High-speed steel separating system and method based on shearing timing cooperative control

Abstract

The application discloses a high-speed steel separating system and method based on shearing timing cooperative control, and relates to the technical field of metallurgical automation control, which comprises the following steps: establishing a multi-dimensional coupling space-time coordinate system between a flying shear and a steel separator; predicting a shearing cut deformation trend based on a steel material quality model, generating an optimal differential shearing timing and a steel separating guide strategy; dynamically adjusting the independent driving speed of upper and lower shearing blades in real time according to the parameters output by a deformation vector planner, and actively inducing a preset deflection angle of a steel head at the moment of cutting; executing differential shearing, and evaluating the deformation effectiveness through transient torque observation and high-speed visual feedback; and according to the deformation evaluation result and the phase prediction of the steel separator, the swing trajectory of the steel separator is cooperatively corrected, and the steel separating task steps are executed. The application solves the problems of steel head impact and steel piling caused by the lagging response of steel separation in the super-high-speed rolling production line.

Description

Technical Field

[0001] This invention relates to the field of metallurgical automation control technology, specifically to a high-speed steel splitting system and method based on coordinated control of shearing timing. Background Technology

[0002] With the development of modern steel industry towards higher speeds and greater precision, the final rolling speed of high-speed wire rod and bar mills has generally exceeded 100 m / s. At such high speeds, accurately cutting and distributing continuously rolled steel to different collection channels (i.e., steel sorting) is the most prone to failure in the entire production line. Traditional steel sorting systems typically employ mechanical follow-up control, where the flying shear is only responsible for cutting the steel to a fixed length, and the cut steel head flies in a straight line due to inertia. The downstream steel sorter needs to complete the mechanical action switch within a very short time (usually only tens of milliseconds) before the steel head arrives.

[0003] However, existing passive steel-separating methods have extremely low fault tolerance. If the steel separator's movement is slightly delayed or there is even a tiny irregular movement of the steel head, the high-speed steel head is very likely to collide with the tip of the steel separator, leading to serious steel pile-up accidents and even equipment damage. Secondly, relying solely on mechanical steel separators requires extremely high hydraulic response speeds, resulting in high equipment costs and difficult maintenance. Some existing improvement schemes attempt to introduce high-speed cameras for monitoring, but these are mostly used for post-event alarms and lack active intervention methods. Therefore, it is essential to design a practical, highly efficient, and intelligent high-speed steel-separating system and method based on coordinated control of shearing timing. Summary of the Invention

[0004] The purpose of this invention is to provide a high-speed steel splitting system and method based on coordinated control of shearing timing, so as to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a high-speed steel separation method based on coordinated control of shearing timing, comprising the following steps: Establish a multidimensional coupled spatiotemporal coordinate system between the flying shear machine and the steel separator; Based on the steel material model, the deformation trend of the shear fracture surface is predicted, and the optimal differential shearing timing and steel separation guidance strategy are generated. Based on the parameters output by the deformation vector planner, the independent driving speeds of the upper and lower shear blades are dynamically adjusted in real time, and the steel head is actively induced to generate a preset deflection angle at the moment of cutting. Perform differential shearing and evaluate deformation effectiveness through transient torque observation and high-speed visual feedback; Based on the deformation assessment results and the phase prediction of the steel separator, the swing trajectory of the steel separator is collaboratively corrected to perform the steel separation task.

[0006] According to the above technical solution, the specific method for establishing the multidimensional coupled spatiotemporal coordinate system between the flying shear machine and the steel separator is as follows: A global reference coordinate system is established with the center of the flying shear blade as the zero point, the center line of the rolling line as the X-axis, and the plane perpendicular to the rolling line as the Y-axis. By collecting the real-time frequency of the main motor encoder Real-time calculation of steel head position Its solution expression is: ,in For the encoder's real-time frequency, This is the roller diameter conversion factor. The coefficient of forward slip due to the thermal expansion of high-temperature steel; Establish a kinematic mapping model of the steel separator swing mechanism, and use numerical values ​​from hydraulic cylinder displacement sensors. Calculate the actual interception height at the inlet of the steel guide channel. The calculation expression is: ,in The radius of the swing arm, The base distance is the reference distance. To ensure zero-position deviation during installation; The arrival time of the steel head is determined using a timestamp alignment algorithm. Time of arrival of steel separator Mapped to the same clock domain.

