Control method and device for servo direct-drive hydraulic vibration of double-hydraulic-cylinder crystallizer

Abstract

The invention discloses a control method and device for servo direct-drive hydraulic vibration of a double-hydraulic-cylinder crystallizer. The control method for servo direct-drive hydraulic vibration of the double-hydraulic-cylinder crystallizer comprises the steps that displacement data of each hydraulic cylinder of the crystallizer are obtained; judging whether the current hydraulic cylinder is in a distortion state or not according to the displacement data; wherein the distortion state comprises wave crest failure and the condition that the phase difference between the two hydraulic cylinders is larger than a preset threshold value; and if the current hydraulic cylinder is in the distortion state, performing at least one operation of wave crest compensation, phase compensation and synchronous control with another hydraulic cylinder on the current hydraulic cylinder. According to the control method for servo direct-drive hydraulic vibration of the double-hydraulic-cylinder crystallizer, the technical problem of displacement distortion of the double hydraulic cylinders in the crystallizer can be well solved.

Description

Technical Field

[0001] The present invention relates to the technical field of continuous casting mold vibration coordination, and in particular to a control method and device for a dual-hydraulic cylinder mold servo direct-drive hydraulic vibration. Background Art

[0002] The control unit of existing servo-valve-controlled hydraulic cylinder control systems is primarily composed of a programmable logic controller (PLC). A position input module collects displacement sensor signals, and an analog output module, based on a waveform generator's output voltage signal, drives the servo valve through an amplifier to drive the hydraulic cylinder and its connected vibration unit to perform sinusoidal or non-sinusoidal reciprocating motion. Almost all of these systems utilize the traditional proportional-integral-derivative (PID) control method.

[0003] Hydraulic control, whether in pressure, flow, position, torque, displacement, or other areas, all exhibit hysteresis. In particular, internal leakage in hydraulic pumps and cylinders due to component wear, as well as performance degradation in compensators and leaf springs, can cause deviations between the actual and set displacement curves of hydraulic cylinders. This can manifest as a single-cylinder failure to keep pace and peak curve collapse. In dual-cylinder applications, in addition to the single-cylinder effects, there can also be phase differences and significant deviations between the two cylinders. During continuous casting, the synchronous control performance of the dual units directly impacts the stability of the vibration drive and the surface quality of the ingots. Excessive synchronization deviations not only damage the equipment but also severely impact the surface quality of the ingots, potentially leading to major production accidents such as breakouts and significant economic losses. Using traditional PID control methods, drastically adjusting PID parameters solely to compensate for peak collapse can lead to loss of overall control. Summary of the Invention

[0004] One purpose of the present invention is to provide a control method for hydraulic vibration of a dual-hydraulic cylinder crystallizer servo direct-drive, so as to solve the following technical problems in the prior art: the control method for hydraulic vibration of a dual-hydraulic cylinder crystallizer servo direct-drive adopts traditional PID control, which drastically adjusts the PID parameters and only considers the compensation for peak attenuation, which may cause the overall regulation to be out of control.

[0005] Another object of the present invention is to provide a control device for a dual-hydraulic-cylinder mold servo-driven direct-drive hydraulic vibration. Yet another object of the present invention is to provide an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the aforementioned method for controlling a dual-hydraulic-cylinder mold servo-driven direct-drive hydraulic vibration are implemented. Yet another object of the present invention is to provide a readable medium storing a computer program, and when the processor executes the computer program, the steps of the aforementioned method for controlling a dual-hydraulic-cylinder mold servo-driven direct-drive hydraulic vibration are implemented.

[0006] In order to solve the technical problems in the background technology of this application, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a control method for a dual hydraulic cylinder mold servo direct drive hydraulic vibration, comprising:

[0008] Obtain the displacement data of each hydraulic cylinder of the crystallizer;

[0009] Determining whether the current hydraulic cylinder is in a distorted state based on the displacement data; wherein the distorted state includes: peak exhaustion and a phase difference between the two hydraulic cylinders being greater than a preset threshold;

[0010] If the current hydraulic cylinder is in the distorted state, at least one of peak compensation, phase compensation, and synchronous control with another hydraulic cylinder is performed on the current hydraulic cylinder.

[0011] In some embodiments of the present invention, a method for controlling a dual hydraulic cylinder mold servo direct drive hydraulic vibration further includes:

[0012] If the current hydraulic cylinder is in a state of peak exhaustion, peak compensation is performed on the current hydraulic cylinder, including:

[0013] Determining a compensation starting point according to a position where the peak failure occurs in the current hydraulic cylinder;

[0014] From the compensation starting point to the lowest speed point of the current hydraulic cylinder after the crest compensation is performed, parabolic compensation is performed on the current hydraulic cylinder.

[0015] In some embodiments of the present invention, a method for controlling a dual hydraulic cylinder mold servo direct drive hydraulic vibration further includes:

[0016] If the phase difference between the current hydraulic cylinder and the two hydraulic cylinders is greater than a preset threshold, performing phase compensation on the current hydraulic cylinder includes:

[0017] In each sampling period, zero phase difference feedforward compensation PID control is performed on the current hydraulic cylinder.

[0018] In some embodiments of the present invention, a method for controlling a dual hydraulic cylinder mold servo direct drive hydraulic vibration further includes:

[0019] If, after performing peak compensation and phase compensation on the current hydraulic cylinder, there is still a synchronization deviation between the two hydraulic cylinders, or the front hydraulic cylinder is still in peak exhaustion, the current hydraulic cylinder is synchronously controlled with the other hydraulic cylinder, including:

[0020] The displacement of the hydraulic cylinder with the smaller phase difference is corrected based on the displacement of the hydraulic cylinder with the larger phase difference.

[0021] In some embodiments of the present invention, the phase difference between the two hydraulic cylinders being greater than a preset threshold includes: phase lag and phase advance; if the distortion state is the phase lag, determining whether the current hydraulic cylinder is in the distortion state based on the displacement data includes:

[0022] If the current hydraulic cylinder moves upward, whether the current hydraulic cylinder is in phase lag is determined based on a first relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and a duration of the first relationship.

[0023] In some embodiments of the present invention, if the distortion state is the phase advance, determining whether the current hydraulic cylinder is in the distortion state according to the displacement data includes:

[0024] If the current hydraulic cylinder moves upward, whether the current hydraulic cylinder is in phase advance is determined based on a second relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and a duration of the second relationship.

[0025] In some embodiments of the present invention, if the distortion state is the peak exhaustion, determining whether the current hydraulic cylinder is in the distortion state according to the displacement data includes:

[0026] Whether the current hydraulic cylinder is in the peak exhaustion is determined based on the actual displacement and set displacement of the current hydraulic cylinder at the current moment, the actual displacement at the previous moment before the current moment, the actual displacement and set displacement at the next moment after the current moment, the initial displacement and the peak exhaustion threshold.

[0027] In some embodiments of the present invention, determining whether the current hydraulic cylinder is in peak exhaustion based on the actual displacement and set displacement of the current hydraulic cylinder at the current moment, the actual displacement at the previous moment, the actual displacement and set displacement at the next moment after the current moment, the initial displacement, and the peak exhaustion threshold value includes:

[0028] determining whether the current hydraulic cylinder is moving upward above the initial displacement based on the actual displacement at the current moment, the actual displacement at the previous moment, and the initial displacement;

[0029] If so, determining whether the actual displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, the set displacement, and the peak exhaustion threshold satisfy a preset first relationship;

[0030] If so, determine whether the current hydraulic cylinder is in the peak failure state.

