A synchronous operation control system for hydraulic cylinders of a double-turning hook

Abstract

The application discloses a synchronous operation control system of a double-turning hook hydraulic cylinder, and the system comprises a double-turning hook synchronous and smooth stopping control unit, which is used for calculating the weight per meter of the current steel grade and a deceleration starting angle SN1 under the weight per meter, and driving the two turning hooks to be synchronously decelerated to a target angle position at a set deceleration Sw when the rotation angles of the two turning hooks both reach the deceleration starting angle SN1. According to the cross-sectional size and the length of the fixed size of the H-shaped steel, the weight per meter of the steel grade is calculated in real time, and the deceleration starting angle matched with the inertia of the steel is dynamically generated, so that the fixed deceleration starting angle is dynamically replaced, and all specifications of the steel from the extremely light to the overweight can be synchronously, smoothly and low-impactly stopped at the target position, and the equipment impact, noise and chain loss are greatly reduced.

Description

Technical Field

[0001] This invention belongs to the field of electrical equipment operation technology, and more specifically, this invention relates to a synchronous operation control system for a double-flipping steel hook hydraulic cylinder. Background Technology

[0002] In the stacking and surface quality inspection stations of steel rolling production lines, two sections of flipping hooks that operate in series are typically installed: an upward flipping hook (0°-90°) and a downward flipping hook (90°-180°). Each section of flipping hooks is driven by two independent hydraulic cylinders, with the angle position fed back in real time by a coaxial encoder mounted on the rotating shaft. When producing extra-long steel sections (such as those over 18 meters, or even 24 meters or 32 meters), the two sections of flipping hooks must be used in tandem to smoothly lift and flip the entire steel section.

[0003] Because the weight range of products produced on heavy H-beam production lines is extremely wide (e.g., from 22.3 kg / m to 1509 kg / m, a difference of nearly 70 times), existing turning hooks typically use a fixed deceleration starting angle. Large-sized steel sections may not decelerate sufficiently at the end of the turning process due to their huge inertia, directly impacting the equipment chain support surface, generating severe impact and noise, and significantly accelerating chain wear and fatigue fracture, severely restricting operational efficiency. Summary of the Invention

[0004] The present invention provides a synchronous operation control system for a double-flipping steel hook hydraulic cylinder, which aims to improve at least one of the above-mentioned problems.

[0005] This invention is implemented as follows: a synchronous operation control system for a double-flipping steel hook hydraulic cylinder, the system comprising:

[0006] The double-hook synchronous and smooth stop control unit is used to calculate the weight per meter of the current steel grade and the deceleration start angle SN1 under the weight per meter. When the rotation angle of both hooks reaches the deceleration start angle SN1, the two hooks are driven to decelerate synchronously to the target angle position at the set deceleration Sw.

[0007] Furthermore, the time formula for the current steel grade's weight per meter (MZ) is as follows:

[0008] MZ(kg / m)=[(H-2×t2)×t1+2×B×t2]×7.85×0.001;

[0009] Where H represents the height of the current steel grade, B represents the width of the current steel grade, t1 represents the web thickness of the current steel grade, and t2 represents the flange thickness of the current steel grade.

[0010] Furthermore, the specific formula for calculating the deceleration initiation angle SN1 under a given weight is as follows:

[0011] SN1 = 177 - 0.0183 × MZ.

[0012] Furthermore, the synchronous and smooth stop control unit for the double-flip steel hook is composed of functional blocks MDCH301~MDCH315.

[0013] Furthermore, the system includes: a double-hook position holding function control unit and a double-hook limit over-tolerance engagement position holding control unit. When the angular position deviation of the two hooks exceeds a preset adjustment angle threshold SN, the double-hook position holding function control unit controls the hydraulic cylinder of the lagging hook to accelerate until the angular position deviation of the two hooks is within the preset adjustment angle threshold SN. When the angular position deviation of the two hooks exceeds a limit safety threshold SN2, the double-hook limit over-tolerance engagement position holding control unit controls the hydraulic cylinder of the leading hook to stop, and simultaneously controls the hydraulic cylinder of the lagging hook to accelerate until the angular position deviation of the two hooks is within the adjustment angle threshold SN.

