A continuous casting mold vibration synchronous control method and control system

Abstract

The present application relates to a kind of continuous casting crystallizer vibration synchronous control method and control system, belong to continuous casting crystallizer vibration technical field.The method part includes amplitude multiple power regulation and position error dynamic compensation, when being applied to control system, the position signal of vibration hydraulic cylinder is collected in real time by position detection module;Actual amplitude value of hydraulic cylinder is detected and calculated by signal processing module;By synchronous control module, the target vibration curve that meets vibration process model is set, then amplitude multiple power regulation and position error dynamic compensation are carried out, the control parameter of actuator is calculated, the actual vibration position of hydraulic cylinder is controlled according to the control parameter and adheres to the target vibration curve, and the synchronous vibration of multiple hydraulic cylinders is realized.The movement of the hydraulic cylinder controlled by the present application can realize fast response, high-precision waveform curve reproduction, and can effectively improve the quality of the casting blank.

Description

Technical Field

[0001] This invention belongs to the field of continuous casting mold vibration technology, and relates to a method and control system for synchronous vibration control of continuous casting molds. Background Technology

[0002] As a key piece of equipment in continuous casting machines, the crystallizer vibration device prevents the billet shell from adhering to and cracking the inner wall of the crystallizer during continuous steel casting. It also allows the mold flux to enter the gap between the billet shell and the inner wall, continuously lubricating the inner wall and ensuring the surface quality of the billet. Crystallizer vibration is classified according to its drive control method into mechanical vibration, hydraulic servo vibration, and electric cylinder vibration. The hydraulic part of the crystallizer hydraulic vibration device mainly consists of multiple hydraulic cylinders. When the hydraulic cylinders operate individually, due to differences in the oil circuit, hydraulic cylinders, servo valves, and load, the vibration positions of different hydraulic cylinders under the same vibration mode differ, resulting in asynchronous operation of the hydraulic cylinders. This affects the operational stability and safety of the entire hydraulic system.

[0003] To address the aforementioned issues, existing technologies have proposed various hydraulic synchronization control methods for crystallizer vibration. For example, Chinese invention publication CN102588363B discloses a method and apparatus for synchronizing hydraulic cylinders used in crystallizer vibration. This method calculates the setpoint amplitude of the hydraulic cylinders based on the reference amplitude and actual amplitude of the two cylinders. Within a set vibration cycle, the setpoint amplitude of the cylinder with the larger actual amplitude is decreased, or the setpoint amplitude of the cylinder with the smaller actual amplitude is increased, dynamically adjusting the amplitude error of the two cylinders to ultimately achieve identical amplitudes. This method avoids horizontal tilting of the crystallizer caused by imbalance between the two hydraulic cylinders during vibration, ensuring the stable and safe operation of the dual-cylinder crystallizer vibration device. However, existing technologies similar to this approach all rely on valve control technology, and during synchronization, the effect is limited to achieving approximate balance between the two hydraulic cylinders, resulting in a still significant discrepancy between the actual and target curves.

[0004] For the crystallizer vibration used in continuous casting, it is necessary to control the hydraulic cylinder in the drive device to move according to a given curve. The quality of the control directly affects the stability, service life and surface quality of the casting billet of the vibration drive device, and even whether steel leakage will occur. Therefore, the actual vibration curve needs to reproduce the target curve as much as possible to meet the high requirements of the vibration process model. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method and control system for synchronous vibration control of a continuous casting mold, so as to reproduce the target curve of the vibration process model to the greatest extent possible, thereby meeting the high requirements of the process model.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A method for synchronous vibration control of a continuous casting crystallizer includes the following steps:

[0008] S1. Real-time acquisition of position signals of the vibrating hydraulic cylinder;

[0009] S2. Detect and calculate the actual amplitude value of the hydraulic cylinder;

[0010] S3. Set the target vibration curve according to the vibration process model;

[0011] S4. Perform amplitude multi-power adjustment and position error dynamic compensation to control the actual vibration position of the hydraulic cylinder to fit the target vibration curve and realize synchronous vibration of multiple hydraulic cylinders.