[0031] In some embodiments of the present invention, determining whether the current hydraulic cylinder is in peak exhaustion based on the actual displacement and set displacement of the current hydraulic cylinder at the current moment, the actual displacement at the previous moment, the actual displacement and set displacement at the next moment after the current moment, the initial displacement, and the peak exhaustion threshold value includes:

[0032] Determining whether the current hydraulic cylinder is moving downward above the initial displacement according to the actual displacement at the current moment, the actual displacement at the next moment, and the initial displacement;

[0033] If so, determining whether the actual displacement and the set displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, and the peak exhaustion threshold satisfy a preset second relationship;

[0034] If so, determine whether the current hydraulic cylinder is in the peak failure state.

[0035] In a second aspect, the present invention provides a control device for a dual hydraulic cylinder mold servo direct drive hydraulic vibration, the device comprising:

[0036] A displacement data acquisition module is used to acquire the displacement data of each hydraulic cylinder of the crystallizer;

[0037] a distortion state judgment module, configured to judge whether the current hydraulic cylinder is in a distortion state based on the displacement data; wherein the distortion state includes: peak exhaustion and a phase difference between the two hydraulic cylinders being greater than a preset threshold;

[0038] The hydraulic cylinder displacement processing module is used to perform at least one of peak compensation, phase compensation and synchronous control with another hydraulic cylinder on the current hydraulic cylinder if the current hydraulic cylinder is in the distorted state.

[0039] In some embodiments of the present invention, a control device for a dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration further includes:

[0040] A peak compensation module is used to perform peak compensation on the current hydraulic cylinder if the current hydraulic cylinder is in peak exhaustion. The peak compensation module includes:

[0041] A starting point determining unit, configured to determine a compensation starting point according to a position where the peak failure occurs in the current hydraulic cylinder;

[0042] The parabola compensation unit is used to perform parabola compensation on the current hydraulic cylinder from the compensation starting point to the lowest speed point of the current hydraulic cylinder after the peak compensation is performed.

[0043] In some embodiments of the present invention, a control device for a dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration further includes:

[0044] A phase compensation module is configured to perform phase compensation on the current hydraulic cylinder if the phase difference between the two hydraulic cylinders is greater than a preset threshold. The phase compensation module includes:

[0045] The PID control unit is used to perform zero phase difference feedforward compensation PID control on the current hydraulic cylinder in each sampling period.

[0046] In some embodiments of the present invention, a control device for a dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration further includes:

[0047] A synchronization control module is configured to synchronize the current hydraulic cylinder with another hydraulic cylinder if a synchronization deviation still exists between the two hydraulic cylinders after performing peak compensation and phase compensation on the current hydraulic cylinder, or if the front hydraulic cylinder is still in peak exhaustion. The synchronization control module includes:

[0048] The displacement correction unit is used to correct the displacement of the hydraulic cylinder with a small phase difference according to the displacement of the hydraulic cylinder with a large phase difference.

[0049] In some embodiments of the present invention, the phase difference between the two hydraulic cylinders being greater than a preset threshold includes: phase lag and phase advance; if the distortion state is the phase lag, the distortion state judgment module includes:

[0050] The first distortion state judgment unit is used to judge whether the current hydraulic cylinder is in phase lag based on a first relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and the duration of the first relationship when the current hydraulic cylinder moves upward.

[0051] In some embodiments of the present invention, if the distortion state is the phase advance, the distortion state determination module includes:

[0052] A phase advance judgment unit is used to judge whether the current hydraulic cylinder is in phase advance based on a second relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and the duration of the second relationship when the current hydraulic cylinder moves upward.

[0053] In some embodiments of the present invention, if the distortion state is the peak collapse, the distortion state determination module includes:

[0054] A peak failure judgment unit is used to judge whether the current hydraulic cylinder is in peak failure based on the actual displacement and set displacement of the current hydraulic cylinder at the current moment, the actual displacement at the previous moment before the current moment, the actual displacement and set displacement at the next moment after the current moment, the initial displacement and the peak failure threshold.

[0055] In some embodiments of the present invention, the peak-fading determination unit includes:

[0056] an upward movement judging unit, configured to judge whether the current hydraulic cylinder is moving upward above the initial displacement based on the actual displacement at the current moment, the actual displacement at the previous moment, and the initial displacement;

[0057] a first relationship judgment unit, configured to judge whether the actual displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, the set displacement, and the peak exhaustion threshold satisfy a preset first relationship;

[0058] The first subunit for judging peak failure is used to judge whether the current hydraulic cylinder is in the peak failure state.

[0059] In some embodiments of the present invention, the peak-fading determination unit includes:

[0060] a downward movement judging unit, configured to judge whether the current hydraulic cylinder is moving downward above the initial displacement based on the actual displacement at the current moment, the actual displacement at the next moment, and the initial displacement;

[0061] a second relationship determination unit, configured to determine whether the actual displacement and the set displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, and the peak exhaustion threshold satisfy a preset second relationship;

[0062] The second subunit for judging peak failure is used to judge whether the current hydraulic cylinder is in the peak failure state.

[0063] In a third aspect, the present invention provides a computer program product comprising a computer program / instruction, which, when executed by a processor, implements the steps of a control method for a dual hydraulic cylinder crystallizer servo direct-drive hydraulic vibration.

[0064] In a fourth aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, steps of a method for controlling the servo direct-drive hydraulic vibration of a dual-hydraulic-cylinder crystallizer are implemented.

[0065] In a fifth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a control method for a dual-hydraulic-cylinder crystallizer servo direct-drive hydraulic vibration.

[0066] From the above description, it can be seen that an embodiment of the present invention provides a control method and device for dual-hydraulic cylinder crystallizer servo direct-drive hydraulic vibration, and the corresponding method includes: first, obtaining the displacement data of each hydraulic cylinder of the crystallizer; then, judging whether the current hydraulic cylinder is in a distorted state based on the displacement data; wherein the distorted state includes: peak attenuation and the phase difference between the two hydraulic cylinders is greater than a preset threshold; finally, if the current hydraulic cylinder is in a distorted state, performing at least one of peak compensation, phase compensation and synchronous control with another hydraulic cylinder on the current hydraulic cylinder.