[0014] Furthermore, the double-flipping hook position holding function control unit calculates the real-time angle difference S△ between flipping hook #1 and flipping hook #2. When the absolute value of the difference S△ exceeds the preset adjustment angle threshold SN, but the angle positions of flipping hook #1 and flipping hook #2 have not reached the deceleration start angle SN1, it is determined that there is a slight asynchrony between flipping hook #1 and flipping hook #2. The proportional valve current value of the hydraulic cylinder of the lagging flipping hook is increased, so that the lagging flipping hook accelerates to catch up with the leading flipping hook.

[0015] Furthermore, the double-flip steel hook position holding function control unit is composed of function blocks MDCH101~MDCH126.

[0016] Furthermore, when the double-hook limit over-tolerance engagement position holding control unit detects that the absolute value of the angle difference S△ between the two hooks exceeds the limit safety threshold SN2, and at least one hook has an angle position less than the deceleration start angle SN1, it determines that hook #1 and hook #2 have a high risk of asynchrony, sends a lockout signal to the double-hook position holding function control unit, increases the proportional valve current value of the hydraulic cylinder of the lagging hook, and controls the proportional valve current value of the hydraulic cylinder of the leading hook to 0, so that the leading hook stops waiting.

[0017] Furthermore, the double-flip steel hook limit over-tolerance engagement position holding control unit is composed of function blocks MDCH201~MDCH227.

[0018] This invention calculates the weight per meter of H-beams in real time based on their cross-sectional dimensions and fixed length, and dynamically generates a deceleration starting angle that matches the inertia of the steel. This dynamic deceleration starting angle replaces the fixed deceleration starting angle, ensuring that all specifications of steel, from extremely light to extremely heavy, can stop synchronously, smoothly, and with low impact at the target position, significantly reducing equipment impact, noise, and chain wear. Attached Figure Description

[0019] Figure 1 A circuit diagram of the double-flip steel hook position holding function control unit provided in an embodiment of the present invention;

[0020] Figure 2 This is a circuit diagram of the control unit for maintaining the extreme over-tolerance engagement position of the double-flipping steel hook according to an embodiment of the present invention.

[0021] Figure 3 This is a circuit diagram of the synchronous and smooth stopping control unit for the double flipping steel hook provided in an embodiment of the present invention. Detailed Implementation

[0022] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0023] To maintain the angular position synchronization of the two tilting hooks in the tilting process, this invention employs different synchronization strategies for angular position deviations of the same level. These strategies include: for minor angular position deviations, controlling the lag side hydraulic cylinder to accelerate; for larger angular position deviations, controlling the lead side hydraulic cylinder to wait while the lag side hydraulic cylinder accelerates; and when approaching the target position, dynamically generating a deceleration starting angle that precisely matches the steel's inertia based on the current steel grade's weight per meter. This ensures that all specifications of steel, from extremely light to extremely heavy, can stop synchronously, smoothly, and with low impact at the target position, significantly reducing equipment impact, noise, and chain wear. The above control strategies not only ensure smooth synchronization under normal conditions but also allow for forced intervention under high-risk working conditions and achieve buffer braking during the stopping phase, forming an adaptive synchronization control throughout the entire process from start to stop.

[0024] The synchronous operation control system for the double-flipping steel hook hydraulic cylinder provided by the present invention includes: a double-flipping steel hook position holding function control unit, a double-flipping steel hook limit over-tolerance engagement position holding control unit, and a double-flipping steel hook synchronous smooth stop control unit;

[0025] When the angular position deviation of the two flipping hooks exceeds the preset adjustment angle threshold SN, the double flipping hook position holding function control unit controls the hydraulic cylinder of the lagging flipping hook to accelerate until the angular position deviation of the two flipping hooks is within the preset adjustment angle threshold SN.

[0026] When the angular position deviation of the two flipping hooks exceeds the limit safety threshold SN2, the double flipping hook limit over-tolerance engagement position holding control unit controls the hydraulic cylinder of the leading flipping hook to stop, and at the same time controls the hydraulic cylinder of the lagging flipping hook to accelerate, until the angular position deviation of the two flipping hooks is within the adjustment angle threshold SN.

[0027] When both tilting hooks reach the deceleration starting angle SN1 corresponding to the current steel grade and weight per meter, the double tilting hook synchronous and smooth stop control unit controls the two tilting hooks to decelerate synchronously at the set deceleration Sw and stop at the target angle position.