[0007] According to the above technical solution, in the process of predicting the deformation trend of the shear fracture surface based on the rheological properties of steel and generating the optimal differential shearing timing and steel separation guiding strategy, the specific method for generating the optimal differential shearing timing is as follows: Get the current rolling mill set speed Actual speed and steel temperature ; The target deflection angle is calculated based on the temperature-yield strength curve of the steel. Required shear stress difference ; Based on the current rolling speed, calculate the required difference in linear velocity between the upper and lower shear blades at the biting point. The calculation formula is as follows: ; in Mechanical structure gain coefficient For temperature sensitivity coefficient, Reference temperature; Based on the current action lag time of the steel separator Reverse thrust flying shear activation time The system is based on the and Generate low-level motor control commands, among which To estimate the time of encounter, To accelerate the flying shear time.

[0008] According to the above technical solution, the specific method for dynamically adjusting the independent driving speeds of the upper and lower shear blades in real time based on the parameters output by the deformation vector planner is as follows: Set the base speed of the upper and lower shear blades to ,in Forward rate; Based on the calculated difference in linear velocity required between the upper and lower shear blades at the engagement point Assign the target speed of the shear blade and the speed of the lower scissor blade target ; Dynamic torque feedforward compensation control is introduced to compensate for the inertial torque generated by acceleration and deceleration. The compensation formula is as follows: ,in Let the system's rotational inertia be... The coefficient of viscous friction, To dynamically feedforward compensate for torque, ensuring that during the shearing duration The internal velocity difference is constant.

[0009] Based on the above technical solution, the specific methods for performing differential shearing and evaluating the effectiveness of deformation through transient torque observation and high-speed visual feedback include: Construct an asymmetric shear energy observer to calculate the difference in work done by the upper and lower motors during the shearing process. and the total work done in the shearing process. ,in These are the instantaneous power of the upper and lower motors, respectively; Define the deformation effectiveness index ,when Within the preset range At that time, the active deformation induction was determined to be successful; Meanwhile, a high-speed vision sensor installed at the flying shear exit captures images of the steel head, and an edge detection algorithm is used to extract the actual deflection angle of the steel head. ,like If so, the deformation is determined to be abnormal, among which The allowable angle error threshold.

[0010] Based on the above technical solution, and according to the deformation assessment results and the phase prediction of the steel separator, the specific method for collaboratively correcting the swing trajectory of the steel separator is as follows: If deformation induction is successful, maintain the current preset trajectory of the steel divider; If deformation induction is insufficient, immediately activate the rapid avoidance mode: calculate the probability of the steel head colliding with the tip of the steel separator. ; When the calculated collision probability When the threshold is exceeded, switch to forced avoidance control mode, and force the steel separator to deviate from the predicted trajectory of the steel head with maximum acceleration; If insufficient deformation is detected three times consecutively, a rolling line deceleration command will be automatically triggered to reduce the rolling speed. Below the safety threshold.

[0011] According to the above technical solution, establishing a multi-dimensional coupled spatiotemporal coordinate system between the flying shear machine and the steel separator also includes: A clock synchronization mechanism based on the IEEE 1588 protocol is adopted to synchronize the system clocks of the flying shear controller and the steel distribution controller. The clock deviation compensation formula is as follows: ,in Main site timestamp Uses the slave station's timestamp to automatically compensate for transmission delays.

[0012] According to the above technical solution, the high-speed steel splitting system based on shearing timing coordinated control includes: The collaborative modeling unit is configured to establish a multi-dimensional coupled spatiotemporal coordinate system between the flying shear and the steel divider, and to analyze the mapping relationship between their motion states. The deformation vector planner is configured to calculate the optimal shear stress difference based on the rheological properties of steel, and generate differential commands for the dual-drive motors and timing strategies for the steel separator. The dual-drive differential response controller is configured to receive planner commands and independently adjust the speed and torque of the upper and lower shear blade motors to perform active deformation shearing. The transient rheological feedback module is configured to assess the deformation quality of the steel head through torque observation and visual capture; The collaborative execution control module is configured to dynamically correct the actions of the steel distributor based on feedback results, thereby completing the final distribution.