[0012] S41. Perform amplitude power adjustment, specifically as follows:

[0013]

[0014] Among them, A set (k) represents the set amplitude value of the vibrating hydraulic cylinder under vibration period k; A tar (k) represents the target amplitude value of the vibrating hydraulic cylinder under vibration period k; A max Indicates the upper limit value of the set amplitude; C A Indicates the amplitude adjustment coefficient; A act (k-1) represents the actual amplitude value of the vibrating hydraulic cylinder under the previous vibration cycle k-1; n represents the power of the amplitude adjustment, and the value of n is an odd number; A min This indicates the lower limit value of the set amplitude;

[0015] S42. Dynamically divide the position error into interval 1, interval 2, interval 3 and interval 4, and make dynamic partition judgment of position error based on the relationship between the current position and the median, or the current position and the previous position.

[0016] S43. Calculate the dynamic compensation correction value for position error based on the partition, and perform dynamic partition compensation for position error:

[0017] Pcoe1 (t)=1+Seg1Coe(k)*v(t);

[0018] Pcoe2 (t)=1+Seg2Coe(k)*a(t);

[0019] Pcoe3 (t)=1+Seg3Coe(k)*a(t);

[0020] Pcoe4 (t)=1+Seg4Coe(k)*v(t);

[0021] Where Pcoe1(t), Pcoe2(t), Pcoe3(t), and Pcoe4(t) represent the dynamic compensation correction values ​​for interval 1, interval 2, interval 3, and interval 4 at time t under vibration period k, respectively; Seg1Coe(k), Seg2Coe(k), Seg3Coe(k), and Seg4Coe(k) represent the compensation correction coefficients for interval 1, interval 2, interval 3, and interval 4 under vibration period k, respectively; v(t) represents the vibration velocity of the hydraulic cylinder at time t under vibration period k, and a(t) represents the vibration acceleration of the hydraulic cylinder at time t under vibration period k;

[0022] S44. The actual vibration position of the multi-cylinder is controlled by adjusting the amplitude to multiple powers and dynamically compensating for position errors.

[0023] Furthermore, in S42, the dynamic partitioning judgment of position error specifically includes: assigning a flag bit SegNum to determine the interval where the current curve is located, specifically:

[0024] If the rising edge of the current position is greater than the median, SegNum is assigned a value of 1. During the time period when the value is 1, it is determined that the current curve is in interval one.

[0025] If the rising edge of the current position is less than the previous position, then SegNum is assigned a value of 2. During the time period when the value is 2, it is determined that the current curve is in interval two.

[0026] If the current position is less than or equal to the median, and the previous position is greater than or equal to the median, then SegNum is assigned the value 3. During the time interval with this value of 3, it is determined that the current curve is in interval three.

[0027] If the rising edge of the current position is greater than the previous position, SegNum is assigned the value 4. During the time period when the value is 4, it is determined that the current curve is in interval four.

[0028] Furthermore, the compensation correction coefficient is periodically dynamically adjusted. When it is in interval one, the following steps are included:

[0029] If Seg1ErrSum(k) > Seg1ErrSum(k-1), then

[0030] Seg1Sig(k)=not Seg1Sig(k-1),

[0031] And DirPcoe1(k)=DirPcoe1(k-1)+SpePcoe1(k);

[0032] otherwise,

[0033] DirPcoe1(k) = 0;

[0034] If Seg1Sig=true, then

[0035] Seg1Coe(k)= Seg1Coe(k-1)+ DirPcoe1(k)+SpePcoe1(k),

[0036] otherwise,

[0037] ,

[0038] and ,

[0039] in:

[0040] Seg1ErrSum(k) represents the total position error of interval one under oscillation period k;

[0041] Seg1Sig(k) represents the adjustment direction flag for interval one under oscillation period k;

[0042] DirPcoe1(k) represents the direction adjustment coefficient for interval one under vibration period k;

[0043] SpePcoe1(k) represents the velocity adjustment coefficient for interval one under vibration period k;

[0044] When in interval four, the periodic dynamic adjustment process is the same as in interval one, and the value 1 representing interval one is replaced with the value 4; when in interval two or three, SpePcoe1(k) is replaced with AccPcoe2(k) or AccPcoe3(k), which is the acceleration adjustment coefficient of interval two or three under the vibration period k.

[0045] Furthermore, the compensation correction coefficients adopt a fast and smooth transition between intervals. Since the compensation correction coefficients are different when transitioning between two intervals within a complete vibration cycle, for example, when transitioning from interval one to interval two, Pcoe1(k)≠Pcoe2(k), a fast and smooth transition is adopted between intervals to reduce system disturbances generated during dynamic control.

