab, and ensure that the lower shear blade does not block the slab running under the constraint of the matching feed speed.

[0028] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0030] Figure 1 A schematic diagram illustrating the motion principle of the swing shear mechanism, as shown in an exemplary embodiment of this application;

[0031] Figure 2 A schematic diagram illustrating the motion principle of the swing shear mechanism, as shown in another exemplary embodiment of this application;

[0032] Figure 3 A flowchart illustrating a pendulum shear control method as shown in an exemplary embodiment of this application;

[0033] Figure 4 This is a schematic diagram illustrating the net height of the upper blade of the swing shears, as shown in an exemplary embodiment of this application.

[0034] Figure 5 This is a schematic diagram illustrating the shearing angle of a swing shear slab in an exemplary embodiment of this application;

[0035] Figure 6 An example of the target speed of the lower shear blade and the speed of the swing cylinder of a swing shear shown in an exemplary embodiment of this application;

[0036] Figure 7 A schematic block diagram of a swing-shear control device is shown as an exemplary embodiment of this application;

[0037] Figure 8A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0038] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0039] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0040] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0041] Between continuous casting and steel rolling, a swing shear is needed to cut continuously produced slabs into slabs that meet certain length requirements, while maintaining a constant feed speed during the shearing process. Currently, swing shears all employ a two-degree-of-freedom multi-link mechanism. The crankshaft rotates at a constant speed, driving the upper and lower shear blades to complete the shearing; the swing cylinder extends and retracts at a variable speed, causing the upper and lower shear blades to adapt to the slab feed speed during the shearing process, thus achieving high-quality shearing.

[0042] Please see Figure 1 , 2 , Figure 1 , 2 This is a schematic diagram illustrating the motion principle of a swing-shear mechanism as shown in an exemplary embodiment of this application. Figure 1 , 2As shown, O is the crankshaft rotation center, ABC is the swing frame, A is the hinge point between the crankshaft and the swing frame, B is the lower shear blade shearing point, C is the hinge point between the swing frame and the swing hydraulic rod, D is the hinge point between the swing hydraulic cylinder and the archway, G is the hinge point between the crankshaft and the upper shear hydraulic cylinder, F is the hinge point between the upper shear hydraulic rod and the upper shear slider on the swing frame, and E is the upper shear blade shearing point installed on the upper shear slider. A, F, E, and B are collinear, and G can also be designed to coincide with the crankshaft rotation center.

[0043] Currently, domestic scholars believe that the crankshaft rotation and the extension and retraction of the swing hydraulic cylinder are completely decoupled. That is, the crank rotation completes the shearing, and the swing hydraulic cylinder completes the matching of the slab feed speed. The proposed swing cylinder speed curve algorithm calculates the lower shear speed and the optimal speed, which has a large error due to partial coupling, and cannot be widely used in engineering. Furthermore, it does not respond to the optimization requirements of the recommended shear angle.

[0044] Therefore, embodiments of this application propose a swing shear control method, a swing shear control device, an electronic device, and a computer-readable storage medium. Based on the partially coupled motion characteristics of the swing shear crankshaft rotation primarily performing shearing and the swing hydraulic cylinder primarily performing swinging, the two motions (shearing and swinging) are first considered completely decoupled and divided into two independent parts. Then, iterative compensation is used to simulate their partially coupled characteristics to complete the solution. Specifically, a swing shear motion mechanism model PS( θ , l Given an initial swing angle and an initial upper shear blade height of 0, the velocity curve of the swing hydraulic cylinder is optimized by an iterative compensation method, and the shear angle is calculated simultaneously. Then, the final initial swing angle and upper shear blade height are iteratively optimized. The goal of the inner iteration is the optimal horizontal speed of the lower shear blade, and the goal of the outer iteration is the recommended shear angle.

[0045] These embodiments will be described in detail below.

[0046] Please see Figure 3 , Figure 3 This is a flowchart illustrating a pendulum shear control method in an exemplary embodiment of this application. This method can be applied to... Figure 1 The illustrated pendulum shear is shown. It should be understood that this method can also be applied to other pendulum shears, and this embodiment does not limit the pendulum shears to which this method is applicable.