[0013] According to the above technical solution, the transient rheological feedback module includes an energy integration calculation unit and a trajectory deviation analysis unit; the energy integration calculation unit is used to calculate the asymmetric power consumption during the shearing process in real time; the trajectory deviation analysis unit is used to compare the actual trajectory of the steel head with the theoretical safe trajectory and generate an avoidance trigger signal.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are: (1) This invention utilizes differential shearing technology to transform the shearing action into the primary driving force for steel separation. By causing the steel head to generate a preset deflection angle at the moment of cutting, aerodynamics and inertia are used to make the steel head automatically tend towards the target track, which greatly reduces the probability of physical collision between the steel head and the tip of the steel separator, and solves the problem of steel stacking under high-speed conditions.

[0015] (2) Unlike traditional open-loop control, this invention introduces a transient torque observer and high-speed visual feedback to construct a closed loop for deformation quality assessment. Even under conditions of rolling speed fluctuations or uneven steel material, the system can determine in real time whether the induction is successful and trigger subsequent compensation or avoidance mechanisms, significantly improving the robustness of the system.

[0016] (3) By setting active deflection and virtual tip avoidance logic, the mechanical wear and impact load of the steel separator guide plate are reduced, effectively extending the service life of key mechanical components and reducing maintenance costs. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a high-speed steel splitting method based on coordinated control of shearing timing according to the present invention. Figure 2 This is a framework diagram of a high-speed steel splitting system based on coordinated control of shearing timing according to the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1 Please see Figure 1 This invention provides a technical solution: a high-speed steel splitting method based on coordinated control of shearing timing, comprising the following steps: S101. Establish a multi-dimensional coupled spatiotemporal coordinate system between the flying shear machine and the steel separator; In this embodiment of the invention, a global reference coordinate system is established with the center of the flying shear blade as the zero point, the center line of the rolling line as the X-axis, and the plane perpendicular to the rolling line as the Y-axis. By collecting the real-time frequency of the main motor encoder Real-time calculation of steel head position Its solution expression is: ,in For the encoder's real-time frequency, This is the roller diameter conversion factor. This refers to the forward slip coefficient caused by the thermal expansion of high-temperature steel; for example, if... If the current cumulative pulse increment is 10000, then calculate the displacement. ; Establish a kinematic mapping model of the steel separator swing mechanism, and use numerical values ​​from hydraulic cylinder displacement sensors. Calculate the actual interception height at the inlet of the steel guide channel. The calculation expression is: ,in The radius of the swing arm, The base distance is the reference distance. To ensure zero-position deviation during installation; The arrival time of the steel head is determined using a timestamp alignment algorithm. Time of arrival of steel separator Mapping to the same clock domain enables sub-millisecond synchronization.

[0020] In this embodiment of the invention, establishing a multidimensional coupled spatiotemporal coordinate system between the flying shear machine and the steel separator further includes: A clock synchronization mechanism based on the IEEE 1588 protocol is adopted to synchronize the system clocks of the flying shear controller and the steel distribution controller. The clock deviation compensation formula is as follows: ,in Main site timestamp Uses the slave station's timestamp to automatically compensate for transmission delays.

[0021] S102. Based on the steel material model, predict the deformation trend of the shear fracture surface and generate the optimal differential shearing timing and steel separation guidance strategy. Specifically, in this embodiment of the invention, the current rolling mill set speed is obtained. Actual speed and steel temperature ; The target deflection angle is calculated based on the temperature-yield strength curve of the steel. Required shear stress difference ; Based on the current rolling speed, calculate the required difference in linear velocity between the upper and lower shear blades at the biting point. The calculation formula is as follows: ; in Mechanical structure gain coefficient For temperature sensitivity coefficient, The reference temperature; for example, if reference temperature Target deflection angle 3° Then calculate That is, the upper shear blade needs to be slower (or faster, depending on the direction) than the lower shear blade by approximately 10.66 m / s; In the formula, For geometric motion terms, we need to consider velocity. The running steel "bends" at an angle The required difference in linear velocity between the upper and lower surfaces is proportional to... . It is a correction factor that incorporates the mechanical and geometric effects of shear blade overlap and shear depth; For materials mechanics, is the temperature compensation factor; as the temperature decreases, the value within the parentheses will be greater than 1. This indicates that to bend the same angle in harder steel, a larger shear velocity difference (i.e., a larger shear torque) is required. Conversely, the hotter and softer the steel, the smaller the required velocity difference. Using the above formula, we can effectively analyze and calculate the instantaneous linear velocity difference between the upper and lower shear blade tips at the moment of cutting the steel, ensuring the steel head bends to the ideal angle.