[0046] A vibration synchronization control system for a continuous casting mold, based on a vibration synchronization control method for a continuous casting mold, includes a position detection module, a signal processing module, a synchronization control module, an auxiliary module, and an actuator.

[0047] The position detection module detects the actual position signal of the vibrating hydraulic cylinder; the signal processing module processes the actual position signal and calculates the actual amplitude value of the hydraulic cylinder.

[0048] The synchronous control module calculates the control signal according to the target vibration curve set by the vibration process model, through the amplitude power adjustment and position error dynamic compensation, and sends it to the actuator.

[0049] The auxiliary module is used to provide power, signal filtering, communication and electrical interfaces for the control system;

[0050] The actuator controls the actual vibration position of the multiple hydraulic cylinders according to the control signal, thereby achieving synchronous vibration of the multiple hydraulic cylinders.

[0051] Furthermore, the actuator is a servo valve, the control signal is the opening setting value of the servo valve core, and the servo valve moves the valve core according to this opening setting value.

[0052] Furthermore, the actuator is an electric cylinder, the control signal is a first speed setting value of the electric cylinder servo motor, and the electric cylinder servo motor controls the lead screw to move according to the first speed setting value.

[0053] Furthermore, the actuator is an electro-hydraulic direct drive device, and the control signal is a second speed setting value of the servo motor of the electro-hydraulic direct drive device. The servo motor of the electro-hydraulic direct drive device controls the hydraulic pump to suck in and discharge oil according to the second speed setting value.

[0054] The beneficial effects of this invention are as follows:

[0055] The dynamic amplitude adjustment scheme adopted in this solution can quickly respond to changes in amplitude and reduce intermediate adjustment time; it enables it to quickly respond to vibration changes caused by changes in casting speed, thus adapting to start-up casting and other special working conditions.

[0056] Meanwhile, this solution has strong anti-interference capabilities and can effectively compensate for vibration curves at any position when the load changes. It can realize the vibration process model curve with high precision throughout the entire cycle and reproduce the vibration process model curve and synchronous vibration of the continuous casting crystallizer with high accuracy, so as to meet the high requirements of the process for negative slip time and negative slip rate and effectively improve the quality of the billet.

[0057] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0058] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0059] Figure 1This is a block diagram of the control system of the present invention;

[0060] Figure 2 This is a control principle diagram of the present invention. Detailed Implementation

[0061] The following specific examples illustrate the implementation of the present invention. 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 be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0062] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0063] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0064] Please see Figures 1-2 This is an embodiment of a method and control system for synchronous vibration control of a continuous casting crystallizer. In this embodiment, the synchronous control system includes a signal detection module, a synchronous control module, and an auxiliary module. In this embodiment, the auxiliary module includes functions and structures required to provide power supply, signal filtering, communication, and electrical interfaces to the control system to meet the actual implementation of crystallizer vibration control. Hardware selection parameters need to be determined based on the system components of the actuator and the load vibration device, and will not be described here.

[0065] The signal detection module includes a position detection module, a temperature detection module, a pressure detection module, and a signal processing module. The temperature detection module detects the actual hydraulic oil temperature signal; the pressure detection module detects the upper and lower chamber pressure signals of the vibrating hydraulic cylinder; by monitoring the oil temperature signal and the upper and lower chamber pressure signals, the operating status of the hydraulic cylinder is ensured, thereby guaranteeing the normal operation of the hydraulic cylinder.

[0066] The position detection module detects the position signal of the vibrating hydraulic cylinder in real time, and the signal processing module processes the actual position signal and calculates the amplitude value of the actual hydraulic cylinder.

[0067] The synchronous control module sets the target vibration curve that conforms to the vibration process model, and calculates the control parameters of the actuator through amplitude power adjustment and position error dynamic compensation based on the various signals collected and detected above. The parameters are used as the control signal of the actuator, so that the actuator controls the actual vibration position of multiple hydraulic cylinders and realizes synchronous vibration of multiple hydraulic cylinders.

[0068] In this embodiment, the amplitude is adjusted by a power, and the method is as follows:

[0069]

[0070] in,

[0071] A set (k) represents the set amplitude value of the vibrating hydraulic cylinder under the vibration period k;

[0072] A tar (k) represents the target amplitude value of the vibrating hydraulic cylinder under vibration period k;

[0073] A max This indicates the upper limit value of the set amplitude;

[0074] C A Indicates the amplitude adjustment coefficient;

[0075] A act (k-1) represents the actual amplitude value of the vibrating hydraulic cylinder under the previous vibration cycle k-1;

[0076] n represents the power of the amplitude adjustment; to avoid changing the sign, the value of n is an odd number.