[0047] Please see Figure 3 , Figure 3 This is a flowchart illustrating an exemplary shear control method of this application. The shear control method includes at least steps S310 to S330, which are described in detail below:

[0048] Step S310: Perform a first iteration compensation on the speed curve of the swing hydraulic cylinder until the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade is less than the first error threshold.

[0049] The speed curve of the swing hydraulic cylinder is compensated in the first iteration, that is, the speed curve of the swing hydraulic cylinder is adjusted multiple times (based on the previous adjustment) so that the error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade is less than an error threshold, namely the first error threshold.

[0050] The current velocity curve of the lower shear blade will be referred to as the current velocity curve, and the target velocity curve of the lower shear blade will be referred to as the target velocity curve.

[0051] In one embodiment, the first error between the current velocity curve and the target velocity curve can be represented by |Vdb-Vdc|, and the first error threshold can be represented by... ε This means that when |Vdb-Vdc|> ε When the current speed curve of the lower shear blade is not close to the target speed curve of the lower shear blade, the speed curve of the swing hydraulic cylinder is adjusted to compensate. This adjustment is made when |Vdb-Vdc| < ε When the current speed curve of the lower shear blade approaches the target speed curve of the lower shear blade, the compensation adjustment of the speed curve of the swing hydraulic cylinder is stopped. It should be noted that the first error threshold can be an empirical value or a value calculated using a specific method. If the first error threshold is an empirical value, those skilled in the art can set it specifically according to actual needs; this embodiment does not impose any limitations.

[0052] In another embodiment, the first error between the current speed curve and the target speed curve can be represented by the degree of overlap or similarity between the current speed curve and the target speed curve. The higher the degree of overlap or similarity, the closer the current speed curve is to the target speed curve.

[0053] When the error between the current speed curve and the target speed curve is less than the first error threshold, the resulting swing hydraulic cylinder speed curve, i.e., the compensated swing hydraulic cylinder speed curve, is expressed as: Vph'=Vph+f(Vdb-Vdc), where Vph' represents the compensated swing hydraulic cylinder speed curve, Vph represents the original swing hydraulic cylinder speed curve, Vdb represents the target speed curve of the lower shear blade, Vdc represents the current speed curve of the lower shear blade, and f(Vdb-Vdc) represents the functional relationship between the target speed curve of the lower shear blade and the current speed curve of the lower shear blade.

[0054] It should be noted that the speed curve of the swing hydraulic cylinder is represented by Vph, and the speed curve of the swing hydraulic cylinder after the first compensation is the initial speed curve of the swing hydraulic cylinder. Before the swing shear starts working, the speed curve of the swing hydraulic cylinder is set to 0, that is, Vph0=0.

[0055] It should be noted that the target speed curve of the lower shear blade can be set based on actual working experience. Throughout the entire shearing cycle, the swing angle values ​​for at least four shearing states need to be determined, thereby determining the target speed curve of the lower shear blade for each of these states. When adjusting the swing hydraulic cylinder speed curve for the first time, the initial swing hydraulic cylinder speed curve is used before adjustment, and the adjusted swing hydraulic cylinder speed curve is the initial swing hydraulic cylinder speed curve plus a compensation value f(Vdb-Vdc), i.e., the compensated swing hydraulic cylinder speed curve is Vph'=Vph+f(Vdb-Vdc).

[0056] In one embodiment, the target speed curve includes at least four shearing states, configured as follows: the lower shear blade first reaches the lower surface of the slab; the distance between the upper and lower shear blades is equal to the thickness of the slab; the upper and lower shear blades contact each other; and the lower shear blade returns to the lower surface of the slab. The four shearing states include a first shearing state, a second shearing state, a third shearing state, and a fourth shearing state. The first shearing state is configured as the lower shear blade first reaches the lower surface of the slab; the second shearing state is configured as the distance between the upper and lower shear blades is equal to the thickness of the slab; the third shearing state is configured as follows; and the fourth shearing state is configured as the upper and lower shear blades contacting each other and the lower shear blade returning to the lower surface of the slab. It should be noted that when the oscillating shear is in the first shearing state, the lower shear blade matches the speed of the slab; when the oscillating shear is in the second shearing state, shearing of the slab begins; when the oscillating shear is in the third shearing state, the upper and lower shear blades overlap, indicating that the slab has been sheared; and when the oscillating shear is in the fourth shearing state, the lower shear blade abandons speed matching with the slab, i.e., they do not match.