[0028] under Figures 1 to 3 Circuit diagrams are provided for the double-hook position holding function control unit, the double-hook limit over-tolerance engagement position holding control unit, and the double-hook synchronous smooth stop control unit. NCM is a "numerical comparison" function block; when X1 > X2, QU is '1'; when X1 = X2, QE is '1'; and when X1 < X2, QL is '1'. NSW is a "numerical switching" function block; when I = 1, Y is the output value of X2; and when I = 0, Y is the output value of X1. NSB is a "digital quantity switching" function block; when I = 1... When I = 0, Y is the value of output B2; when I = 0, Y is the value of output B1; LVM is the "median" function block; when X > L and X ≦ M, QE is '1'; NOT is the "invert" function block; SUB is the "subtractor" function block; ADD is the "adder" function block; OR is the "OR gate" function block; AND is the "AND gate" function block; SR is the "set priority" function block; PIC is the "regulator" function block; RJJ is the "acceleration / deceleration rate control" function block; CTU is the "counter" function block; SZL The "Steel Grade Weight per Meter Recognition" function block contains the embedded formula MZ(kg / m)=[(H-2×t2)×t1+2×B×t2]×7.85×0.001, where H represents the height of the current steel grade, B represents the width of the current steel grade, t1 represents the web thickness of the current steel grade, and t2 represents the flange thickness of the current steel grade. The Y-end outputs the weight per meter. SJS is the "Deceleration Angle Calculation" function block, containing the embedded formula deceleration starting angle SN1=177-0.0183×MZ, where MZ is the weight per meter.

[0029] The constant 177 in the aforementioned deceleration starting angle is the reference deceleration starting angle calibrated on-site under no-load conditions (MZ=0). At this angle, starting the proportional valve for deceleration ensures the steel hook stops precisely at the target position without overshoot. 0.0183×MZ represents the inertia compensation caused by the weight per meter. The greater the weight per meter, the greater the inertia, requiring earlier deceleration (i.e., a smaller advance angle). Therefore, it is subtracted from the reference deceleration starting angle in the form of negative feedback. SN1 represents the deceleration starting angle of the proportional valve under the current weight per meter specification. The PLC controller uses this deceleration starting angle to control the proportional valve for deceleration output, matching the braking process with the load inertia of the steel grade.

[0030] (1) Double-flip steel hook position holding function control unit, combined with Figure 1 The control process of the double-flip steel hook position holding function control unit is explained as follows:

[0031] The double-flipping hook position holding function control unit calculates the real-time angle difference S△ between flipping hook #1 and flipping hook #2. When the absolute value of the difference S△ exceeds the preset adjustment angle threshold SN, but the angle positions of flipping hook #1 and flipping hook #2 have not reached the deceleration start angle SN1, it is determined that there is a slight asynchrony between flipping hook #1 and flipping hook #2. The proportional valve current value of the hydraulic cylinder of the lagging flipping hook is increased, so that the lagging flipping hook accelerates to catch up with the leading flipping hook.