[0067] The present invention provides a control method for the servo direct-drive hydraulic vibration of a dual-hydraulic-cylinder crystallizer, which can effectively solve the technical problem of displacement distortion of the dual hydraulic cylinders in the crystallizer. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0069] Figure 1 Schematic diagram of a control method for a dual hydraulic cylinder mold servo direct drive hydraulic vibration in an embodiment of the present invention Figure 1 ;

[0070] Figure 2 Schematic diagram of step 200 of a control method for a dual hydraulic cylinder mold servo direct drive hydraulic vibration according to an embodiment of the present invention. Figure 1 ;

[0071] Figure 3Schematic diagram of step 200 of a control method for a dual hydraulic cylinder mold servo direct drive hydraulic vibration according to an embodiment of the present invention. Figure 2 ;

[0072] Figure 4 Schematic diagram of a control method for a dual hydraulic cylinder mold servo direct drive hydraulic vibration in an embodiment of the present invention Figure 2 ;

[0073] Figure 5 4 is a flow chart of step 400 of a method for controlling a dual-hydraulic-cylinder mold servo direct-drive hydraulic vibration according to an embodiment of the present invention;

[0074] Figure 6 is a graph of peak compensation in an embodiment of the present invention;

[0075] Figure 7 Schematic diagram of a control method for a dual hydraulic cylinder mold servo direct drive hydraulic vibration in an embodiment of the present invention Figure 3 ;

[0076] Figure 8 Schematic diagram of a control method for a dual hydraulic cylinder mold servo direct drive hydraulic vibration in an embodiment of the present invention Figure 4 ;

[0077] Figure 9 A block diagram of a dual-unit crystallizer hydraulic vibration servo direct drive synchronous control system in a specific embodiment of the present invention;

[0078] Figure 10 Schematic diagram of a flow chart of a hydraulic vibration servo direct drive synchronous control method for a dual-unit crystallizer in a specific embodiment of the present invention;

[0079] Figure 11 A mind map of a dual-unit crystallizer hydraulic vibration servo direct drive synchronous control method in a specific embodiment of the present invention;

[0080] Figure 12 A mind map of input compensation in a specific embodiment of the present invention;

[0081] Figure 13 is a graph showing phase compensation in a specific embodiment of the present invention;

[0082] Figure 14 This is a block diagram of a control device for a double hydraulic cylinder crystallizer servo direct drive hydraulic vibration in an embodiment of the present invention. Figure 1 ;

[0083] Figure 15 This is a block diagram of a control device for a double hydraulic cylinder crystallizer servo direct drive hydraulic vibration in an embodiment of the present invention. Figure 2 ;

[0084] Figure 16 is a block diagram of the peak compensation module 40 in an embodiment of the present invention;

[0085] Figure 17 This is a block diagram of a control device for a double hydraulic cylinder crystallizer servo direct drive hydraulic vibration in an embodiment of the present invention. Figure 3 ;

[0086] Figure 18 This is a block diagram of a control device for a double hydraulic cylinder crystallizer servo direct drive hydraulic vibration in an embodiment of the present invention. Figure 4 ;

[0087] Figure 19 This is a block of the peak decay judgment unit in an embodiment of the present invention. Figure 1 ;

[0088] Figure 20 This is a block of the peak decay judgment unit in an embodiment of the present invention. Figure 2 ;

[0089] Figure 21 Schematic diagram of the structure of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0090] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0091] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices. The embodiments in this application and the features described in the embodiments may be combined with each other unless there is a conflict. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0093] It's no secret that the mold hydraulic vibration system is a core component of the continuous casting machine. Molten steel solidifies within the mold to form a strand. The mold is fixed to the vibration system's frame and reciprocates with it. The mold's vibration acts as a demolding mechanism, preventing the strand from sticking and causing cracking or breakout, while also improving its surface quality. Specifically, the mold undergoes reciprocating vibration. During its upward motion, the mold reduces adhesion between the emerging strand shell and the mold. During its downward motion, the mold's speed briefly exceeds the casting speed, creating negative slip. This creates a period of compressive stress during the strand shell formation process, forcing any strand shell prone to fracture to converge within the mold. The quality of the strand and the proper operation of the equipment are directly related to the smoothness, accuracy, and waveform of the mold vibration.

[0094] The most commonly used hydraulic vibration system is hydraulic servo vibration, which consists of a vibration unit, a driving hydraulic cylinder, a servo valve, and a hydraulic pump station. Hydraulic servo vibration uses an electro-hydraulic servo valve to control the hydraulic cylinder to achieve sinusoidal and non-sinusoidal vibration, allowing for convenient online adjustment and monitoring of amplitude, frequency, and waveform. However, due to the use of an electro-hydraulic servo valve and a hydraulic station, it has disadvantages such as high requirements for oil cleanliness, high construction, operation, and maintenance costs, and low efficiency. In recent years, with the development of hydraulic and electric drive technologies, the crystallizer hydraulic vibration servo direct drive device has emerged. Its structure consists of a vibration unit, a hydraulic cylinder, a hydraulic pump directly driven by a servo motor, and a servo motor. It can be applied to single vibration units and dual-unit synchronous vibration drive devices, eliminating the high-power hydraulic pump station. It has low construction costs, energy-saving and high efficiency, minimal oil consumption, and low cleanliness requirements.

[0095] With the advancement of hydraulic and electrical drive technologies, hydraulic mold vibration servo direct-drive systems have emerged, suitable for both single and dual-unit synchronous vibration systems. However, hydraulic control, whether in pressure, flow, position, torque, displacement, or other aspects, often exhibits hysteresis. In particular, internal leakage in hydraulic pumps and cylinders caused by component wear, as well as degradation of compensators and leaf springs, can cause deviations between the hydraulic cylinder's actual displacement curve and the set displacement curve. This manifests as a single-cylinder failure to keep pace and peak curve collapse. In dual-cylinder systems, in addition to the single-cylinder effects, a phase difference and significant deviation between the two cylinders can also occur. During continuous casting, the synchronous control performance of the dual-unit system directly impacts the stability of the vibration drive system and the surface quality of the ingot. Excessive synchronization deviation not only damages the equipment but also severely affects the surface quality of the ingot, potentially leading to major production accidents such as breakouts and significant economic losses. Using traditional PID control methods, drastically adjusting PID parameters solely to compensate for peak collapse can lead to a loss of overall control. Therefore, it is necessary to optimize the synchronization curve control of the dual-unit mold servo direct-drive hydraulic vibration system to meet the process requirements of the continuous casting mold vibration and ensure the stability and service life of the device. Currently, there is a lack of synchronization optimization methods specifically for dual-unit mold servo direct-drive hydraulic vibration systems.

[0096] Based on the above reasons, the embodiment of the present invention provides a control method for the hydraulic vibration of a double hydraulic cylinder crystallizer servo direct drive, which aims to solve the problems raised in the above background technology and can also be applied to the existing servo valve controlled hydraulic cylinder hydraulic vibration. Figure 1 , the method specifically includes the following contents:

[0097] Step 100: Acquire displacement data of each hydraulic cylinder of the crystallizer;

[0098] Step 200: Determine whether the current hydraulic cylinder is in a distorted state based on the displacement data; wherein the distorted state includes: peak collapse and a phase difference between the two hydraulic cylinders greater than a preset threshold;

[0099] Step 300: If the current hydraulic cylinder is in the distorted state, perform at least one of peak compensation, phase compensation, and synchronous control with another hydraulic cylinder on the current hydraulic cylinder.

[0100] From the above description, it can be seen that an embodiment of the present invention provides a control method for a dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration, comprising: first, obtaining the displacement data of each hydraulic cylinder of the crystallizer; then, judging whether the current hydraulic cylinder is in a distorted state based on the displacement data; wherein the distorted state includes: peak attenuation and the phase difference between the two hydraulic cylinders is greater than a preset threshold; finally, if the current hydraulic cylinder is in a distorted state, performing at least one of peak compensation, phase compensation, and synchronous control with another hydraulic cylinder on the current hydraulic cylinder. The present invention has the following features:

[0101] Beneficial effects:

[0102] 1) It can identify the peak attenuation phenomenon of the waveform curve, and can invest in optimization compensation and adjust parameters to restore the integrity and stability of the hydraulic cylinder displacement waveform curve.

[0103] 2) It can identify the phase difference of the hydraulic cylinder displacement waveform curve, and can invest in optimization compensation and adjust the phase to ensure that the correct phase relationship is maintained between the waveforms, thereby improving the synchronization and coordination of the system.