[0057] In one embodiment, the first iterative compensation includes:

[0058] The current speed curve of the lower shear blade is calculated based on the initial swing angle, the initial net height of the upper shear blade, the speed curve of the swing hydraulic cylinder, and the swing angle values ​​of the four shearing states. The speed curve of the swing hydraulic cylinder is compensated based on the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade to obtain a new speed curve of the swing hydraulic cylinder, thereby completing the first iterative compensation.

[0059] Specifically, the first iterative compensation of the speed curve of the swing hydraulic cylinder includes:

[0060] Repeat the first iteration step until the first error between the current velocity curve of the lower shear blade and the target velocity curve of the lower shear blade is less than the first error threshold; the first iteration step includes:

[0061] The current speed curve of the lower shear blade is calculated based on the initial swing angle, the initial net height of the upper shear blade, the rotation angle of the crankshaft of the swing shear, and the extension of the swing hydraulic cylinder.

[0062] The speed curve of the first swing hydraulic cylinder is compensated based on the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade to obtain a new speed curve of the swing hydraulic cylinder.

[0063] Obtain the first error;

[0064] If the first error is greater than the first error threshold, then adjust the initial swing angle and the initial net height of the upper shear blade.

[0065] It should be noted that the swing angle is configured as the angle between the crank and the vertical direction. The initial swing angle refers to the angle between the crank and the vertical direction when the swing shear starts working. The net height of the upper shear blade is configured as the distance between the upper shear blade and the upper surface of the slab when the shearing line is collinear with the crank axis and perpendicular to the upper surface of the slab. The initial net height of the upper shear blade represents the distance between the upper shear blade and the upper surface of the slab when the swing shear starts working, when the shearing line is collinear with the crank axis and perpendicular to the upper surface of the slab.

[0066] It is understandable that those skilled in the art, knowing the initial swing angle, the initial net height of the upper shear blade, and the rotation angle of the crankshaft of the swing shear, would... θ and the elongation of the swing hydraulic cylinder. l In this case, the pendulum shear motion mechanism model PS ( θ , l The current velocity curve of the lower shear blade is calculated by setting )=0. The swing shear motion mechanism model PS( θ , l The expression )=0 is prior art to those skilled in the art and will not be elaborated here.

[0067] In one embodiment, the target speed curve of the lower shear blade is matched with the horizontal feed speed of the slab. The target speed curve of the lower shear blade needs to ensure that: the speed of the lower shear blade is synchronized with the horizontal feed speed of the slab during contact and shearing; the horizontal feed speed of the slab is less than the speed of the lower shear blade before the lower shear blade returns to the lower surface of the slab (ensuring the slab cannot catch up with the lower shear blade before it returns to the lower surface); and the total displacement of the lower shear blade during the entire shearing cycle is 0.

[0068] Step S320: Obtain the average shearing angle during the shearing process, and perform a second iteration compensation on the initial swing angle and the initial net height of the upper shear blade based on the second error between the average shearing angle and the set recommended shearing angle, until the second error is less than the second error threshold.

[0069] It should be noted that the shear angle is configured as the angle between the shear line and the vertical direction during the shearing process; the recommended shear angle is the optimal shear angle determined based on the slab temperature, slab material, slab thickness and shear blade theory, with the quality of the sheared section as the objective.

[0070] The initial swing angle and the initial net height of the upper shear blade are compensated in a second iteration, that is, the initial swing angle and the initial net height of the upper shear blade are adjusted multiple times (based on the previous adjustment) so that the error between the average shear angle and the recommended shear angle is less than an error threshold, namely the second error threshold.