[0032] The double-hook position holding function control unit consists of function blocks MDCH101~MDCH126. When the rotation angle difference S△ between hook #1 (S1.act) and hook #2 (S2.act) is greater than the set adjustment angle SN, function block MDCH103 outputs '1' at its QU terminal. When the rotation angle difference S△ is greater than SN and greater than 0 degrees, function block MDCH104 outputs '1' at its Q terminal, meaning hook #1 is ahead. Function block MDCH106's Y terminal sends the difference S△ to function block MDCH117's X2 terminal. If both hook #1 (S1.act) and hook #2 (S2.act) are less than the deceleration start angle SN1, function blocks MDCH108 and MDCH110... The QL terminal output of function block MDCH111 is '1', the Q terminal output of function block MDCH117 is '1', and the Y terminal output of function block MDCH117 sends the rotation angle difference S△ of the two flipping hooks to the regulator function block MDCH118. The adjusted value is accumulated by function block MDCH119 and the current control value S2.d (proportional valve current) of flipping hook #2. The current value of the proportional valve of flipping hook #2 is increased by function block MDCH120, so that flipping hook #2 catches up with flipping hook #1. At this time, because function block MDCH105 does not meet the condition, the Q terminal output of flipping hook #1 is '0', and the Y terminal outputs of function blocks MDCH107 and MDCH112 are both '0'. Flipping hook #1 continues to run at the current speed. When the rotation angle difference S△ is greater than SN and less than 0 degrees, the Q output of function block MDCH105 is '1', that is, the 2# flipping hook is ahead. The Y output of function block MDCH107 sends the difference S△ to the X2 output of function block MDCH112. At this time, if the rotation angle value S1.act of 1# flipping hook and the rotation angle value S2.act of 2# flipping hook are both less than the deceleration starting angle SN1, the QL output of function blocks MDCH108 and MDCH110 is '1', the Q output of function block MDCH111 is '1', and the Y output of function block MDCH112 sends the rotation angle difference S△ to the regulator function block MDCH113. The adjusted value is accumulated by function block MDCH114 and the current control value S1.d (proportional valve current) of 1# flipping hook. The current value of the proportional valve of 1# flipping hook is increased by function block MDCH115, so that 1# flipping hook catches up with 2# flipping hook. At this time, because the function block MDCH104 does not meet the conditions, the Q output of the #2 flipping hook is '0', and the Y outputs of function blocks MDCH106 and MDCH117 are both '0'. The #2 flipping hook continues to run at the current speed.

[0033] Function blocks MDCH122~MDCH126 constitute the fault and reset function. When encoder #1 and encoder #2 fail, hydraulic station #1 or hydraulic station #2 fails, or a lockout signal is received, or when any of I1-I5 of function block MDCH124 fails or a switching signal '1' is received, the double flip hook position holding function control unit is stopped. Here, encoder #1 and encoder #2 are used to monitor the angle position of flip hook #1 and flip hook #2, respectively. Hydraulic station #1 and hydraulic station #2 are the hydraulic stations where the hydraulic cylinders of flip hook #1 and flip hook #2 are located, respectively.

[0034] (2) Double-flip steel hook limit over-tolerance deployment position holding control unit, combined with Figure 2 The control process of the double-flip steel hook limit over-tolerance engagement position holding control unit is explained as follows:

[0035] When the double-hook limit over-tolerance engagement position holding control unit detects that the absolute value of the angle difference S△ between the two hooks exceeds the limit safety threshold SN2, and at least one hook has an angle position less than the deceleration start angle SN1, it determines that hook #1 and hook #2 are in high-risk asynchrony. It sends a lockout signal to the double-hook position holding function control unit and the double-hook synchronous smooth stop control unit, increases the proportional valve current value of the hydraulic cylinder of the lagging hook, and controls the proportional valve current value of the hydraulic cylinder of the leading hook to 0, so that the leading hook stops and waits for the lagging hook to catch up.

[0036] The double-hook limit over-tolerance engagement position holding control unit is composed of function blocks MDCH201~MDCH227. When the rotation angle difference S△ between the two hooks is greater than the limit adjustment angle value SN2, the QU output of function block MDCH201 is '1'; when the rotation angle difference S△ between the two hooks is greater than 0 degrees, i.e., hook #1 is ahead and hook #2 is behind, and at least one of the rotation angle values ​​S1.act of hook #1 and S2.act of hook #2 is less than the deceleration starting angle SN1, the Q output of function blocks MDCH204, MDCH205, and MDCH202 is '1', the Q output of function block MDCH203 is '1', the Q output of function blocks MDCH208 and MDCH215 is '1', and the Q output of function block MDCH216 is '1'. The rotation angle difference S△ of the two flipping hooks is sent to the regulator function block MDCH217 via the Y-end output. The adjusted value is then sent to the current value of the proportional valve of the #2 flipping hook via the function block MDCH218, causing the #2 flipping hook to catch up with the #1 flipping hook. (An ADD is added between the function blocks MDCH217 and MDCH218). Since the rotation angle difference S△ of the two flipping hooks is greater than 0 degrees, the I1 output of the function block MDCH214 is '0', the Q output is '0', the Q output of the function block MDCH209 is '0', and the Y-end output of the function block MDCH210 is '0'. The #1 flipping hook stops and waits for the #2 flipping hook. When the rotation angle difference S△ between the two flipping hooks is less than 0 degrees, meaning that flipping hook #2 is ahead, and at least one of the rotation angle values ​​S1.act of flipping hook #1 and S2.act of flipping hook #2 is less than the deceleration starting angle SN1, the Q output of function blocks MDCH206, MDCH205, and MDCH202 is '1'. The Q output of function block MDCH203 is '1', the Q outputs of function blocks MDCH208 and MDCH209 are '1', and the Y output of function block MDCH210 sends the rotation angle difference S△ between the two flipping hooks to the regulator function block MDCH211. The adjusted value is then sent to the current value of the proportional valve of flipping hook #1 via function block MDCH212, causing flipping hook #1 to chase flipping hook #2. Since the rotation angle difference S△ between the two flipping hooks is less than 0 degrees, the I1 output of function block MDCH208 is '0', the Q output of function block MDCH215 is '0', and the Y output of function block MDCH216 is '0'. Flipping hook #2 stops and waits for flipping hook #1.