[0104] 3) It can calculate the synchronization deviation between the two hydraulic cylinders. In extreme cases where peak compensation and phase compensation still cannot correct the problem, it switches to master-slave synchronization control to maximize the synchronous operation of the two cylinders, thereby maintaining the safety and stability of production and equipment.

[0105] In step 100 , the displacement curve of each hydraulic cylinder, ie, the actual displacement value of each hydraulic cylinder, is monitored.

[0106] For step 200, the displacement curve of each hydraulic cylinder is monitored according to the actual displacement value of the hydraulic cylinder; it is determined whether the actual displacement curve of each hydraulic cylinder is distorted, and the distortion state includes a large deviation between the actual displacement value and the set value, a peak curve exhaustion, a large synchronization deviation between the two cylinders, or a large phase difference between the two cylinders; if there is no distortion, no processing is performed; if there is distortion, the next step of processing is carried out according to the situation.

[0107] In step 300, peak compensation is applied to the current hydraulic cylinder to observe whether the peak attenuation phenomenon disappears and the synchronization deviation decreases; if there is no improvement, the master-slave synchronization control is switched to;

[0108] Apply phase compensation to the current hydraulic cylinder; observe whether the phase difference disappears and the synchronization deviation decreases; if there is no improvement, switch to master-slave synchronization control.

[0109] The specific implementation method of master-slave synchronous control is: take the hydraulic cylinder on the side with larger peak attenuation as the main one, and use its actual displacement or curve as the setting of the hydraulic cylinder on the other side. The hydraulic cylinder on the other side follows the actual displacement of the hydraulic cylinder on the side with larger peak attenuation to maintain production until the end of this casting and offline maintenance.

[0110] In some embodiments of the present invention, if the distortion state is the peak collapse, step 200 includes:

[0111] Step 201: Determine whether the current hydraulic cylinder is in peak exhaustion based on the actual displacement and set displacement of the current hydraulic cylinder at the current moment, the actual displacement at the previous moment before the current moment, the actual displacement and set displacement at the next moment after the current moment, the initial displacement and the peak exhaustion threshold.

[0112] In some embodiments of the present invention, see Figure 2 , step 201 includes:

[0113] Step 2011: determining whether the current hydraulic cylinder is moving upward above the initial displacement based on the actual displacement at the current moment, the actual displacement at the previous moment, and the initial displacement;

[0114] If Sv(m)>Sv(m-1) and Sv(m)>S0, the hydraulic cylinder moves upward above the initial position.

[0115] Step 2212: If yes, determine whether the actual displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, the set displacement, and the peak decay threshold satisfy a preset first relationship.

[0116] Step 2013: If yes, determine whether the current hydraulic cylinder is in the peak failure state.

[0117] In step 2012 and step 2013, if S δ (m)=|S v (m)-S v (m-1)|>5δ;S δ (m+1)=|S v (m+1)-S v (m)|<δ;|S sv (m+1)-S v (m+1)|>Δ; then the actual displacement shows a peak decay phenomenon at time m, and time m is determined as the starting point of the peak decay.

[0118] In step 201 to step 203, S v (m) is the actual displacement at time m; S v (m-1) is the actual displacement at time m-1; S v (m+1) is the actual displacement at time m+1; S0 is the initial position; S δ (m) is the absolute value of the difference between the actual displacement at time m and the displacement at time m-1; S δ(m+1) is the absolute value of the difference between the actual displacement at time m+1 and the displacement at time m; δ is the threshold for judging exhaustion; S sv (m+1) is the set displacement at time m+1; Δ is the minimum deviation tolerance between the actual displacement and the set displacement;

[0119] In some embodiments of the present invention, see Figure 3 , step 201 includes:

[0120] Step 2014: determining whether the current hydraulic cylinder is moving downward above the initial displacement based on the actual displacement at the current moment, the actual displacement at the next moment, and the initial displacement;

[0121] If S v (n+1) v (n), and S v (n)>S0, the hydraulic cylinder moves downward above the initial position.

[0122] Step 2015: If yes, determine whether the actual displacement and the set displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, and the peak decay threshold satisfy a preset second relationship.

[0123] Step 2016: If yes, determine whether the current hydraulic cylinder is in the peak failure state.

[0124] In step 2015 and step 2016, if |S sv (n)-S v (n)|>Δ;S δ (n)=|S v (n)-S v (n-1)|<δ;S δ (n+1)=|S v (n+1)-S v (n)|>5δ; then the actual displacement peak disappears at time n, that is, the current hydraulic cylinder is not in the peak attenuation state, and time n is determined as the peak attenuation end point.

[0125] In some embodiments of the present invention, see Figure 4 , a control method for a dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration, further comprising:

[0126] Step 400: If the current hydraulic cylinder is in peak failure, perform peak compensation on the current hydraulic cylinder; then, refer to Figure 5 , step 400 includes:

[0127] Step 401: determining a compensation starting point according to the position where the peak failure occurs in the current hydraulic cylinder; ​

[0128] Step 402: performing parabolic compensation on the current hydraulic cylinder from the compensation starting point to the lowest speed point after the current hydraulic cylinder performs peak compensation.

[0129] In steps 401 and 402, as long as the hydraulic cylinder movement can reach the set peak value, there will be no peak decay in the process after the peak value. Therefore, peak compensation only needs to be performed during the upward movement of the hydraulic cylinder. The compensation starts at time m and ends at time (m+n) / 2. The specific peak compensation method includes:

[0130] Perform parabolic compensation from time m to time (m+n) / 2, and the speed curve is V s (t) = a*t 2 +b*t+c;

[0131] Among them, m time (t=0, such as Figure 6 Curve Va point) is the highest point of the speed curve after compensation, (m+n) / 2 moment (t=(nm) / 2, as Figure 6 Curve Vb) is the lowest point of the speed curve after compensation, V s (m) is the given speed value of the motor. When t = 0, determine c = Va; when t = (nm) / 2, V s ((nm) / 2)=0, the relationship between a and b can be determined, and the parabola formula can be determined by adjusting the values ​​of a and b based on empirical data.

[0132] In some embodiments of the present invention, see Figure 7 , a control method for a dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration, further comprising:

[0133] Step 500: If the phase difference between the current hydraulic cylinder and the two hydraulic cylinders is greater than a preset threshold, phase compensation is performed on the current hydraulic cylinder;

[0134] Then step 500 includes: performing zero phase difference feedforward compensation PID control on the current hydraulic cylinder in each sampling period.

[0135] Specifically, zero phase difference feedforward compensation PID control is adopted: in each sampling period, the control system sends the displacement setting value S to the servo controller. svf The current position deviation is synthesized by the PID operation result and the forward differential control result. The synthesis formula is:

[0136] S svf =K p (S sv (k)-S pv (k))+K f (S sv(k+1)-S sv (k));

[0137] Among them, K p is the PID proportional gain, K f is the feedforward coefficient, S sv (k) is the current moment or sampling period position setting value, S sv (k+1) is the position setting value at the next moment.