[0071] Specifically, the second iterative compensation of the first swing angle and the net height of the first upper shear blade based on the second error between the average shear angle and the set recommended shear angle includes:

[0072] Repeat the second iteration step until the second error is less than the second error threshold; the second iteration step includes:

[0073] Obtain the second error threshold;

[0074] If the second error is greater than the second error threshold, then the first swing angle and the net height of the first upper shear blade are adjusted, wherein the swing angle, the net height of the upper shear blade and the shearing angle have a one-to-one correspondence.

[0075] In one embodiment, the recommended shear angle is denoted by βb, the average shear angle is denoted by βc, and the error between the average shear angle and the recommended shear angle can be represented by |βb-βc|, with a second error threshold being... ε This indicates that |βb-βc|> ε If the average shear angle is not close to the recommended shear angle, then the initial swing angle and the initial net height of the upper shear blade should be adjusted. This adjustment is made when |βb-βc| < ε When the average shear angle is close to the recommended shear angle, adjustments to the initial swing angle and the initial net height of the upper shear blade are stopped. It should be noted that the second error threshold can be an empirical value or a value calculated using a specific method. If the second error threshold is an empirical value, those skilled in the art can set it specifically according to actual needs; this embodiment does not impose any limitations.

[0076] The compensated swing angle and the net height of the upper shear edge are represented by [α',h'], where [α',h']=[α,h]+g(βb-βc), and g(βb-βc) is a function that can represent the relationship between the average shear angle, the recommended shear angle, the swing angle, and the net height of the upper shear edge. [α,h] ​​represents the swing angle and the net height of the upper shear edge before compensation.

[0077] In one embodiment, the swing angle and the net height of the upper shear blade when the second iteration compensation stops are expressed as: [α',h']=[α,h]+g(βb-βc), where α' represents the swing angle when the second iteration compensation stops, h' represents the net height of the upper shear blade when the second iteration compensation stops, βb represents the recommended shear angle, βc represents the average shear angle, and g(βb-βc) represents the functional relationship between the recommended shear angle and the average shear angle.

[0078] Step S330: The swing shear is controlled using the swing angle at the stop of the second iteration compensation, the net height of the upper shear blade, and the speed curve of the swing hydraulic cylinder at the stop of the first iteration compensation as control parameters.

[0079] After determining the swing angle, the net height of the upper shear blade, and the speed curve of the swing hydraulic cylinder at the end of the first iteration compensation, these parameters are used as control parameters to control the swing shear.

[0080] In another embodiment, shearing parameters can be set, including slab thickness and slab horizontal feed speed. These shearing parameters can affect the setting of the swing angle, upper shear blade height, and oscillating hydraulic cylinder speed curve. That is, different slab thicknesses and slab horizontal feed speeds can result in different swing angles, upper shear blade heights, and oscillating hydraulic cylinder speed curves. The method for determining the swing angle, upper shear blade height, and oscillating hydraulic cylinder speed curve by combining shearing parameters can be referred to the foregoing embodiments, and will not be repeated here.

[0081] In one specific embodiment, a swing-shear control method is provided, comprising the following steps:

[0082] First, construct the pendulum shear motion mechanism model PS( θ , l )=0, where θ The rotation angle of the crankshaft. l This refers to the extension of the swing hydraulic cylinder. For the swing shear mechanism, the shearing of the slab is achieved by rotating the crank. The extension and retraction of the swing cylinder mainly achieves the matching of the horizontal speed of the lower shear blade and the slab. This can be represented by a two-degree-of-freedom six-bar or similar six-bar mechanism model.

