CN105739421A - Solenoid valve energy-saving control circuit based on PLC shut program control switching mode - Google Patents
Solenoid valve energy-saving control circuit based on PLC shut program control switching mode Download PDFInfo
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- CN105739421A CN105739421A CN201610079914.0A CN201610079914A CN105739421A CN 105739421 A CN105739421 A CN 105739421A CN 201610079914 A CN201610079914 A CN 201610079914A CN 105739421 A CN105739421 A CN 105739421A
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- 238000004134 energy conservation Methods 0.000 claims description 93
- 238000005516 engineering process Methods 0.000 claims description 7
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- 238000013461 design Methods 0.000 description 4
- 238000005183 dynamical system Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003054 catalyst Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
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- 238000004458 analytical method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
Abstract
A solenoid valve energy-saving control circuit based on a PLC shut program control switching mode comprises a control module, an energy-saving power supply, a non-energy saving power supply and a relay cabinet module. The control module receives a solenoid valve electrification instruction sent from the exterior, controls the energy-saving power supply and the non energy-saving power supply to work, receives a solenoid valve state sent by the relay cabinet module and sends to the exterior, the energy-saving power supply supplies power to a solenoid valve via the relay cabinet module, and the non energy-saving power supply supplies power to the solenoid valve via the relay cabinet module. The relay cabinet module controls the energy-saving power supply and the non energy-saving power supply to supply power according to the solenoid valve electrification instruction, at the same time, sends the solenoid valve state to the control module. Compared with the prior art, the energy-saving control circuit of the present invention is not equipped with the additional devices or components, at the same time, adopts the productization universal power supply device to supply power, enables the cost and the development risk to be reduced while improving the working reliability of the energy-saving solenoid valve remarkably.
Description
Technical field
The present invention relates to carrier rocket power observation and control technology field, particularly a kind of electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch for large-scale low-temperature power carrier rocket.
Background technology
Carrier rocket dynamical system employs substantial amounts of electromagnetic valve in (including electromotor, pressurizing transmission system), has been used for the control of dynamical system gas-liquid, and wherein, electromagnetic valve (relay, catalyst) is the electromagnetic mechanism having movable part.Before electromagnetic valve action, magnetic circuit has air-gap, it is therefore desirable to has bigger exciting curent could produce enough magnetic force and inhales dynamic movable part action, after electromagnetic valve action, magnetic circuit air gap disappears, and electromagnetic valve only needs less exciting curent just can produce suction and makes the reliable connection of electromagnetic valve maintenance.Therefore the requirement of supply voltage is by electromagnetic valve: high voltage during startup, after startup, namely under steady-working state, voltage can not be too high, to prevent from working long hours the reduction of the overheated reliability caused under electromagnetic valve high voltage, big current conditions (such as situations such as carrier rocket postponements, may require that electromagnetic valve works long hours, it is possible to cause the electromagnetic valve work time beyond its normal and continuous operation time).Existing solution electromagnetic valve work long hours heating main method have:
(1) in Large Copacity electromagnetic valve, design adds auxiliary contact, after electromagnetic valve action, auxiliary contact are opened and are made line solenoid valve bag seal in resistance, reduce catalyst line bag voltage, thus reducing its caloric value, the method seals in resistance in the middle of solenoid valve loop and reduces the reliability that electromagnetic valve controls, and requires higher to the selection of resistance, in addition it is also necessary to consider the heat sink conception of resistance.