[0022] Based on the current action lag time of the steel separator Reverse thrust flying shear activation time The system is based on and Generate low-level motor control commands, among which To estimate the time of encounter, To accelerate the flying shear time.

[0023] S103. Based on the parameters output by the deformation vector planner, the independent driving speed of the upper and lower shear blades is dynamically adjusted in real time, and the steel head is actively induced to generate a preset deflection angle at the moment of cutting. In this embodiment of the invention, the specific method for dynamically adjusting the independent driving speeds of the upper and lower shear blades in real time based on the parameters output by the deformation vector planner is as follows: Set the base speed of the upper and lower shear blades to ,in Forward rate; Based on the calculated difference in linear velocity required between the upper and lower shear blades at the engagement point Assign the target speed of the shear blade and the speed of the lower scissor blade target ; Dynamic torque feedforward compensation control is introduced to compensate for the inertial torque generated by acceleration and deceleration. The compensation formula is as follows: ,in Let the system's rotational inertia be... The coefficient of viscous friction, To dynamically feedforward compensate for torque, ensuring that during the shearing duration The internal velocity difference is constant; the arrow travels from bite to cut in just a few milliseconds, passing through... This indicates the establishment of a speed difference within this extremely short time, and the calculation of overcoming the rotational inertia of the motor and the drum. The required burst torque is needed to prevent deformation-induced failure caused by the steel being cut before the motor has a chance to accelerate.

[0024] S104. Perform differential shearing and evaluate deformation effectiveness through transient torque observation and high-speed visual feedback; Construct an asymmetric shear energy observer to calculate the difference in work done by the upper and lower motors during the shearing process. and the total work done in the shearing process. ,in These are the instantaneous power of the upper and lower motors, respectively; Define the deformation effectiveness index ,when Within the preset range At that time, the active deformation induction was determined to be successful; Meanwhile, a high-speed vision sensor installed at the flying shear exit captures images of the steel head, and an edge detection algorithm is used to extract the actual deflection angle of the steel head. ,like If so, the deformation is determined to be abnormal, among which The allowable angle error threshold.

[0025] S105. Based on the deformation assessment results and the phase prediction of the steel separator, the swing trajectory of the steel separator is corrected in a coordinated manner, and the steel separation task is executed.

[0026] For example, in an embodiment of the present invention, the specific method for collaboratively correcting the swing trajectory of the steel separator based on the deformation assessment results and the phase prediction of the steel separator is as follows: If deformation induction is successful, maintain the current preset trajectory of the steel divider; If deformation induction is insufficient (e.g.) Immediately activate rapid avoidance mode: calculate the probability of the steel head colliding with the tip of the steel separator. ; When the calculated collision probability When the threshold is exceeded, switch to forced avoidance control mode, and force the steel separator to deviate from the predicted trajectory of the steel head with maximum acceleration; If insufficient deformation is detected three times consecutively, a rolling line deceleration command will be automatically triggered to reduce the rolling speed. Below the safety threshold.

[0027] Example 2 Embodiment 2 of the present invention provides a high-speed steel splitting system based on coordinated control of shearing timing. Figure 2 This is a schematic diagram of the module composition of the high-speed steel splitting system based on shearing timing coordinated control provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, the system includes: The collaborative modeling unit is configured to establish a multi-dimensional coupled spatiotemporal coordinate system between the flying shear and the steel divider, and to analyze the mapping relationship between their motion states. The deformation vector planner is configured to calculate the optimal shear stress difference based on the rheological properties of steel, and generate differential commands for the dual-drive motors and timing strategies for the steel separator. The dual-drive differential response controller is configured to receive planner commands and independently adjust the speed and torque of the upper and lower shear blade motors to perform active deformation shearing. The transient rheological feedback module is configured to assess the deformation quality of the steel head through torque observation and visual capture; The collaborative execution control module is configured to dynamically correct the actions of the steel distributor based on feedback results, thereby completing the final distribution.

[0028] The transient rheological feedback module includes an energy integration calculation unit and a trajectory deviation analysis unit. The energy integration calculation unit is used to calculate the asymmetric power consumption during the shearing process in real time. The trajectory deviation analysis unit is used to compare the actual trajectory of the steel head with the theoretical safe trajectory and generate an avoidance trigger signal.