[0083] Second, set the slab thickness S=100mm, the horizontal feed speed of the slab V=10m / min, and the recommended shearing angle βb=5°, see Figure 1 Shear angle see Figure 5 ;

[0084] Third, set the initial swing angle α∈[-9°, 9°] and the net height of the upper shear blade h∈[5, 30], see [link to relevant documentation]. Figure 1 and Figure 4 ;

[0085] Fourth, set the initial swing angle α = 9° and the net height of the upper shear blade h = 5mm;

[0086] Fifth, set the speed curve of the swing hydraulic cylinder Vph=0, that is, the length of the swing hydraulic cylinder is constant during the motion cycle;

[0087] Sixth, calculate the swing angle values ​​of the four shear states and determine the target velocity curve under the four shear states;

[0088] Seventh, calculate the current velocity curve Vdc with time as the axis;

[0089] Eighth, determine whether the target velocity curve Vdb of the lower shear edge is close to the current velocity curve Vdc; whereby the target velocity curve Vdb of the lower shear edge can be referenced. Figure 6 ;

[0090] exist Figure 6 The target velocity curve of the middle and lower shear blades has four inflection points, such as... Figure 6 As shown, along the target speed curve, from left to right, each circle represents a turning point. The first turning point indicates shearing state 1, before which the lower shear blade is separated from the slab, gradually adapting to the horizontal feed speed of the slab from a standstill; the second turning point indicates shearing state 2, before which the lower shear blade is required to synchronize with the horizontal feed speed of the slab or have a certain constant lead (e.g., 2%); the third turning point indicates shearing state 3, before which the lower shear blade should slightly lead the horizontal feed speed of the slab according to the shearing requirements (e.g., lead 4%); the fourth turning point indicates shearing state 4, at which point the integral of the lower shear blade speed in the time domain is required, i.e., the horizontal displacement of the lower shear blade is greater than the displacement of the slab (e.g., 100mm). In fact, to reduce the speed requirement of the swing cylinder, the reverse movement begins before shearing state 4.

[0091] Ninth, if the speeds are not close, iteratively compensate and calculate the speed curve of the swing hydraulic cylinder, Vph=Vph+f(Vdp-Vdc), and then iteratively calculate the optimal speed of the lower shear blade and the current speed until they are close.

[0092] Tenth, calculate the average shearing angle βc = 3° during the shearing process; where the shearing process refers to the entire process from the start to the end of the shearing, which can be considered as the process from the second shearing state "the distance between the upper and lower shearing blades is the thickness of the slab" to the third shearing state "the upper and lower shearing blades are in contact";

[0093] Eleventh, determine whether the process average shear angle βc and the recommended shear angle βb are close;

[0094] Twelfth, if the shear angle is not close, iteratively compensate and calculate the new initial swing angle and the net height of the upper shear blade, [α',h']=[α,h]+g(βb-βc), until the shear angle is close;

[0095] Since the range of swing angle and net height of upper shear blade is set in step three, the average shear angle can be adjusted when the average shear angle is not close to the recommended shear angle. The shear angle, swing angle, and net height of upper shear blade have a corresponding relationship (which can be calibrated in advance, specifically by the least squares method). Therefore, the shear angle, the final net height of upper shear blade, and the final initial swing angle can be obtained.

[0096] Thirteenth, the final swing angle α = 7.1°, the net height of the upper shear blade h = 14.7 mm, and the speed curve Vp of the swing hydraulic cylinder were obtained, see [link to relevant documentation]. Figure 6 .

[0097] It should be noted that the swing shear control method provided in this embodiment is different from... Figure 3 The provided shear control method belongs to the same concept, and the specific way in which each module and unit performs operations has been described in detail in the method embodiment, and will not be repeated here.

[0098] Figure 7 This is a block diagram illustrating a swing-shear control device according to an exemplary embodiment of this application. The device can be applied to… Figure 1 The implementation environment shown is specifically configured in a terminal device. This device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0099] like Figure 7 As shown, this application provides a swing-shear control device, the device comprising:

[0100] The first compensation module 710 is used to perform a first iterative compensation on the speed curve of the swing hydraulic cylinder until the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade is less than a first error threshold; wherein, the first iterative compensation includes: calculating the current speed curve of the lower shear blade based on the initial swing angle, the initial net height of the upper shear blade, the speed curve of the swing hydraulic cylinder, and the swing angle value of the four shearing states; and compensating the speed curve of the swing hydraulic cylinder based on the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade to obtain a new speed curve of the swing hydraulic cylinder.