(2) have employed energy-saving appliance, namely after electromagnetic valve action, disconnect solenoid valve, electromagnetic valve keeps state by self-locking, as shown in Figure 1, when engine electromagnetic valve on arrow connected by dynamical system relay (J1 Guan Bi), energy-saving controller controls electrical switch Guan Bi, and dynamical system supply voltage is not all added in electromagnetic valve two ends by energy-conservation current limiter, makes electromagnetic valve open；Fully open after the reliable adhesive of electric magnet until electromagnetic valve, energy-saving controller controls electrical switch and disconnects, energy-conservation current limiter realizes connecting with electromagnetic valve, reduce the electric current (for initial current about 40%) by electromagnetic valve, electromagnetic valve is made to reduce power consumption, thus reaching for a long time to the purpose of solenoid valves.But the method adds the link of control in the middle of electromagnetic valve control access, reduce the reliability that solenoid valve controls；Meanwhile, the method needs to increase a special equipment for completing Energy Saving Control, adds product category, and then adds the cost of system；It addition, the Energy Saving Control scheme of which, poor expandability, the time precision of Energy Saving Control is not high, and the time of Energy Saving Control adjusts dumb, reduces its adaptability.
Summary of the invention
Present invention solves the technical problem that and be: overcome the deficiencies in the prior art, providing a kind of does not increase extra equipment or components and parts, the multiple power source equipment simultaneously adopting commercialization is powered, while significantly improving energy-saving electromagnetic valve functional reliability, also reduce the cost electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch with developing risk.
The technical solution of the present invention is: based on the electromagnetic valve energy-saving control circuit of the program control switching mode of PLC branch, including controlling module, energy-conservation power supply, non-energy-conservation power supply, relay full cabinet, wherein
Control module, receive the outside electromagnetic valve sent power up instruction and judge, if being energy-saving electromagnetic valve control instruction, then control energy-conservation power supply, electromagnetic valve is powered by non-energy-conservation power supply by relay full cabinet, then control to close non-energy-conservation power supply, if being non-energy-saving electromagnetic valve control instruction, then control non-energy-conservation power supply and by relay full cabinet, electromagnetic valve is powered；Receiving relay full cabinet send electromagnetic valve state and deliver to outside；Described electromagnetic valve state is electromagnetic valve on off operating mode；
Energy-conservation power supply, is powered electromagnetic valve by relay full cabinet；
Non-energy-conservation power supply, is powered electromagnetic valve by relay full cabinet；
Relay full cabinet, when for energy-saving electromagnetic valve control instruction, controls energy-conservation power supply, non-energy-conservation power supply is powered, and when for non-energy-saving electromagnetic valve control instruction, controls non-energy-conservation power supply and is powered；By electromagnetic valve state and deliver to control module.
Described control module includes front-end control unit, rear end control unit,
Rear end control unit, receive the outside electromagnetic valve sent power up instruction and judge, if being energy-saving electromagnetic valve control instruction, then control the front-end control unit energy-conservation power supply of enable, electromagnetic valve is powered by non-energy-conservation power supply by relay full cabinet, then rear end control unit is made to control to close non-energy-conservation power supply, if being non-energy-saving electromagnetic valve control instruction, then control the front-end control unit non-energy-conservation power supply of enable and by relay full cabinet, electromagnetic valve is powered；Receive electromagnetic valve state and deliver to outside；
Front-end control unit, enable energy-conservation power supply, electromagnetic valve is powered by non-energy-conservation power supply by relay full cabinet, then control to close non-energy-conservation power supply, if being non-energy-saving electromagnetic valve control instruction, enabling non-energy-conservation power supply and by relay full cabinet, electromagnetic valve being powered；Receiving relay full cabinet send electromagnetic valve state and deliver to rear end control unit.
Described front-end control unit includes master headed control unit, from front end control unit, rear end control unit includes main rear end control unit, from rear end control unit, wherein, in synchronization master headed control unit, work from front end control unit only one of which, both functions, structure, data are identical, main rear end control unit, from rear end control unit only one of which work, both functions, structure, data are identical.
The time that electromagnetic valve is powered by the described energy-conservation power supply of control, non-energy-conservation power supply is 500ms.
Described main control module adopts PLC observation and control technology.
Described energy-conservation power supply, non-energy-conservation power supply outfan all use diode to isolate.
Described energy-conservation power supply voltage is less than non-energy-conservation power supply.