[0077] A min This indicates the lower limit value of the set amplitude;

[0078] In this embodiment, dynamic compensation for position error includes partition judgment and partition compensation;

[0079] In this embodiment, the partitioning determination is performed as follows: a flag bit SegNum is assigned to determine the interval in which the current curve is located, as detailed below:

[0080] If the rising edge of the current position is greater than the median, SegNum is assigned a value of 1. During the time period when the value is 1, it is determined that the current curve is in interval one.

[0081] If the rising edge of the current position is less than the previous position, then SegNum is assigned a value of 2. During the time period when the value is 2, it is determined that the current curve is in interval two.

[0082] If the current position is less than or equal to the median, and the previous position is greater than or equal to the median, then SegNum is assigned the value 3. During the time interval with this value of 3, it is determined that the current curve is in interval three.

[0083] If the rising edge of the current position is greater than the previous position, SegNum is assigned the value 4. During the time period when the value is 4, it is determined that the current curve is in interval four.

[0084] In this embodiment, the partition compensation method is as follows:

[0085] Dynamic compensation correction value for location error calculated by partition:

[0086] Pcoe1 (t)=1+Seg1Coe (k)*v(t);

[0087] Pcoe2 (t)=1+Seg2Coe (k)*a(t);

[0088] Pcoe3 (t)=1+Seg3Coe (k)*a(t);

[0089] Pcoe4 (t)=1+Seg4Coe (k)*v(t);

[0090] in:

[0091] Pcoe1(t), Pcoe2(t), Pcoe3(t), and Pcoe4(t) represent the dynamic compensation correction values ​​for interval 1, interval 2, interval 3, and interval 4 at time t under oscillation period k, respectively.

[0092] Seg1Coe (k), Seg2Coe (k), Seg3Coe (k), and Seg4Coe (k) represent the compensation correction coefficients for intervals one, two, three, and four under vibration period k, respectively; v(t) represents the vibration velocity of the hydraulic cylinder at time t under vibration period k; and a(t) represents the vibration acceleration of the hydraulic cylinder at time t under vibration period k.

[0093] In this embodiment, the compensation correction coefficient is periodically and dynamically adjusted. Taking interval 1 as an example, the steps are as follows:

[0094] 1) If Seg1ErrSum(k) > Seg1ErrSum(k-1), then

[0095] Seg1Sig(k)=not Seg1Sig(k-1),

[0096] And DirPcoe1(k)= DirPcoe1(k-1)+SpePcoe1(k)

[0097] otherwise

[0098] DirPcoe1(k) = 0;

[0099] 2) If Seg1Sig=true, then

[0100] Seg1Coe(k)= Seg1Coe(k-1)+ DirPcoe1(k)+SpePcoe1(k),

[0101] otherwise

[0102]

[0103] and

[0104] in:

[0105] Seg1ErrSum(k) represents the total position error of interval one under oscillation period k;

[0106] Seg1Sig(k) represents the adjustment direction flag for interval one under oscillation period k;

[0107] DirPcoe1(k) represents the direction adjustment coefficient for interval one under vibration period k;

[0108] SpePcoe1(k) represents the velocity adjustment coefficient for interval one under vibration period k;

[0109] In the above parameters, "1" represents an interval. The steps for interval four are the same as for interval one. When calculating, the "1" representing the interval is replaced with "4" to distinguish between the two. The steps for interval two and interval three are different from the above. SpePcoe1(k) is replaced with AccPcoe2(k) or AccPcoe3(k). Here, "2" and "3" represent interval two and interval three, respectively, that is, the acceleration adjustment coefficient of interval two or interval three under the vibration period k.

[0110] In this embodiment, the compensation correction coefficients, namely Pcoe1(k), Pcoe2(k), Pcoe3(k), and Pcoe4(k), are different between adjacent intervals within a complete vibration cycle. For example, when transitioning from interval one to interval two, Pcoe1(k) ≠ Pcoe2(k); when transitioning from interval two to interval three, Pcoe2(k) ≠ Pcoe3(k); when transitioning from interval three to interval four, Pcoe3(k) ≠ Pcoe4(k); when transitioning from interval four to interval one of the next vibration cycle, Pcoe4(k) ≠ Pcoe1(k+1), and so on. If the transition is direct, it will cause a large disturbance to the system. Therefore, this scheme adopts a fast and smooth transition between intervals to reduce the disturbance to the system during the dynamic adjustment process.