[0037] When the rotation angle difference S△ between the two tilting hooks is less than the set adjustment angle threshold SN, the Q-terminal output of function block MDCH203 is '0'. After being inverted by function block MDCH220, this is used to reset function blocks MDCH209 and MDCH215. The Q-terminal outputs of function blocks MDCH225 and MDCH226 are '1', and the Q-terminal output of function block MDCH227 is '0'. This will activate the double tilting hook position holding function control unit and deactivate the double tilting hook limit over-tolerance engagement position holding control unit. When the limit over-tolerance engagement unit of the two hydraulic cylinders has run for 3 cycles (signal F=1), the Q-terminal outputs of function blocks MDCH228 and MDCH229 are '1', stopping the double tilting hook position holding function control unit, the double tilting hook limit over-tolerance engagement position holding control unit, and the double tilting hook synchronous smooth stop control unit. This needs to be manually reset and confirmed after on-site inspection.

[0038] (3) The double-tilting steel hook synchronous and smooth stop control unit, combined with Figure 3 The control process of the synchronous and smooth stop control unit for the double-tilting steel hook is explained as follows:

[0039] The dual-hook synchronous and smooth stop control unit calculates the weight per meter of the current steel grade and the deceleration starting angle SN1 under the weight per meter. When the rotation angle of both hooks reaches the deceleration starting angle SN1, the control unit drives the two hooks to decelerate synchronously to the target angle position at the set deceleration Sw.

[0040] The synchronous and smooth stop control unit for the double-tilting steel hook consists of function blocks MDCH301 to MDCH310. Function block MDCH301 automatically obtains the height H, width B, web thickness t1, and flange thickness t2 of the current steel grade from the production chart, and outputs the weight per meter at its Y-end. Function block MDCH302 calculates and outputs the corresponding deceleration starting angle SN1 based on the weight per meter. When the deceleration starting angle SN1 is within the range of 90 degrees to 180 degrees, the Q-end output of function block MDCH303 is '1'. Function blocks MDCH311 to MDCH315 constitute the fault setting, reset, and switching between the double-tilting steel hook position holding function control unit and the limit error position synchronization holding function control unit. When any of function blocks MDCH313's I1-I5 receives a fault or switching signal '1', the Q-end output of function block MDCH314 is '1', after which... After the function block MDCH315 is inverted, its Q output is '0'; function blocks MDCH304, MDCH309, and MDCH307 do not meet the conditions, and the S1 proportional valve of the #1 flipping hook and the S2 proportional valve of the #2 flipping hook both stop outputting; when there is no fault machine switching signal at the I1-I5 terminals of function block MDCH313, the state of function block MDCH314 remains unchanged, and its Q output is '0'. After the function block MDCH315 is inverted, its Q output is '1', and the Q output of function block MDCH304 is '1'. Function block MDCH305 sends the deceleration Sw to the regulator function block MDCH306, and the S1 proportional valve of the #1 flipping hook and the S2 proportional valve of the #2 flipping hook both decelerate at a specific deceleration until they stop at the target angle position. When there is a fault or an active switching signal from the front double-flip steel hook position holding function control unit or the double-flip steel hook limit over-tolerance engagement position holding control unit, the actuator output of the double-flip steel hook synchronous smooth stop control unit will be safely blocked.