Described energy-conservation power supply voltage include structure, the identical master of function energy-conservation power supply voltage, from energy-conservation power supply voltage, non-energy-conservation power supply include structure, the non-energy-conservation power supply voltage of the identical master of function, from non-energy-conservation power supply voltage, wherein, at synchronization master energy-conservation power supply voltage, from the maximum only one of which work of energy-conservation power supply voltage, at the non-energy-conservation power supply voltage of synchronization master, work from the maximum only one of which of non-energy-conservation power supply voltage.
Present invention advantage compared with prior art is in that:
(1) energy-saving control circuit of the present invention is compared with prior art, in the middle of control loop, do not increase extra equipment or components and parts, the multiple power source equipment simultaneously adopting commercialization is powered, while significantly improving energy-saving electromagnetic valve functional reliability, also reduce cost with developing risk；
(2) energy-saving control circuit of the present invention is compared with existing Artificial Control technology, by using PLC measuring and controlling equipment as main control module, there is the advantage that Energy Saving Control time precision is high, error is little；
(3) in energy-saving control circuit of the present invention, main control module, energy-conservation power supply, non-energy-conservation power supply have all carried out redundancy backup, compared with prior art, further increase the reliability that electromagnetic valve controls.
Accompanying drawing explanation
Fig. 1 is a kind of electromagnetic valve energy-saving control circuit adopting energy-saving appliance；
Fig. 2 is the present invention electromagnetic valve energy-saving control circuit schematic diagram based on the program control switching mode of PLC branch；
Fig. 3 is repeat circuit cabinet circuit schematic diagram of the present invention.
Detailed description of the invention
The present invention proposes a kind of electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch, include energy-conservation power supply, non-energy-conservation power supply, PLC observing and controlling combination, relay rack, cable system as shown in Figure 2, below in conjunction with accompanying drawing, circuit of the present invention is described in detail.
Circuit of the present invention adopts two set power supply, the i.e. modes of " non-energy-conservation power supply+energy-conservation power supply ", and non-energy-conservation power supply is for the startup to energy-saving electromagnetic valve, and energy-conservation power supply is for keeping the state of energy-saving electromagnetic valve.Every kind of power supply adopts the hot standby mode of dual power supply to power, and to improve the reliability of power supply, pours in down a chimney to prevent power supply from powering meanwhile, increases diode at every kind of power output end and isolates, it is ensured that the reliability of power work.
Energy-saving control circuit of the present invention is in carrying out energy-saving electromagnetic valve control process, the switching to energy-saving electromagnetic valve power supply control is completed by PLC measuring and controlling equipment, start initial at electromagnetic valve, by the control output switch of PLC measuring and controlling equipment, make the output of energy-saving electric power and non-energy-saving electric power be loaded into above this electromagnetic valve simultaneously；Afterwards, PLC measuring and controlling equipment is powered the calculating of time, by the analysis to electromagnetic valve work characteristic, allows electromagnetic valve after high voltage operation 500ms, PLC measuring and controlling equipment control to disconnect the power supply to electromagnetic valve of the non-energy-conservation power supply；Now, energy-saving electromagnetic valve is only powered by energy-saving electric power, maintains its normal operation.Pass through which, it is possible to improving the reliability that solenoid valve controls further, energy-conservation power supply and non-energy-saving electric power can relevant backup.
In electromagnetic valve control process, PLC adopts formula Redundant Control mode, the i.e. pattern of " front and back ends equipment linkage " respectively, and namely PLC measuring and controlling equipment is made up of rear end CPU station and NIU station, front end.Front end realizes the output of electromagnetic valve is controlled, and rear end is as the maincenter realized, it is achieved the scheduling of instruction.Meanwhile, adopting PLC control mode, the time of Energy Saving Control can adjust according to the actual needs targetedly, improves motility and the adaptability of control.Below in conjunction with accompanying drawing, energy-saving control circuit of the present invention is described in detail.