[0111] In this embodiment, the actuator is a servo valve, the control signal is the opening setting value of the servo valve core, the position curve obtained by the amplitude power adjustment is used as the setting value, and the detected actual hydraulic cylinder position is used as the feedback value to form a closed-loop control. The opening setting value of the servo valve is calculated by the closed-loop control method and the position error dynamic compensation correction value. The servo valve moves the valve core according to this opening setting value so that the actual vibration position reaches the target vibration position in the target curve as much as possible, so as to maximize the fit with the vibration process model and realize the vibration of the vibration hydraulic cylinder.

[0112] Example 2:

[0113] The difference between Embodiment 2 and Embodiment 1 is that the actuator is an electric cylinder, and the control signal is the first speed setting value of the electric cylinder servo motor. The speed setting value of the servo motor is calculated according to the control method of Embodiment 1. The servo motor of the electric cylinder controls the screw to move according to this speed setting value, thereby realizing the vibration of the vibrating hydraulic cylinder.

[0114] Example 3:

[0115] The difference between Example 3 and Example 1 is that the actuator is an electro-hydraulic direct drive device. The control system calculates the speed setting value of the servo motor in the electro-hydraulic direct drive device based on the set vibration curve and the actual position detection, using the control method of Example 1. The servo motor of the electro-hydraulic direct drive device controls the hydraulic pump to suck and discharge oil according to this speed setting value, thereby realizing the vibration of the vibrating hydraulic cylinder.

[0116] Existing synchronous control methods rely on system balance between hydraulic cylinders, requiring consideration of this balance. Therefore, they are primarily applicable to two-cylinder systems; the more cylinders present, the more difficult it is to balance the system, resulting in poorer control performance. In contrast, the control method provided by this invention uses the actual vibration position in the target curve as its control logic, maintaining good control performance even with multiple hydraulic cylinders. It is applicable not only to two-cylinder systems but also to four-cylinder systems.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for synchronous vibration control of a continuous casting crystallizer, characterized in that: Includes the following steps: S1. Real-time acquisition of position signals of the vibrating hydraulic cylinder; S2. Detect and calculate the actual amplitude value of the hydraulic cylinder; S3. Set the target vibration curve according to the vibration process model; S4. Perform amplitude multi-power adjustment and position error dynamic compensation to control the actual vibration position of the hydraulic cylinder to fit the target vibration curve and realize synchronous vibration of multiple hydraulic cylinders. S41. Perform amplitude power adjustment, specifically as follows: wherein A set (k) represents the set amplitude value of the vibrating hydraulic cylinder under the vibration cycle k; A tar (k) represents the target amplitude value of the vibrating hydraulic cylinder under the vibration cycle k; A max represents the upper limit value of the set amplitude; C A represents the amplitude adjustment coefficient; A act (k-1) represents the actual amplitude value of the vibrating hydraulic cylinder under the previous vibration cycle k-1; n represents the power of the amplitude adjustment, and the value of n is an odd number; A min represents the lower limit value of the set amplitude; S42. Dynamically divide the position error into interval 1, interval 2, interval 3 and interval 4, and make dynamic partition judgment of position error based on the relationship between the current position and the median, or the current position and the previous position. S43. Calculate the dynamic compensation correction value for position error based on the partition, and perform dynamic partition compensation for position error: Pcoe1 (t)=1+Seg1Coe(k)*v(t); Pcoe2 (t)=1+Seg2Coe(k)*a(t); Pcoe3 (t)=1+Seg3Coe(k)*a(t); Pcoe4 (t)=1+Seg4Coe(k)*v(t); Where Pcoe1(t), Pcoe2(t), Pcoe3(t), and Pcoe4(t) represent the dynamic compensation correction values ​​for interval 1, interval 2, interval 3, and interval 4 at time t under vibration period k, respectively; Seg1Coe(k), Seg2Coe(k), Seg3Coe(k), and Seg4Coe(k) represent the compensation correction coefficients for interval 1, interval 2, interval 3, and interval 4 under vibration period k, respectively; v(t) represents the vibration velocity of the hydraulic cylinder at time t under vibration period k, and a(t) represents the vibration acceleration of the hydraulic cylinder at time t under vibration period k; S44. The actual vibration position of the multi-cylinder is controlled by adjusting the amplitude to multiple powers and dynamically compensating for position errors.