[0138] In some embodiments of the present invention, see Figure 8 , a control method for a dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration, further comprising:

[0139] Step 600: If, after performing peak compensation and phase compensation on the current hydraulic cylinder, there is still a synchronization deviation between the two hydraulic cylinders, or the front hydraulic cylinder is still in peak exhaustion, the current hydraulic cylinder is synchronized with the other hydraulic cylinder;

[0140] After applying peak compensation to the current hydraulic cylinder, observe whether the peak attenuation phenomenon disappears and the synchronization deviation decreases; if there is no improvement, switch to master-slave synchronization control; or, apply phase compensation to the current hydraulic cylinder; observe whether the phase difference disappears and the synchronization deviation decreases; if there is no improvement, switch to master-slave synchronization control.

[0141] Furthermore, step 600 includes: correcting the displacement of the hydraulic cylinder with the smaller phase difference according to the displacement of the hydraulic cylinder with the larger phase difference.

[0142] When the peak compensation cannot effectively improve the synchronization deviation, the master-slave synchronization control method is adopted; the side with larger peak attenuation is taken as the main one, and its actual displacement or curve is used as the setting of the other side. The other side follows its actual displacement to maintain production until the end of this casting and offline maintenance.

[0143] When the phase compensation cannot effectively improve the synchronization deviation, the master-slave synchronization control method is adopted; the side with the larger phase difference is the main one, and its actual displacement or curve is used as the setting of the other side. The other side follows its actual displacement to maintain production until the end of this casting and offline maintenance.

[0144] In some embodiments of the present invention, the phase difference between the two hydraulic cylinders being greater than a preset threshold includes: phase lag and phase advance; if the distortion state is the phase lag, determining whether the current hydraulic cylinder is in the distortion state based on the displacement data in step 200 includes:

[0145] If the current hydraulic cylinder moves upward, whether the current hydraulic cylinder is in phase lag is determined based on a first relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and a duration of the first relationship.

[0146] Specifically, when the hydraulic cylinder moves upward: if S sv (m)-S v If (m)>Δ or the set value and the duration is greater than a quarter of a cycle, it is determined to be a phase lag;

[0147] If the distortion state is the phase advance, determining whether the current hydraulic cylinder is in the distortion state according to the displacement data in step 200 includes:

[0148] If the current hydraulic cylinder moves upward, whether the current hydraulic cylinder is in phase advance is determined based on a second relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and a duration of the second relationship.

[0149] Specifically, when the hydraulic cylinder moves downward: if S sv (m)-S v If (m) < -Δ or the set value and the duration is greater than a quarter of a cycle, it is determined to be phase leading;

[0150] Among them, S v (m) is the actual displacement at time m; S sv (m) is the set displacement at time m; Δ is the minimum deviation tolerance between the actual displacement and the set displacement.

[0151] From the above description, it can be seen that an embodiment of the present invention provides a control method for a dual-hydraulic-cylinder crystallizer servo direct-drive hydraulic vibration, comprising: first, obtaining the displacement data of each hydraulic cylinder of the crystallizer; then, judging whether the current hydraulic cylinder is in a distorted state based on the displacement data; wherein the distorted state includes: peak attenuation and a phase difference between the two hydraulic cylinders greater than a preset threshold; finally, if the current hydraulic cylinder is in a distorted state, performing at least one of peak compensation, phase compensation, and synchronous control with another hydraulic cylinder on the current hydraulic cylinder.

[0152] As can be seen from the above description, the present invention provides a comprehensive, efficient and intelligent solution for direct-drive electro-hydraulic servo systems and similar applications by integrating peak attenuation, phase difference identification, optimization compensation, two-cylinder synchronization deviation calculation, master-slave synchronization control switching, and reduction of device impact.

[0153] To further illustrate the solution, the present invention also provides a specific implementation of a method for controlling a dual hydraulic cylinder mold servo direct drive hydraulic vibration, which specifically includes the following contents:

[0154] Existing control systems based on servo valves controlling hydraulic cylinders suffer from high failure rates, high energy consumption, and a lack of synchronization between dual-unit control. These systems are sensitive to equipment status and exhibit poor synchronization performance when the equipment states on both sides differ. Servo motor-driven hydraulic pump-controlled hydraulic cylinder (servo direct drive) control systems, if they do not employ synchronization control measures, also suffer from poor synchronization performance when the equipment states of the two units differ significantly.

[0155] Based on this, the present invention first provides a dual-unit crystallizer hydraulic vibration servo direct-drive synchronous control system, which includes a power supply unit, a control unit, a drive unit and an interface unit, and adopts the control strategy provided by this application, which has good effects on friction compensation, inertia force compensation, peak attenuation, phase lag, synchronous control, and especially the synchronous control when the states of the two unit devices (two hydraulic cylinders) are greatly different, reduces the damage to the equipment caused by synchronization deviation, improves the surface quality of the ingot, and reduces the probability of steel leakage accidents caused thereby.

[0156] A dual-unit crystallizer hydraulic vibration servo direct-drive synchronous control system comprises a power supply unit, a control unit, a drive unit, and an interface unit. The power supply unit supplies power to the control unit and the drive unit via an electrical connection. The control unit comprises a logic control module, a data acquisition module, a data processing module, a waveform generation module, a synchronization control module, and a communication processing module. The control unit interacts with each module via signal connections and issues control commands to the drive unit via the communication processing module. The logic control module is responsible for the interlocking control of the vibration drive device and the communication interlocking with the casting strand control system. The data acquisition module is used to collect, store, and analyze data from the drive unit and the vibration drive device, display it in real time, and provide historical data query. The data processing module is used to perform calculations on the collected data. The waveform generation module is used to generate sinusoidal and non-sinusoidal waveforms and to modify the amplitude, frequency, and skewness coefficient offline and online within an allowable range. The synchronization control module is used to ensure waveform synchronization of the two vibration drive devices. The communication processing module is used to implement internal and external communication within the system. The drive unit communicates with the control unit and is directly connected to the vibration drive device, for supplying power to the vibration drive device and for receiving control commands from the control unit and controlling the operation of the vibration drive device. The interface unit is used to connect the control unit, the drive unit, and the vibration drive device.

[0157] Furthermore, the power supply unit includes AC380V three-phase AC power supply, AC220V uninterruptible AC power supply and DC24V DC regulated power supply.

[0158] Furthermore, the collected data include current, speed, torque, temperature and displacement.

[0159] Furthermore, the internal communication includes the communication between the control unit and the drive unit, which adopts ProfiNet communication and is connected through a ProfiNet dedicated network cable.

[0160] Furthermore, external communication includes communication between the control unit and the host computer and communication between the control unit and the casting strand control system, and both communication modes adopt Ethernet communication.

[0161] Furthermore, the drive unit is a servo drive, including a power module, a control module and matching filters and reactors.

[0162] Furthermore, the interface unit is an electrical connection heavy-duty connector.

[0163] Specifically, see Figure 9 As shown, the present invention provides a dual-unit crystallizer hydraulic vibration servo direct-drive synchronous control system, which includes a power supply unit, a control unit, a drive unit (a first drive unit and a second drive unit) and an interface unit (a first interface unit and a second interface unit). The units work closely together through electrical connection and data communication to jointly achieve high-precision control of the vibration drive device (the first vibration drive device and the second vibration drive device).

[0164] The power supply unit directly supplies power to the control unit and drive unit through electrical connections. The drive unit's output powers the vibration drive unit. The power supply unit includes an AC380V three-phase AC power supply, an AC220V uninterruptible AC power supply, and a DC24V regulated DC power supply. It provides stable and reliable power for the entire system, ensuring the normal operation of the control unit, drive unit, and vibration drive unit.