One, energy-conservation power supply, non-energy-conservation power supply
As shown in Figure 2, in energy-saving control circuit of the present invention, power supply is by arrow solenoid power supply and energy-conservation power supply parallel operation, solenoid valve power supply belongs to high-voltage power supply, for completing the startup of electromagnetic valve, energy-conservation power supply belongs to low voltage power supply power supply, and the power supply being used for energy-saving electromagnetic valve keeps.PLC control combination, according to timing requirements, controls starting relay and the guard relay work of connecting in relay cabinet, completes the power supply control of energy-saving electromagnetic valve on arrow.
Power supply has been used for the power supply to electromagnetic valve; according to arrow solenoid power reguirements; consider the pressure drop of power cable; non-energy-conservation power supply voltage is set to 33.5V; energy-conservation power supply voltage is set to 22.5; wherein; non-energy-conservation power supply is 2 equipment; adopting the work of principal and subordinate's Hot Spare, energy-conservation power supply is 2 equipment, adopts the work of principal and subordinate's Hot Spare; the outfan of every power supply adopts diode to isolate; it addition, power supply arranged the protective measure such as stream, overvoltage in the design process, it is ensured that the reliability of system work.
For needing energy-conservation electromagnetic valve, controlling initially, PLC control combination controls relay J 1, J2 is also turned on, and after time delay 500ms, disconnects relay J 2, it is achieved the Energy Saving Control to energy-saving electromagnetic valve.Break down in the transmission when J1 controls supply line, it is possible to single-point controls to connect J2 and connects, and improves the power supply reliability of energy-saving electromagnetic valve.
Two, PLC observing and controlling rack
PLC observing and controlling rack has been used for the power supply control to energy-saving electromagnetic valve and energy-conservation switching control, adopts the state-of-the-art formula PLC observation and control technology respectively of GE company, is divided into front-end and back-end measuring and controlling equipment.
The electromagnetic valve control instruction of work station is accused at PLCCPU station in rear end on the one hand for receiving rear end, and be filtered processing to command signal, the output completing electromagnetic valve controls and energy-conservation handoff functionality, the final front end NIU of driving station realizes the action command of electromagnetic valve is exported, namely rear end PLCCPU stands in and receives after what rear end command and control software sent electromagnetic valve powers up instruction, whether first this instruction of interpretation is energy-saving electromagnetic valve control instruction, if energy-saving electromagnetic valve control instruction, then open the Energy Saving Control path of this electromagnetic valve and non-Energy Saving Control path simultaneously, after time delay 500ms, close non-Energy Saving Control path, completed the power supply control to energy-saving electromagnetic valve by Energy Saving Control path afterwards always；If being non-energy-saving electromagnetic valve control instruction, then only open non-Energy Saving Control path and complete the power supply control to electromagnetic valve；On the other hand for the electromagnetic valve state (i.e. the on/off state of electromagnetic valve) of back production of being stood by NIU, and it is uploaded to rear end charge work station, it is achieved the on-line monitoring to condition execution instruction.
PLCCPU station in rear end adopts master-slave synchronisation handover mechanism, host CPU station and from CPU station simultaneously receive rear end accuse work station control instruction, forward end NIU station output drive command (output of acquiescence host CPU station) but synchronization only one of which CPU stands, if and only if when host CPU station breaks down, switch to from the output of CPU station, and host CPU stands firm the phase to from CPU station sync key variable (key variables of synchronizing cycle and required synchronization can configure), thus the seamless switching realized between master and slave CPU station, it is ensured that security of system.
Front end PLCNIU station owner to possess tripartite's surface function: first, receives the drive command at rear end CPU station, and with passive touch point form, point-to-point complete the ON/OFF to the concrete path of front end actuator and controls；Second, with relay line packet form, it is achieved the collection to front end actuator feedback action situation, and it is back to rear end CPU station.PLCNIU station, front end is also classified into main NIU station and stands from NIU, therebetween output mechanism that series/parallel the combines path to needing to evade especially involved by the crucial sequential of fault of not break open is adopted to adopt series/parallel to combine output mode, other path maintenance Parallel opertation pattern.