[0101] The second compensation module 720 is used to obtain the average shearing angle during the shearing process, and to perform a second iterative compensation on the initial swing angle and the initial net height of the upper shear blade based on the second error between the average shearing angle and the set recommended shearing angle, until the second error is less than the second error threshold.

[0102] The control module 730 is used to control the swing shear using the swing angle at the second iteration compensation stop, the net height of the upper shear blade, and the speed curve of the swing hydraulic cylinder at the first iteration compensation stop as control parameters.

[0103] In one embodiment, the shear angle is configured as the angle between the shear line and the vertical direction during shearing; the swing angle is configured as the angle between the crank and the vertical direction; and the net height of the upper shear blade is configured as the distance between the upper shear blade and the upper surface of the slab when the shear line is collinear with the crank axis and perpendicular to the upper surface of the slab.

[0104] In one embodiment, the four shearing states are configured as follows: the lower shear blade first reaches the lower surface of the slab; the distance between the upper and lower shear blades is equal to the thickness of the slab; the upper and lower shear blades come into contact; and the lower shear blade returns to the lower surface of the slab.

[0105] In one embodiment, the target speed curve of the lower shear blade is matched with the horizontal feed speed of the slab.

[0106] In one embodiment, the recommended shear angle is the optimal shear angle determined based on slab temperature, slab material, slab thickness, and shear blade theory, with the goal of improving the quality of the sheared cross-section.

[0107] In one embodiment, the compensated speed curve of the swing hydraulic cylinder is expressed as: Vph'=Vph+f(Vdb-Vdc)

[0108] Where Vph' represents the speed curve of the oscillating hydraulic cylinder after compensation, Vph represents the speed curve of the oscillating hydraulic cylinder before compensation, Vdb represents the target speed curve of the lower shear blade, and Vdc represents the current speed curve of the lower shear blade.

[0109] In one embodiment, the swing angle and the net height of the upper shear blade at the stop of the second iteration compensation are expressed as: [α',h']=[α,h]+g(βb-βc);

[0110] α' represents the swing angle when the second iteration compensation stops, h' represents the net height of the upper shear blade when the second iteration compensation stops, βb represents the recommended shear angle, and βc represents the average shear angle.

[0111] It should be noted that the shear control device and the shear control method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the shear control device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0112] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the swing-shear control method provided in the above embodiments.

[0113] Figure 8 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 8 The computer system 800 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0114] like Figure 8 As shown, the computer system 800 includes a Central Processing Unit (CPU) 801, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 802 or programs loaded from storage portion 808 into Random Access Memory (RAM) 803, such as performing the methods described in the above embodiments. The RAM 803 also stores various programs and data required for system operation. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An Input / Output (I / O) interface 805 is also connected to the bus 804.

[0115] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 807 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 807 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.

[0116] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including methods for performing processes. Figure 3 The computer program for the method shown. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by central processing unit (CPU) 801, it performs various functions defined in the system of this application.

[0117] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0118] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0119] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0120] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the aforementioned scissor control method. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently without being assembled into the electronic device.

[0121] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the shear control method provided in the various embodiments described above.

[0122] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for controlling pendulum shearing, characterized in that, The method includes: The speed curve of the swing hydraulic cylinder is compensated in the first iteration until the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade is less than the first error threshold; the target speed curve of the lower shear blade is the target speed curve under the four shearing states. The average shearing angle during the shearing process is obtained, and the initial swing angle and the initial net height of the upper shear blade are compensated in a second iteration based on the second error between the average shearing angle and the set recommended shearing angle, until the second error is less than the second error threshold. The swing shear is controlled using the swing angle at the stop of the second iteration compensation, the net height of the upper shear blade, and the speed curve of the swing hydraulic cylinder at the stop of the first iteration compensation as control parameters. The compensated swing hydraulic cylinder speed curve is expressed as: Vph'=Vph+f(Vdb-Vdc), where Vph' represents the compensated swing hydraulic cylinder speed curve, Vph represents the original swing hydraulic cylinder speed curve, Vdb represents the target speed curve of the lower shear blade and Vdc represents the current speed curve of the lower shear blade, and f(Vdb-Vdc) represents the functional relationship between the target speed curve of the lower shear blade and the current speed curve of the lower shear blade. The swing angle and net height of the upper shear edge at the stop of the second iteration compensation are expressed as: [α',h']=[α,h]+g(βb-βc), where α' represents the swing angle at the stop of the second iteration compensation, h' represents the net height of the upper shear edge at the stop of the second iteration compensation, βb represents the recommended shear angle, βc represents the average shear angle, and g(βb-βc) represents the functional relationship between the recommended shear angle and the average shear angle.