[0165] The control unit includes a logic control module, a data acquisition module, a data processing module, a waveform generation module, a synchronization control module, and a communication processing module. The control unit is connected to these modules through signals. The control unit issues control commands to the drive unit through the communication processing module, controlling the vibration drive device to perform functions such as commutation, speed regulation, and torque regulation, ultimately controlling the vibration drive device's operation.

[0166] The drive units consist of two high-performance servo drives, each containing its own power module, control module, and matching filters and reactors. The power modules and control modules enable direct control of the vibration drive unit. Furthermore, the reactors and filters effectively filter out grid voltage instabilities, minimizing impacts on the grid and ensuring stable operation of the drive unit. Each servo drive integrates a high-performance motor and a dedicated hydraulic pump, enabling direct drive and energy management of the vibration system through sophisticated control algorithms. During cylinder acceleration, the servo motor drives the hydraulic pump to provide the necessary hydraulic energy to the cylinder, enabling rapid and smooth acceleration. When the cylinder enters the deceleration phase, the drive unit intelligently switches operating modes, utilizing the hydraulic pump as a motor to recover system energy and achieve efficient energy recovery and reuse.

[0167] The interface unit is a heavy-duty connector for electrical connection. The control unit and the drive unit are both connected to the vibration drive device through the connector. The connection between the drive unit and the vibration drive device plays both a control role and a power supply role. The connector is a high-protection interface unit, making the use of the vibration drive device more convenient, stable and reliable.

[0168] like Figure 9 As shown in FIG. 1 , as a preferred embodiment of the present invention, in the control unit, the logic control module is responsible for the interlocking control of the vibration drive device (such as overload protection, state judgment, synchronization failure, etc.), as well as the interlocking control of the casting machine mode and production status communicated with the casting strand control system;

[0169] The data acquisition module is used to collect, store and analyze the data detected by the drive unit and vibration drive device (such as current, speed, torque, temperature, displacement, etc.), display it online in real time, support historical data query, and provide a basis for system optimization;

[0170] The data processing module is used to perform calculations on the data detected by the drive unit and the vibration drive device;

[0171] The waveform generation module is responsible for generating control waveforms, including sinusoidal and non-sinusoidal waveforms, based on the production data sent by the continuous casting machine strand control system. It can also modify the amplitude, frequency, and skewness coefficients offline and online within the allowable range to meet different vibration process requirements.

[0172] The synchronization control module is responsible for the synchronization control of the set waveform and actual curve of the two vibration drive devices, ensuring that the synchronization deviation of the two vibration drive devices is controlled within a small range, thereby improving the stability and control accuracy of the system;

[0173] The communication processing module is used to control the internal and external communications of the control system. Internal communication includes the communication between the control unit and the drive unit, which adopts ProfiNet communication and is connected through a ProfiNet dedicated network cable. External communication includes the communication between the control unit and the host computer, and the communication between the control unit and the casting control system, which adopts Ethernet communication to achieve fast data transmission and accurate execution of instructions.

[0174] The operating principle of a dual-unit crystallizer hydraulic vibration servo direct-drive synchronous control system is as follows: When the continuous casting machine strand control system transmits production data, the waveform generation module in the control unit generates a corresponding waveform curve based on this data. The control unit transmits control commands to the drive unit via the communication processing module. The drive unit adjusts the output of the vibration drive device based on the control command, causing it to vibrate according to the specified waveform curve. Simultaneously, the data acquisition module collects various data from the vibration drive device in real time, and the data processing module performs calculations to support control decisions. The synchronization control module ensures the synchronous operation of the two vibration drive devices, reduces synchronization deviation, and improves the overall control accuracy of the system.

[0175] In an embodiment of the present invention, the waveform generating module generates a corresponding waveform curve based on the casting machine production data sent by the casting strand control system of the continuous casting machine, controls the vibration driving device to move according to the given waveform curve, realizes rapid response, and synchronously reproduces the waveform curve with high precision to meet the vibration process requirements of the continuous casting machine crystallizer.

[0176] Based on the above dual-unit crystallizer hydraulic vibration servo direct drive synchronous control system, see Figure 10 as well as Figure 11 The present invention also provides a specific embodiment of a control method for a dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration, comprising the following steps:

[0177] S1. Monitor the displacement curve.

[0178] The controller monitors the displacement curve of each hydraulic cylinder based on the actual displacement value of the cylinder. It determines whether the actual displacement curve of each hydraulic cylinder is distorted, including large deviation between the actual and set values, peak curve exhaustion, large synchronization deviation between the two cylinders, or large phase difference between the two cylinders. If there is no distortion, no processing is performed. If there is distortion, the next step is carried out according to the situation.

[0179] S2. Processing peak failure.

[0180] See also Figure 12If peak failure occurs on one side while the other side is normal, the synchronization deviation between the two cylinders must be large. The location where this phenomenon occurs is determined and used as the compensation starting point. Peak compensation is then initiated. The peak failure phenomenon is then determined again to see if it disappears and the synchronization deviation between the two cylinders is reduced to within the allowable range. If not, the system switches to master-slave synchronization control.

[0181] S3. Processing phase difference.

[0182] See also Figure 13 If a phase difference occurs between the actual displacement on one side and the set curve, while the other side is normal, the synchronization deviation between the two cylinders must be large, so phase compensation is activated. The system then checks again to see if the phase difference has disappeared and the synchronization deviation between the two cylinders has been reduced to within the allowable range. If not, the system switches to master-slave synchronization control.

[0183] The present invention adopts a forward differential control algorithm based on the feedforward principle, which can effectively eliminate the steady-state error of the ramp signal and the phase lag of the sinusoidal (including non-sinusoidal) signal, thereby improving the tracking performance and control accuracy of the system.

[0184] Forward differential control plays a role in strengthening S svc The forward differential control effect is not affected by system delays, but rather by the fact that the actual position approaches the set position more quickly.

[0185] When the phase difference cannot be eliminated after phase compensation is applied, and the synchronization deviation between the two cylinders is large, the master-slave synchronization control mode is switched on, with the side with the larger phase difference as the main one, and its actual displacement or curve as the setting of the other side. The other side follows the actual displacement of this side to maintain production until the end of this casting and offline maintenance.

[0186] As can be seen from the above description, the present invention generates a corresponding waveform curve based on the casting machine production data transmitted by the continuous casting machine casting strand control system by the waveform generating unit of the dual-unit crystallizer hydraulic vibration servo direct drive synchronous control system, controls the servo direct drive device to operate according to the given waveform curve, and reproduces the set waveform curve with high precision and synchronization. It also optimizes the dual-cylinder curve synchronization and peak curve exhaustion phenomena to meet the continuous casting machine crystallizer vibration process requirements. Specifically, the present invention brings the following beneficial effects:

[0187] 1. It can identify the peak attenuation phenomenon of the waveform curve, automatically and non-disruptively input optimization compensation, and automatically adjust parameters to restore the integrity and stability of the waveform to ensure that the signal transmission or energy conversion process is not affected.

[0188] 2. It can identify the phase difference of waveform curves, automatically and non-disruptively optimize compensation, and automatically adjust the phase to ensure that the correct phase relationship is maintained between the waveforms, thereby improving the synchronization and coordination of the system.

[0189] 3. It can calculate the synchronization deviation between the two cylinders. In extreme cases where peak compensation and phase compensation still cannot correct the error, it can automatically and seamlessly switch to master-slave synchronization control to maximize the synchronous operation of the two cylinders, thereby maintaining the safety and stability of production and equipment.