Three, relay rack
The control that relay rack is energy-saving electromagnetic valve drives equipment, receives the instruction of PLC measuring and controlling equipment on the one hand, completes the power supply to electromagnetic valve and export；On the one hand the implementation status of action is fed back to PLC measuring and controlling equipment, in order to indicate the working condition of electromagnetic valve.
The control of power relay rack is all adopted passive touch point form by PLC measuring and controlling equipment, power relay rack provides energy-saving electric power and non-energy-saving electric power respectively by power distribution principle, higher level controls equipment every road control signal and triggers the mutually redundant relay of two-way, it is illustrated in figure 3 relay cabinet circuit structure principle chart, relay rack is mainly connected with power supply (D1, D3 in figure), is the power supply interface of electromagnetic valve.Relay rack is connected with PLC control combination, receives the solenoid valve control instruction of PLC control combination on the one hand, is returned by electromagnetic valve status information feedback on the one hand.Relay rack also needs to connect arrow solenoid, in order to complete the power supply control to electromagnetic valve.
Each control access in the middle of relay rack includes two group relay J1.1 and J1.2, two mutual redundancies of relay, simultaneously in order to prevent counter electromotive force, two relays have all carried out disappearing negative peak design (diode and resistance) in Fig. 3, the negative busbar (such as figure D3-) of relay line bag one termination power supply, one end receives the control passage of PLC control combination, in order to receive control instruction.The relay model controlling arrow solenoid is 4JT10-1, and contact capacity is 10A (resistive load)
Receive relay corresponding contact action after control instruction, relay J 1.1, J1.2 contact J1.1-1, J1.1-2, J1.2-1, J1.2-2 carry out connection in series-parallel design, in order to improve the reliability of power supply, it connects arrow solenoid, after Guan Bi, power supply D1+ on arrow is supplied arrow solenoid, completes the power supply control of electromagnetic valve, and for the crosstalk prevented with control system power supply, diode is set in output cathode circuit.
Receive relay corresponding contact action after control instruction, relay J 1.1, J1.2 contact J1.1-3, J1.1-4, J1.2-3, J1.2-4 carry out connection in series-parallel design, in order to improve reliability, and it is connected to PLC control combination, complete the feedback to electromagnetic valve work situation, then model is transferred to rear end command and control software displays.
The present invention based on the program control switching mode of PLC branch electromagnetic valve energy-saving control circuit novelty propose the control method for large-scale low-temperature power carrier rocket arrow solenoid Energy Saving Control, the reliability of energy-saving electromagnetic valve work can not only be improved through practical proof, and the time precision of Energy Saving Control and control adaptability improve further, and then improve adaptability and the vitality of system, wherein, within Energy Saving Control time precision can reach 100ms (actual maximum error is 40ms)
The content not being described in detail in description of the present invention belongs to the known technology of those skilled in the art.
Claims (8)
1. based on the electromagnetic valve energy-saving control circuit of the program control switching mode of PLC branch, it is characterised in that include controlling module, energy-conservation power supply, non-energy-conservation power supply, relay full cabinet, wherein
Control module, receive the outside electromagnetic valve sent power up instruction and judge, if being energy-saving electromagnetic valve control instruction, then control energy-conservation power supply, electromagnetic valve is powered by non-energy-conservation power supply by relay full cabinet, then control to close non-energy-conservation power supply, if being non-energy-saving electromagnetic valve control instruction, then control non-energy-conservation power supply and by relay full cabinet, electromagnetic valve is powered；Receiving relay full cabinet send electromagnetic valve state and deliver to outside；Described electromagnetic valve state is electromagnetic valve on off operating mode；
Energy-conservation power supply, is powered electromagnetic valve by relay full cabinet；
Non-energy-conservation power supply, is powered electromagnetic valve by relay full cabinet；
Relay full cabinet, when for energy-saving electromagnetic valve control instruction, controls energy-conservation power supply, non-energy-conservation power supply is powered, and when for non-energy-saving electromagnetic valve control instruction, controls non-energy-conservation power supply and is powered；By electromagnetic valve state and deliver to control module.