[0029] This application addresses the impact and steel piling problems that easily occur during steel separation on high-speed rolling production lines by providing an intelligent solution based on spatiotemporal coordination and active guidance. First, the system establishes a unified multi-dimensional coupled spatiotemporal coordinate system between the flying shear and the steel separator. Through a high-precision encoder and timestamp alignment algorithm, it eliminates timing deviations in high-speed movement, laying a foundation for precise control. Based on this, the system utilizes material rheological properties and real-time operating conditions to predict the deformation trend of the steel shear fracture surface and generate an optimal differential shearing strategy. This is not merely simple cutting; at the moment of cutting, by dynamically adjusting the independent drive speeds of the upper and lower shear blades, it actively creates a preset deflection angle at the steel head, utilizing the steel's own velocity and deformation potential energy to automatically slide it towards the target channel, thus reducing dependence on the mechanical movements of the steel separator from the source.

[0030] Furthermore, the system incorporates a dual closed-loop feedback mechanism during execution. On one hand, the deformation effectiveness index is calculated in real time using a shear energy asymmetric observer; on the other hand, a high-speed vision sensor captures the actual deflection angle of the steel head. This combination ensures the system can perceive the success of induced deformation in real time. If insufficient deformation or a risk of impact is detected, the system immediately triggers a rapid avoidance mode, forcing the steel separator to deviate from the steel head trajectory with maximum acceleration, achieving proactive defense. For example, in extreme conditions where the hardness of the steel fluctuates greatly, preventing the preset speed difference from generating sufficient deflection, or where the steel separator's response is lag-dependent, the system can quickly avoid steel accumulation through avoidance logic. Ultimately, this invention, through a dual guarantee mechanism of proactive induction and collaborative avoidance, achieves efficient and stable steel separation in ultra-high-speed rolling environments, significantly reducing equipment wear and maintenance costs.

[0031] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0032] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0033] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0034] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A high-speed steel splitting method based on coordinated control of shearing timing, characterized in that: Includes the following steps: Establish a multidimensional coupled spatiotemporal coordinate system between the flying shear machine and the steel separator; Based on the steel material model, the deformation trend of the shear fracture surface is predicted, and the optimal differential shearing timing and steel separation guidance strategy are generated. Based on the parameters output by the deformation vector planner, the independent driving speeds of the upper and lower shear blades are dynamically adjusted in real time, and the steel head is actively induced to generate a preset deflection angle at the moment of cutting. Perform differential shearing and evaluate deformation effectiveness through transient torque observation and high-speed visual feedback; Based on the deformation assessment results and the phase prediction of the steel separator, the swing trajectory of the steel separator is collaboratively corrected to perform the steel separation task.

2. The high-speed steel splitting method based on shearing timing coordinated control according to claim 1, characterized in that: The specific method for establishing a multidimensional coupled spatiotemporal coordinate system between the flying shear machine and the steel separator is as follows: A global reference coordinate system is established with the center of the flying shear blade as the zero point, the center line of the rolling line as the X-axis, and the plane perpendicular to the rolling line as the Y-axis. By collecting the real-time frequency of the main motor encoder Real-time calculation of steel head position Its solution expression is: ,in For the encoder's real-time frequency, This is the roller diameter conversion factor. The coefficient of forward slip due to the thermal expansion of high-temperature steel; Establish a kinematic mapping model of the steel separator swing mechanism, and use numerical values ​​from hydraulic cylinder displacement sensors. Calculate the actual interception height at the inlet of the steel guide channel. The calculation expression is: ,in The radius of the swing arm, The base distance is the reference distance. To ensure zero-position deviation during installation; The arrival time of the steel head is determined using a timestamp alignment algorithm. Time of arrival of steel separator Mapped to the same clock domain.

3. The high-speed steel splitting method based on coordinated control of shearing timing according to claim 1, characterized in that: Based on the rheological properties of steel, the deformation trend of the shear fracture surface is predicted, and the optimal differential shearing timing and steel separation guiding strategy are generated. The specific method for generating the optimal differential shearing timing is as follows: Get the current rolling mill set speed Actual speed and steel temperature ; The target deflection angle is calculated based on the temperature-yield strength curve of the steel. Required shear stress difference ; Based on the current rolling speed, calculate the required difference in linear velocity between the upper and lower shear blades at the biting point. The calculation formula is as follows: ； in Mechanical structure gain coefficient For temperature sensitivity coefficient, Reference temperature; Based on the current action lag time of the steel separator Reverse thrust flying shear activation time The system is based on the and Generate low-level motor control commands, among which To estimate the time of encounter, To accelerate the flying shear time.