[0190] 4. It can effectively reduce the impact and vibration during the operation of the device, improve the overall vibration effect, and can be applied to similar working conditions of direct-drive electro-hydraulic servo systems.

[0191] Based on the same inventive concept, the embodiments of the present application also provide a control device for a dual-hydraulic-cylinder crystallizer servo direct-drive hydraulic vibration, which can be used to implement the method described in the above embodiments, such as the following embodiments. Since the principle of solving the problem by the control device for the dual-hydraulic-cylinder crystallizer servo direct-drive hydraulic vibration is similar to the control method for the dual-hydraulic-cylinder crystallizer servo direct-drive hydraulic vibration, the implementation of the control device for the dual-hydraulic-cylinder crystallizer servo direct-drive hydraulic vibration can refer to the implementation of the control method for the dual-hydraulic-cylinder crystallizer servo direct-drive hydraulic vibration, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the system described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceived.

[0192] The embodiment of the present invention provides a specific implementation of a control device for a dual hydraulic cylinder mold servo direct drive hydraulic vibration that can realize a control method for a dual hydraulic cylinder mold servo direct drive hydraulic vibration, see Figure 14 A dual hydraulic cylinder mold servo direct drive hydraulic vibration control device specifically includes the following contents:

[0193] A displacement data acquisition module 10 is used to acquire the displacement data of each hydraulic cylinder of the crystallizer;

[0194] The distortion state judgment module 20 is used to judge whether the current hydraulic cylinder is in a distortion state according to the displacement data; wherein the distortion state includes: peak exhaustion and a phase difference between the two hydraulic cylinders being greater than a preset threshold;

[0195] The hydraulic cylinder displacement processing module 30 is configured to perform at least one of peak compensation, phase compensation, and synchronous control with another hydraulic cylinder on the current hydraulic cylinder if the current hydraulic cylinder is in the distorted state.

[0196] In some embodiments of the present invention, see Figure 15, a control device for a double hydraulic cylinder crystallizer servo direct drive hydraulic vibration, further comprising:

[0197] The peak compensation module 40 is used to perform peak compensation on the current hydraulic cylinder if the current hydraulic cylinder is in peak exhaustion. Figure 16 , the peak compensation module 40 includes:

[0198] A starting point determination unit 40a is configured to determine a compensation starting point according to a position where the peak failure occurs in the current hydraulic cylinder;

[0199] The parabola compensation unit 40b is configured to perform parabola compensation on the current hydraulic cylinder from the compensation starting point to the lowest speed point after the current hydraulic cylinder performs peak compensation.

[0200] In some embodiments of the present invention, see Figure 17 , a control device for a double hydraulic cylinder crystallizer servo direct drive hydraulic vibration, further comprising:

[0201] The phase compensation module 50 is configured to perform phase compensation on the current hydraulic cylinder if the phase difference between the two hydraulic cylinders is greater than a preset threshold. The phase compensation module includes:

[0202] The PID control unit is used to perform zero phase difference feedforward compensation PID control on the current hydraulic cylinder in each sampling period.

[0203] In some embodiments of the present invention, see Figure 18 , a control device for a double hydraulic cylinder crystallizer servo direct drive hydraulic vibration, further comprising:

[0204] The synchronization control module 60 is configured to synchronize the current hydraulic cylinder with the other hydraulic cylinder if a synchronization deviation still exists between the two hydraulic cylinders after performing peak compensation and phase compensation on the current hydraulic cylinder, or if the front hydraulic cylinder is still in peak exhaustion. The synchronization control module includes:

[0205] The displacement correction unit is used to correct the displacement of the hydraulic cylinder with a small phase difference according to the displacement of the hydraulic cylinder with a large phase difference.

[0206] In some embodiments of the present invention, the phase difference between the two hydraulic cylinders being greater than a preset threshold includes: phase lag and phase advance; if the distortion state is the phase lag, the distortion state judgment module includes:

[0207] The first distortion state judgment unit is used to judge whether the current hydraulic cylinder is in phase lag based on a first relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and the duration of the first relationship when the current hydraulic cylinder moves upward.

[0208] In some embodiments of the present invention, if the distortion state is the phase advance, the distortion state determination module includes:

[0209] A phase advance judgment unit is used to judge whether the current hydraulic cylinder is in phase advance based on a second relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and the duration of the second relationship when the current hydraulic cylinder moves upward.

[0210] In some embodiments of the present invention, if the distortion state is the peak collapse, the distortion state determination module includes:

[0211] A peak failure judgment unit is used to judge whether the current hydraulic cylinder is in peak failure based on the actual displacement and set displacement of the current hydraulic cylinder at the current moment, the actual displacement at the previous moment before the current moment, the actual displacement and set displacement at the next moment after the current moment, the initial displacement and the peak failure threshold.

[0212] In some embodiments of the present invention, see Figure 19 , the peak exhaustion judgment unit includes:

[0213] an upward movement judging unit 70a, configured to judge whether the current hydraulic cylinder is moving upward above the initial displacement based on the actual displacement at the current moment, the actual displacement at the previous moment, and the initial displacement;

[0214] A first relationship determination unit 70b is configured to determine whether the actual displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, the set displacement, and the peak exhaustion threshold satisfy a preset first relationship;

[0215] The first subunit 70c for judging peak failure is used to judge whether the current hydraulic cylinder is in the peak failure state.

[0216] In some embodiments of the present invention, see Figure 20 , the peak exhaustion judgment unit includes:

[0217] a downward movement determination unit 70d, configured to determine whether the current hydraulic cylinder is moving downward above the initial displacement based on the actual displacement at the current moment, the actual displacement at the next moment, and the initial displacement;

[0218] A second relationship determination unit 70e is configured to determine whether the actual displacement and the set displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, and the peak exhaustion threshold satisfy a preset second relationship;

[0219] The second subunit 70f for judging peak failure is used to judge whether the current hydraulic cylinder is in the peak failure state.

[0220] The embodiment of the present application also provides a specific implementation of an electronic device that can implement all steps in the control method of the dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration in the above embodiment, see Figure 21 , electronic equipment specifically includes the following:

[0221] Processor (processor) 1201, memory (memory) 1202, communication interface (CommunicationsInterface) 1203 and bus 1204;

[0222] The processor 1201, the memory 1202, and the communication interface 1203 communicate with each other via the bus 1204; the communication interface 1203 is used to implement information transmission between the server-side device and the user-side device and other related devices;

[0223] The processor 1201 is used to call the computer program in the memory 1202. When the processor executes the computer program, all steps of the control method of the dual hydraulic cylinder mold servo direct drive hydraulic vibration in the above embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0224] Step 100: Acquire displacement data of each hydraulic cylinder of the crystallizer;

[0225] Step 200: Determine whether the current hydraulic cylinder is in a distorted state based on the displacement data; wherein the distorted state includes: peak collapse and a phase difference between the two hydraulic cylinders greater than a preset threshold;

[0226] Step 300: If the current hydraulic cylinder is in the distorted state, perform at least one of peak compensation, phase compensation, and synchronous control with another hydraulic cylinder on the current hydraulic cylinder.