2. the electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch according to claim 1, it is characterised in that: described control module includes front-end control unit, rear end control unit,
Rear end control unit, receive the outside electromagnetic valve sent power up instruction and judge, if being energy-saving electromagnetic valve control instruction, then control the front-end control unit energy-conservation power supply of enable, electromagnetic valve is powered by non-energy-conservation power supply by relay full cabinet, then rear end control unit is made to control to close non-energy-conservation power supply, if being non-energy-saving electromagnetic valve control instruction, then control the front-end control unit non-energy-conservation power supply of enable and by relay full cabinet, electromagnetic valve is powered；Receive electromagnetic valve state and deliver to outside；
Front-end control unit, enable energy-conservation power supply, electromagnetic valve is powered by non-energy-conservation power supply by relay full cabinet, then control to close non-energy-conservation power supply, if being non-energy-saving electromagnetic valve control instruction, enabling non-energy-conservation power supply and by relay full cabinet, electromagnetic valve being powered；Receiving relay full cabinet send electromagnetic valve state and deliver to rear end control unit.
3. the electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch according to claim 2, it is characterized in that: described front-end control unit includes master headed control unit, from front end control unit, rear end control unit includes main rear end control unit, from rear end control unit, wherein, in synchronization master headed control unit, work from front end control unit only one of which, both functions, structure, data are identical, main rear end control unit, from rear end control unit only one of which work, both functions, structure, data are identical.
4. the electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch according to claim 1 and 2, it is characterised in that: the time that electromagnetic valve is powered by the described energy-conservation power supply of control, non-energy-conservation power supply is 500ms.
5. the electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch according to claim 1, it is characterised in that: described main control module adopts PLC observation and control technology.
6. the electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch according to claim 1, it is characterised in that: described energy-conservation power supply, non-energy-conservation power supply outfan all use diode to isolate.
7. the electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch according to claim 1 and 2, it is characterised in that: described energy-conservation power supply voltage is less than non-energy-conservation power supply.
8. the electromagnetic valve energy-saving control circuit based on the program control switching mode of PLC branch according to claim 1 and 2, it is characterized in that: described energy-conservation power supply voltage includes structure, the energy-conservation power supply voltage of the identical master of function, from energy-conservation power supply voltage, non-energy-conservation power supply includes structure, the non-energy-conservation power supply voltage of the identical master of function, from non-energy-conservation power supply voltage, wherein, at the energy-conservation power supply voltage of synchronization master, from the maximum only one of which work of energy-conservation power supply voltage, at the non-energy-conservation power supply voltage of synchronization master, from the maximum only one of which work of non-energy-conservation power supply voltage.
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| CN201610079914.0A CN105739421B (en) | 2016-02-04 | 2016-02-04 | Electromagnetic valve energy-saving control circuit based on the program-controlled switching mode of PLC branches |
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| CN201610079914.0A CN105739421B (en) | 2016-02-04 | 2016-02-04 | Electromagnetic valve energy-saving control circuit based on the program-controlled switching mode of PLC branches |
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| CN113926866A (en) * | 2021-09-17 | 2022-01-14 | 山东莱钢永锋钢铁有限公司 | Redundant controller of bar skirtboard |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108628241A (en) * | 2017-03-17 | 2018-10-09 | 费希尔控制产品国际有限公司 | The method and apparatus for being controlled multiple valves as single valve based on coordination control signal |
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| CN113926866A (en) * | 2021-09-17 | 2022-01-14 | 山东莱钢永锋钢铁有限公司 | Redundant controller of bar skirtboard |
| CN113926866B (en) * | 2021-09-17 | 2024-01-23 | 山东莱钢永锋钢铁有限公司 | Redundant controller of bar skirtboard |
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| CN105739421B (en) | 2018-08-31 |
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