4. The high-speed steel splitting method based on coordinated control of shearing timing according to claim 3, characterized in that: The specific method for dynamically adjusting the independent drive speeds of the upper and lower shear blades in real time based on the parameters output by the deformation vector planner is as follows: Set the base speed of the upper and lower shear blades to ,in Forward rate; Based on the calculated difference in linear velocity required between the upper and lower shear blades at the engagement point Assign the target speed of the shear blade and the speed of the lower scissor blade target ; Dynamic torque feedforward compensation control is introduced to compensate for the inertial torque generated by acceleration and deceleration. The compensation formula is as follows: ,in Let the system's rotational inertia be... The coefficient of viscous friction, To dynamically feedforward compensate for torque, ensuring that during the shearing duration The internal velocity difference is constant.

5. The high-speed steel splitting method based on coordinated control of shearing timing according to claim 4, characterized in that: The specific method for performing differential shearing and evaluating the effectiveness of deformation through transient torque observation and high-speed visual feedback includes: Construct an asymmetric shear energy observer to calculate the difference in work done by the upper and lower motors during the shearing process. and the total work done in the shearing process. ,in These are the instantaneous power of the upper and lower motors, respectively; Define the deformation effectiveness index ,when Within the preset range At that time, the active deformation induction was determined to be successful; Meanwhile, a high-speed vision sensor installed at the flying shear exit captures images of the steel head, and an edge detection algorithm is used to extract the actual deflection angle of the steel head. ,like If so, the deformation is determined to be abnormal, among which The allowable angle error threshold.

6. The high-speed steel splitting method based on coordinated control of shearing timing according to claim 5, characterized in that: Based on the deformation assessment results and the phase prediction of the steel separator, the specific method for collaboratively correcting the swing trajectory of the steel separator is as follows: If deformation induction is successful, maintain the current preset trajectory of the steel divider; If deformation induction is insufficient, immediately activate the rapid avoidance mode: calculate the probability of the steel head colliding with the tip of the steel separator. ; When the calculated collision probability When the threshold is exceeded, switch to forced avoidance control mode, and force the steel separator to deviate from the predicted trajectory of the steel head with maximum acceleration; If insufficient deformation is detected three times consecutively, a rolling line deceleration command will be automatically triggered to reduce the rolling speed. Below the safety threshold.

7. The high-speed steel splitting method based on coordinated control of shearing timing according to claim 2, characterized in that: Establishing a multidimensional coupled spatiotemporal coordinate system between the flying shear and the steel separator also includes: A clock synchronization mechanism based on the IEEE 1588 protocol is adopted to synchronize the system clocks of the flying shear controller and the steel distribution controller. The clock deviation compensation formula is as follows: ,in Main site timestamp Uses the slave station's timestamp to automatically compensate for transmission delays.

8. A high-speed steel splitting system based on coordinated control of shearing timing, used to execute the method as described in any one of claims 1-7, characterized in that, include: The collaborative modeling unit is configured to establish a multi-dimensional coupled spatiotemporal coordinate system between the flying shear and the steel divider, and to analyze the mapping relationship between their motion states. The deformation vector planner is configured to calculate the optimal shear stress difference based on the rheological properties of steel, and generate differential commands for the dual-drive motors and timing strategies for the steel separator. The dual-drive differential response controller is configured to receive planner commands and independently adjust the speed and torque of the upper and lower shear blade motors to perform active deformation shearing. The transient rheological feedback module is configured to assess the deformation quality of the steel head through torque observation and visual capture; The collaborative execution control module is configured to dynamically correct the actions of the steel distributor based on feedback results, thereby completing the final distribution.

9. A high-speed steel splitting system based on coordinated control of shearing timing according to claim 8, characterized in that: The transient rheological feedback module includes an energy integration calculation unit and a trajectory deviation analysis unit; the energy integration calculation unit is used to calculate the asymmetric power consumption during the shearing process in real time; the trajectory deviation analysis unit is used to compare the actual trajectory of the steel head with the theoretical safe trajectory and generate an avoidance trigger signal.

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