[0227] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all steps of the control method for the dual-hydraulic-cylinder mold servo direct-drive hydraulic vibration in the above-mentioned embodiment. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all steps of the control method for the dual-hydraulic-cylinder mold servo direct-drive hydraulic vibration in the above-mentioned embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0228] Step 100: Acquire displacement data of each hydraulic cylinder of the crystallizer;

[0229] Step 200: Determine whether the current hydraulic cylinder is in a distorted state based on the displacement data; wherein the distorted state includes: peak collapse and a phase difference between the two hydraulic cylinders greater than a preset threshold;

[0230] Step 300: If the current hydraulic cylinder is in the distorted state, perform at least one of peak compensation, phase compensation, and synchronous control with another hydraulic cylinder on the current hydraulic cylinder.

[0231] The various embodiments in this specification are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences between the other embodiments. In particular, the hardware + program embodiments are generally similar to the method embodiments, so their description is relatively simple. For relevant portions, refer to the description of the method embodiments.

[0232] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0233] Although the present application provides method operation steps such as embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-creative work. The order of steps listed in the embodiments is only one way of executing the steps among many steps and does not represent the only execution order. When an actual device or user-end product is executed, it can be executed in the order shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0234] For the convenience of description, the above devices are described in terms of functions divided into various modules. Of course, when implementing the embodiments of this specification, the functions of each module can be implemented in the same or multiple software and / or hardware, or the modules that implement the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0235] Those skilled in the art will also appreciate that, in addition to implementing the controller in pure computer-readable program code, it is entirely possible to implement the same functionality by logically programming the method steps in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered structures within the hardware component. Alternatively, the devices for implementing various functions can be considered both software modules implementing the method and structures within the hardware component.

[0236] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0237] Memory may include non-permanent storage in a computer-readable medium in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (RAM). Memory is an example of a computer-readable medium.

[0238] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between the various embodiments can be referenced across them. Each embodiment focuses on the differences from the other embodiments. In particular, since the system embodiments are generally similar to the method embodiments, their description is relatively simple. For relevant parts, reference can be made to the description of the method embodiments. Throughout this specification, reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the embodiments in this specification. In this specification, the schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and integrate the different embodiments or examples, and features of different embodiments or examples, described in this specification, without conflict.

[0239] The above description is merely an example of the embodiments of this specification and is not intended to limit the embodiments of this specification. For those skilled in the art, various modifications and variations of the embodiments of this specification are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of this specification shall be included within the scope of the claims of the embodiments of this specification.

Claims

1. A control method for dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration, characterized in that: include: Obtain the displacement data of each hydraulic cylinder of the crystallizer; Determining whether the current hydraulic cylinder is in a distorted state based on the displacement data; wherein the distorted state includes: peak exhaustion and a phase difference between the two hydraulic cylinders being greater than a preset threshold; If the current hydraulic cylinder is in the distorted state, at least one of peak compensation, phase compensation, and synchronous control with another hydraulic cylinder is performed on the current hydraulic cylinder.

2. The control method according to claim 1, characterized in that: Also includes: If the current hydraulic cylinder is in a state of peak exhaustion, peak compensation is performed on the current hydraulic cylinder, including: Determining a compensation starting point according to a position where the peak failure occurs in the current hydraulic cylinder; From the compensation starting point to the lowest speed point of the current hydraulic cylinder after the crest compensation is performed, parabolic compensation is performed on the current hydraulic cylinder.

3. The control method according to claim 1, wherein: Also includes: If the phase difference between the current hydraulic cylinder and the two hydraulic cylinders is greater than a preset threshold, performing phase compensation on the current hydraulic cylinder includes: In each sampling period, zero phase difference feedforward compensation PID control is performed on the current hydraulic cylinder.

4. The control method according to claim 1, wherein: Also includes: If, after performing peak compensation and phase compensation on the current hydraulic cylinder, there is still a synchronization deviation between the two hydraulic cylinders, or the front hydraulic cylinder is still in peak exhaustion, the current hydraulic cylinder is synchronously controlled with the other hydraulic cylinder, including: The displacement of the hydraulic cylinder with the smaller phase difference is corrected based on the displacement of the hydraulic cylinder with the larger phase difference.

5. The control method according to claim 1, characterized in that: The phase difference between the two hydraulic cylinders being greater than a preset threshold includes: phase lag and phase advance; if the distortion state is the phase lag, determining whether the current hydraulic cylinder is in the distortion state based on the displacement data includes: If the current hydraulic cylinder moves upward, whether the current hydraulic cylinder is in phase lag is determined based on a first relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and a duration of the first relationship.

6. The control method according to claim 5, characterized in that: If the distortion state is the phase advance, determining whether the current hydraulic cylinder is in the distortion state according to the displacement data includes: If the current hydraulic cylinder moves upward, whether the current hydraulic cylinder is in phase advance is determined based on a second relationship between the actual displacement of the current hydraulic cylinder at the current moment and the set displacement at the current moment and a duration of the second relationship.

7. The control method according to claim 1, characterized in that: If the distortion state is the peak exhaustion, determining whether the current hydraulic cylinder is in the distortion state according to the displacement data includes: Whether the current hydraulic cylinder is in the peak exhaustion is determined based on the actual displacement and set displacement of the current hydraulic cylinder at the current moment, the actual displacement at the previous moment before the current moment, the actual displacement and set displacement at the next moment after the current moment, the initial displacement and the peak exhaustion threshold.

8. The control method according to claim 7, characterized in that: The determining whether the current hydraulic cylinder is in the peak exhaustion according to the actual displacement and the set displacement of the current hydraulic cylinder at the current moment, the actual displacement at the previous moment, the actual displacement and the set displacement at the next moment after the current moment, the initial displacement, and the peak exhaustion threshold value includes: determining whether the current hydraulic cylinder is moving upward above the initial displacement based on the actual displacement at the current moment, the actual displacement at the previous moment, and the initial displacement; If so, determining whether the actual displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, the set displacement, and the peak exhaustion threshold satisfy a preset first relationship; If so, determine whether the current hydraulic cylinder is in the peak failure state.

9. The control method according to claim 7, characterized in that: The determining whether the current hydraulic cylinder is in the peak exhaustion according to the actual displacement and the set displacement of the current hydraulic cylinder at the current moment, the actual displacement at the previous moment, the actual displacement and the set displacement at the next moment after the current moment, the initial displacement, and the peak exhaustion threshold value includes: Determining whether the current hydraulic cylinder is moving downward above the initial displacement according to the actual displacement at the current moment, the actual displacement at the next moment, and the initial displacement; If so, determining whether the actual displacement and the set displacement at the current moment, the actual displacement at the previous moment, the actual displacement at the next moment, and the peak exhaustion threshold satisfy a preset second relationship; If so, determine whether the current hydraulic cylinder is in the peak failure state.

10. A dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration control device, characterized in that: include: A displacement data acquisition module is used to acquire the displacement data of each hydraulic cylinder of the crystallizer; a distortion state judgment module, configured to judge whether the current hydraulic cylinder is in a distortion state based on the displacement data; wherein the distortion state includes: peak exhaustion and a phase difference between the two hydraulic cylinders being greater than a preset threshold; The hydraulic cylinder displacement processing module is used to perform at least one of peak compensation, phase compensation and synchronous control with another hydraulic cylinder on the current hydraulic cylinder if the current hydraulic cylinder is in the distorted state.

11. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the control method of the dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration according to any one of claims 1 to 9 are implemented.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the control method of the dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration according to any one of claims 1 to 9 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method of the dual hydraulic cylinder crystallizer servo direct drive hydraulic vibration according to any one of claims 1 to 9 are implemented.

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