2. The swing shear control method according to claim 1, characterized in that, The first iterative compensation includes: The current speed curve of the lower shear blade is calculated based on the initial swing angle, the initial net height of the upper shear blade, the speed curve of the swing hydraulic cylinder, and the swing angle value of the four shearing states. The speed curve of the swing hydraulic cylinder is compensated based on the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade to obtain a new speed curve of the swing hydraulic cylinder, thereby completing the first iterative compensation.

3. The swing shear control method according to claim 1, characterized in that, The shearing angle is configured as the angle between the shearing line and the vertical direction during shearing; the swing angle is configured as the angle between the crank and the vertical direction; the net height of the upper shear blade is configured as the distance between the upper shear blade and the upper surface of the slab when the shearing line is collinear with the crank axis and perpendicular to the upper surface of the slab.

4. The swing shear control method according to claim 1, characterized in that, The four shearing states are configured as follows: the lower shear blade first reaches the lower surface of the slab; the distance between the upper and lower shear blades is the thickness of the slab; the upper and lower shear blades come into contact; and the lower shear blade returns to the lower surface of the slab.

5. The swing shear control method according to claim 1, characterized in that, The target speed curve of the lower shear blade is matched with the horizontal feed speed of the slab; wherein, during the contact and shearing process between the lower shear blade and the slab, the speed of the lower shear blade is synchronized with the horizontal feed speed of the slab; the horizontal feed speed of the slab is less than the speed of the lower shear blade before the lower shear blade returns to the lower surface of the slab; the total displacement of the lower shear blade during the entire shearing cycle is 0.

6. The swing shear control method according to claim 1, characterized in that, The recommended shear angle is the optimal shear angle determined based on slab temperature, slab material, slab thickness, and shear blade theory, with the goal of improving the quality of the sheared section.

7. A swing-shear control device, characterized in that, The device includes: The first compensation module is used to perform a first iterative compensation on the speed curve of the swing hydraulic cylinder until the first error between the current speed curve of the lower shear blade and the target speed curve of the lower shear blade is less than the first error threshold. The second compensation module is used to obtain the average shearing angle during the shearing process, and to perform a second iterative compensation on the initial swing angle and the initial net height of the upper shear blade based on the second error between the average shearing angle and the set recommended shearing angle, until the second error is less than the second error threshold. The control module is used to control the swing shear using the swing angle at the second iteration compensation stop, the net height of the upper shear blade, and the swing hydraulic cylinder speed curve at the first iteration compensation stop as control parameters; The compensated swing hydraulic cylinder speed curve is expressed as: Vph'=Vph+f(Vdb-Vdc), where Vph' represents the compensated swing hydraulic cylinder speed curve, Vph represents the original swing hydraulic cylinder speed curve, Vdb represents the target speed curve of the lower shear blade and Vdc represents the current speed curve of the lower shear blade, and f(Vdb-Vdc) represents the functional relationship between the target speed curve of the lower shear blade and the current speed curve of the lower shear blade. The swing angle and net height of the upper shear edge at the stop of the second iteration compensation are expressed as: [α',h']=[α,h]+g(βb-βc), where α' represents the swing angle at the stop of the second iteration compensation, h' represents the net height of the upper shear edge at the stop of the second iteration compensation, βb represents the recommended shear angle, βc represents the average shear angle, and g(βb-βc) represents the functional relationship between the recommended shear angle and the average shear angle.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to perform the steps of the shear control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the steps of the shear control method according to any one of claims 1 to 6.

Images