[0041] This invention calculates the weight per meter of H-beams in real time based on their cross-sectional dimensions and fixed length, and dynamically generates a deceleration starting angle that matches the steel's inertia. This dynamic deceleration starting angle replaces the fixed one, ensuring that all specifications of steel, from extremely light to extremely heavy, can stop synchronously, smoothly, and with low impact at the target position, significantly reducing equipment impact, noise, and chain wear. Furthermore, this invention designs a "symmetrical, mutually referential" bidirectional adjustment mechanism. Even if any hydraulic cylinder experiences internal leakage, pin wear, or slight jamming, the control strategy can automatically adapt through either a "normal compensation lag cylinder" or an "emergency stop advance cylinder in extreme situations." By setting a progressive defense line from "position maintenance fine-tuning" to "extreme deviation forced synchronization," in extreme situations such as sudden jamming leading to excessive angle deviation and the risk of H-beam falling, the extreme deviation control unit can be positioned within milliseconds, decisively stopping the advance side and driving the lag side to catch up at full speed, forcibly pulling both hooks to within the safe deviation range. The invention will be further described in detail below with reference to its application example on the Maanshan Iron and Steel Group's heavy H-beam production line.

[0042] Example 1: 102.5 tons of hot-rolled H-beams with dimensions of 203×133×5.7×7.8 were rolled. The control system automatically obtained the current dimensions from the production chart and calculated the weight per meter as MZ=24.67kg / m. The initial deceleration angle SN1 was 176.55°. The continuously cast special-shaped billet is heated to 1200℃-1280℃ in a heating furnace. The surface iron oxide scale is removed by a descaling machine. It then enters the billet mill and is rolled in 9-15 passes of different pass patterns. The rolled piece enters the universal roughing mill and is rolled in 1-9 passes. After exiting the finishing mill, it is quenched with water. The side baffle opening is 1130mm, the number of water nozzles is 1-10 sets, and the water pressure is 1. MPa-1.5MPa. After quenching, the flange of the product is not deformed. It is cold-saved to a length of 32 meters. The stacking of No. 2 and No. 3 is linked. During the flipping process of H-beams, there is a slight lag in the pin shaft of No. 2 hook, which causes No. 1 hook to advance by about 5°. The angle adjustment threshold SN=3° is exceeded. The double flipping steel hook position holding function control unit is activated. According to the difference, the current of No. 2 flipping steel hook is smoothly increased to accelerate it to catch up. When the hysteresis deviation increased dramatically to a limit threshold greater than the ultimate safety threshold SN2=7°, the double-flip steel hook position holding control unit instantly took over, commanding the #1 hook proportional valve to de-energize and stop. Based on the accumulated difference, the #2 hook was driven to urgently catch up. After the deviation narrowed back to the safe adjustment angle threshold SN=3°, control was switched back to the double-flip steel hook position holding function control unit. When the hooks flipped to 176.55°, the double-flip steel hook synchronous and smooth stop control unit took over. Both hooks decelerated synchronously at a preset incline of 3500°, finally stopping smoothly at the 180° endpoint position. There was no visible asynchrony or impact throughout the entire process. No H-beam slippage occurred.

[0043] Example 2: 210 tons of hot-rolled H-beams with dimensions of 943×422×22.5×39.9 were rolled. The control system automatically obtained the current dimensions from the production chart and calculated the weight per meter as MZ=416.82kg / m. The initial deceleration angle SN1 was 169.37°. The continuously cast special-shaped billet is heated to 1200℃-1280℃ in a heating furnace. The surface iron oxide scale is removed by a descaling machine. It then enters the billet mill and is rolled in 9-15 passes of different pass patterns. The rolled piece enters the universal roughing mill and is rolled in 1-9 passes. After exiting the finishing mill, it is quenched with water. The side baffle opening is 1130mm, the number of water nozzles is 1-10, and the water pressure is 1. MPa-1.5MPa. After quenching, the flange of the product is not deformed. It is cold-saved to a length of 32 meters. Stacking #2 and #3 are linked. During the flipping process of H-beams, there is a slight lag in the #1 hook pin shaft, which causes the #1 hook to lead by about 4°. This exceeds the threshold adjustment angle threshold SN=3°. The double flipping steel hook position holding function control unit is activated, and the current of the #1 flipping steel hook is smoothly increased according to the difference to accelerate it to catch up. When the hysteresis deviation increased dramatically to a limit threshold greater than the ultimate safety threshold SN2=7°, the double-flip steel hook position holding control unit instantly took over, commanding the #2 hook proportional valve to de-energize and stop. Based on the accumulated difference, the #1 hook was driven to urgently catch up. After the deviation narrowed back to the safe adjustment angle threshold SN=3°, control was switched back to the double-flip steel hook position holding function control unit. When the hooks flipped to 169.37°, the double-flip steel hook synchronous and smooth stop control unit took over. Both hooks decelerated synchronously at a preset incline of 3500°, finally stopping smoothly at the 180° endpoint position. There was no visible asynchrony or impact throughout the entire process. No H-beam slippage occurred.