2. The method for synchronously controlling the vibration of a continuous casting mold according to claim 1, characterized in that: In step S42, the dynamic partitioning judgment of position error specifically includes: assigning a flag bit SegNum to determine the interval where the current curve is located, specifically: If the rising edge of the current position is greater than the median, SegNum is assigned a value of 1. During the time period when the value is 1, it is determined that the current curve is in interval one. If the rising edge of the current position is less than the previous position, then SegNum is assigned a value of 2. During the time period when the value is 2, it is determined that the current curve is in interval two. If the current position is less than or equal to the median, and the previous position is greater than or equal to the median, then SegNum is assigned the value 3. During the time interval with this value of 3, it is determined that the current curve is in interval three. If the rising edge of the current position is greater than the previous position, SegNum is assigned the value 4. During the time period when the value is 4, it is determined that the current curve is in interval four.

3. The method of claim 1, wherein the method further comprises: determining a frequency of the vibration of the mold; and adjusting the frequency of the vibration of the mold to match the frequency of the vibration of the mold. The compensation correction coefficient is periodically dynamically adjusted. When it is in interval one, the following steps are included: If Seg1ErrSum(k) > Seg1ErrSum(k-1), then Seg1Sig(k)=not Seg1Sig(k-1), And DirPcoe1(k)=DirPcoe1(k-1)+SpePcoe1(k); otherwise, DirPcoe1(k) = 0; If Seg1Sig=true, then Seg1Coe(k)= Seg1Coe(k-1)+ DirPcoe1(k)+SpePcoe1(k), otherwise, , and , in: Seg1ErrSum(k) represents the total position error of interval one under oscillation period k; Seg1Sig(k) represents the adjustment direction flag for interval one under oscillation period k; DirPcoe1(k) represents the direction adjustment coefficient for interval one under vibration period k; SpePcoe1(k) represents the velocity adjustment coefficient for interval one under vibration period k; When in interval four, the periodic dynamic adjustment process is the same as in interval one, and the value 1 representing interval one is replaced with the value 4; when in interval two or three, SpePcoe1(k) is replaced with AccPcoe2(k) or AccPcoe3(k), which is the acceleration adjustment coefficient of interval two or three under the vibration period k.

4. The method for synchronous vibration control of a continuous casting crystallizer according to claim 3, characterized in that: The compensation correction coefficients employ a fast and smooth transition between intervals.

5. A vibration synchronization control system for a continuous casting mold, based on the vibration synchronization control method for a continuous casting mold as described in any one of claims 1 to 4, characterized in that: It includes a position detection module, a signal processing module, a synchronization control module, an auxiliary module, and an actuator; The position detection module detects the actual position signal of the vibrating hydraulic cylinder; the signal processing module processes the actual position signal and calculates the actual amplitude value of the hydraulic cylinder. The synchronous control module calculates the control signal according to the target vibration curve set by the vibration process model, through the amplitude power adjustment and position error dynamic compensation, and sends it to the actuator. The auxiliary module is used to provide power, signal filtering, communication and electrical interfaces for the control system; The actuator controls the actual vibration position of the multiple hydraulic cylinders according to the control signal, thereby achieving synchronous vibration of the multiple hydraulic cylinders.

6. The vibration synchronization control system for a continuous casting mold according to claim 5, characterized in that: The actuator is a servo valve, and the control signal is the opening setting value of the servo valve core. The servo valve moves the valve core according to this opening setting value.

7. The vibration synchronization control system for a continuous casting crystallizer according to claim 5, characterized in that: The actuator is an electric cylinder, and the control signal is a first speed setting value for the electric cylinder servo motor. The electric cylinder servo motor controls the lead screw to move according to the first speed setting value.

8. The vibration synchronization control system for a continuous casting crystallizer according to claim 5, characterized in that: The actuator is an electro-hydraulic direct drive device, and the control signal is the second speed setting value of the servo motor of the electro-hydraulic direct drive device. The servo motor of the electro-hydraulic direct drive device controls the hydraulic pump to suck in and discharge oil according to the second speed setting value.

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