[0044] Example 3: 375.5 tons of hot-rolled H-beams with dimensions of 550×448×71.9×115 were rolled. The control system automatically obtained the current dimensions from the production chart and calculated the weight per meter as MZ=989.48kg / m. The initial deceleration angle SN1 was 159°. The continuously cast special-shaped billet is heated to 1200℃-1280℃ in a heating furnace. The surface iron oxide scale is removed by a descaling machine. It then enters the billet mill and is rolled in 9-15 passes of different pass patterns. The rolled piece enters the universal roughing mill and is rolled in 1-9 passes. After exiting the finishing mill, it is quenched with water. The side baffle opening is 1130mm, the number of water nozzles is 1-10, and the water pressure is 1. MPa-1.5MPa. After quenching, the flange of the product is not deformed. It is cold-saved to a length of 32 meters. Stacking #2 and #3 are linked. During the flipping process of H-beams, there is a slight lag in the #1 hook pin shaft, which causes the #1 hook to lead by about 4°. This exceeds the threshold adjustment angle threshold SN=3°. The double flipping steel hook position holding function control unit is activated, and the current of the #1 flipping steel hook is smoothly increased according to the difference to accelerate it to catch up. When the hysteresis deviation increased dramatically to a limit threshold greater than the ultimate safety threshold SN2=7°, the double-flip steel hook position holding control unit instantly took over, commanding the #2 hook proportional valve to de-energize and stop. Based on the accumulated difference, the #1 hook was driven to urgently catch up. After the deviation narrowed back to the safe adjustment angle threshold SN=3°, control was switched back to the double-flip steel hook position holding function control unit. When the hooks flipped to 159°, the double-flip steel hook synchronous and smooth stop control unit took over. Both hooks decelerated synchronously at a preset incline of 3500°, finally stopping smoothly at the 180° endpoint position. There was no visible asynchrony or impact throughout the entire process. No H-beam slippage occurred.

[0045] Example 4: 640 tons of hot-rolled H-beams with dimensions of 569×454×78×125 were rolled. The control system automatically obtained the current dimensions from the production chart and calculated the weight per meter as MZ=1086kg / m. The initial deceleration angle SN1 was 157°. The continuously cast special-shaped billet is heated to 1200℃-1280℃ in a heating furnace. The surface iron oxide scale is removed by a descaling machine. It then enters the billet mill and is rolled in 9-15 passes of different pass patterns. The rolled piece enters the universal roughing mill and is rolled in 1-9 passes. After exiting the finishing mill, it is quenched with water. The side baffle opening is 1130mm, the number of water nozzles is 1-10, and the water pressure is 1. MPa-1.5MPa. After quenching, the flange of the product is not deformed. It is cold-saved to a length of 32 meters. Stacking #2 and #3 are linked. During the flipping process of H-beams, there is a slight lag in the #1 hook pin shaft, which causes the #1 hook to lead by about 5°. This exceeds the threshold adjustment angle threshold SN=3°. The double flipping steel hook position holding function control unit is activated, and the current of the #1 flipping steel hook is smoothly increased according to the difference to accelerate it to catch up. When the hysteresis deviation increased dramatically to a limit threshold greater than the ultimate safety threshold SN2=7°, the double-flip steel hook position holding control unit instantly took over, commanding the #2 hook proportional valve to de-energize and stop. Based on the accumulated difference, the #1 hook was driven to urgently catch up. After the deviation narrowed back to the safe adjustment angle threshold SN=3°, control was switched back to the double-flip steel hook position holding function control unit. When the hooks flipped to 157°, the double-flip steel hook synchronous and smooth stop control unit took over. Both hooks decelerated synchronously at a preset incline of 3500°, finally stopping smoothly at the 180° endpoint position. There was no visible asynchrony or impact throughout the entire process. No H-beam slippage occurred.

[0046] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A synchronous operation control system for a double-flipping steel hook hydraulic cylinder, characterized in that, The system includes: The double-hook synchronous and smooth stop control unit is used to calculate the weight per meter of the current steel grade and the deceleration start angle SN1 under the weight per meter. When the rotation angle of both hooks reaches the deceleration start angle SN1, the two hooks are driven to decelerate synchronously to the target angle position at the set deceleration Sw.

2. The synchronous operation control system for the double-flipping steel hook hydraulic cylinder as described in claim 1, characterized in that, The time formula for the weight per meter (MZ) of the current steel grade is as follows: MZ(kg / m)=[(H-2×t2)×t1+2×B×t2]×7.85×0.001; Where H represents the height of the current steel grade, B represents the width of the current steel grade, t1 represents the web thickness of the current steel grade, and t2 represents the flange thickness of the current steel grade.

3. The synchronous operation control system for the double-flipping steel hook hydraulic cylinder as described in claim 2, characterized in that, The specific formula for calculating the deceleration initiation angle SN1 under a given weight is as follows: SN1 = 177 - 0.0183 × MZ.

4. The synchronous operation control system for the double-flipping steel hook hydraulic cylinder as described in claim 1, characterized in that, The synchronous and smooth stop control unit for the double-flip steel hook is composed of function blocks MDCH301~MDCH315.

5. The synchronous operation control system for the double-flipping steel hook hydraulic cylinder as described in claim 1, characterized in that, The system includes: The system includes a double-hook position holding function control unit and a double-hook limit over-tolerance engagement position holding control unit. When the angular position deviation of the two hooks exceeds a preset adjustment angle threshold SN, the double-hook position holding function control unit controls the hydraulic cylinder of the lagging hook to accelerate until the angular position deviation of the two hooks is within the preset adjustment angle threshold SN. When the angular position deviation of the two hooks exceeds the limit safety threshold SN2, the double-hook limit over-tolerance engagement position holding control unit controls the hydraulic cylinder of the leading hook to stop, and simultaneously controls the hydraulic cylinder of the lagging hook to accelerate until the angular position deviation of the two hooks is within the adjustment angle threshold SN.

6. The synchronous operation control system for the double-flipping steel hook hydraulic cylinder as described in claim 5, characterized in that, The double-flipping hook position holding function control unit calculates the real-time angle difference S△ between flipping hook #1 and flipping hook #2. When the absolute value of the difference S△ exceeds the preset adjustment angle threshold SN, but the angle positions of flipping hook #1 and flipping hook #2 have not reached the deceleration start angle SN1, it is determined that there is a slight asynchrony between flipping hook #1 and flipping hook #2. The proportional valve current value of the hydraulic cylinder of the lagging flipping hook is increased, so that the lagging flipping hook accelerates to catch up with the leading flipping hook.

7. The synchronous operation control system for the double-flipping steel hook hydraulic cylinder as described in claim 6, characterized in that, The double-flip steel hook position holding function control unit is composed of function blocks MDCH101~MDCH126.

8. The synchronous operation control system for the double-flipping steel hook hydraulic cylinder as described in claim 5, characterized in that, When the double-hook limit over-tolerance engagement position holding control unit detects that the absolute value of the angle difference S△ between the two hooks exceeds the limit safety threshold SN2, and at least one hook has an angle position less than the deceleration start angle SN1, it determines that hook #1 and hook #2 are in high-risk asynchrony. It sends a lockout signal to the double-hook position holding function control unit, increases the proportional valve current value of the hydraulic cylinder of the lagging hook, and controls the proportional valve current value of the hydraulic cylinder of the leading hook to 0, so that the leading hook stops waiting.

9. The synchronous operation control system for the double-flipping steel hook hydraulic cylinder as described in claim 8, characterized in that, The double-flip steel hook limit over-tolerance engagement position holding control unit is composed of function blocks MDCH201~MDCH227.

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