CN107952799A - A kind of control method for reducing tension roll assembly skidding and influencing - Google Patents
A kind of control method for reducing tension roll assembly skidding and influencing Download PDFInfo
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- CN107952799A CN107952799A CN201711086566.0A CN201711086566A CN107952799A CN 107952799 A CN107952799 A CN 107952799A CN 201711086566 A CN201711086566 A CN 201711086566A CN 107952799 A CN107952799 A CN 107952799A
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000004519 manufacturing process Methods 0.000 claims abstract description 32
- 238000013459 approach Methods 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 6
- 238000010977 unit operation Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 239000002131 composite material Substances 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005097 cold rolling Methods 0.000 description 2
- 238000010612 desalination reaction Methods 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
- 238000010791 quenching Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000000137 annealing Methods 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005098 hot rolling Methods 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/48—Tension control; Compression control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/48—Tension control; Compression control
- B21B37/52—Tension control; Compression control by drive motor control
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- Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
Abstract
The present invention provides a kind of control method for reducing tension roll assembly skidding and influencing, it is characterised in that includes the following steps：Step 1: tension roll assembly slipping state monitors；Step 2: tension roll assembly tension control method is formulated；Tension roll assembly slipping state is even eliminated Step 3: reducing by fixed step size approximatioss.The present invention's differentiates the strategy that skids by three in the controls, whether monitoring cold-strip production line tension roll assembly has skidded phenomenon in real time and which root jockey pulley is skidding, and production line tension roll assembly is controlled using the composite control method formulated according to production status.When having skidded state, reduced using fixed step size approximatioss adjustment tension force, torque, speed until eliminating the tension roll assembly slipping phenomenon occurred.
Description
Technical field
The present invention relates to a kind of control method for reducing tension roll assembly skidding and influencing, belong to field of electrical control.
Background technology
In metallurgy industry cold-strip produces unit, strip tension is more to be controlled by segmented version.And strip
Tension roll assembly completion is usually used in the realization of power control, i.e., forms tension roll assembly, every jockey pulley point by 2 to 4 jockey pulleys
It is not driven by motor, finally realizes tension force requirement different before and after tension roll assembly.Due to equipment itself and personnel's operation etc.
Reason, the often slipping phenomenon at tension roll assembly there are strip, annoyings whole cold-strip always in actual use
The stable operation of unit is produced, causes the fault in production such as strip running deviation, and then influences product quality, to the drive apparatus service life
Impact, or even constitute a threat to the safety of production equipment.
Related patents are found in literature search：The invention of Application No. CN104001733A is special disclosed in August in 2014 27 days
Profit《The control method for preventing tonometry roller from skidding relative to tandem rolling band》, when proposing by finding separated optimal of clutch
Between point, and establish to the Checking Mechanism of tension force pre-set value, connect so as to solve tonometry roller between existing continuous hot-rolling mill with band
The problem of skidding when tactile.It installs tensometer on tonometry roller between two milling trains, and tonometry roller is through electromagnetic clutch
Device is connected with motor.
On January 5th, 2011, Authorization Notice No. was the patent of CN201695065U《One kind prevents jockey pulley slipping device》, its
A pair of of recirculated cooling water desalination spray head is provided with before the jockey pulley of cold rolling mill galvanized wire continuous annealing furnace, and on watch-quench tank
The vertical water pipe that connection one is longitudinally arranged on portion's desalination water pipe, indulges and is evenly equipped with least three by-pass flow pipes, and every by-pass flow pipe on water pipe
On be designed with valve.
But above-mentioned patent relates only to survey a roller (patent on production line《Prevent tonometry roller relative to tandem rolling band
The control method of skidding》) or watch-quench tank (patent《One kind prevents jockey pulley slipping device》) equipment component improve, for cold rolling
How common tension roll assembly reduces the method skidded and influenced from field of electrical control on band production unit, almost without correlation
Patent be related to.
The content of the invention
It is an object of the invention in view of the above problems, this patent proposes a kind of control for reducing tension roll assembly skidding and influencing
Method, reduces the influence that strip skids to production.
Present invention employs following technical solution：
A kind of control method for reducing tension roll assembly skidding and influencing, it is characterised in that include the following steps：
Step 1: tension roll assembly slipping state monitors
Step 2: tension roll assembly tension control method is formulated
Tension roll assembly slipping state is even eliminated Step 3: reducing by fixed step size approximatioss
The control method for reducing tension roll assembly skidding and influencing of the present invention, can also have the feature that：
In step 1, judge that the method that jockey pulley skids is：
The actual speed distribution standard deviation of each jockey pulley differentiates in a tactful same tension roll assembly
Wherein：
vjFor the actual speed of j-th of jockey pulley in jockey pulley roller group, unit m/s；
For the actual speed average value of each jockey pulley in jockey pulley roller groupUnit is m/s；
n1For a tactful threshold value, unit m/s.
The control method for reducing tension roll assembly skidding and influencing of the present invention, can also have the feature that：
In step 1, judge that the method that jockey pulley skids is：
The actual torque distribution standard deviation of each jockey pulley differentiates in tactful two same tension roll assemblies
Wherein：
pjFor the actual torque of j-th of jockey pulley in jockey pulley roller group；
For the actual torque average value of each jockey pulley in jockey pulley roller group
n2For tactful two threshold values.
The control method for reducing tension roll assembly skidding and influencing of the present invention, can also have the feature that：
In step 1, judgement is that the method which root jockey pulley skids is：
The relative speed difference of each jockey pulley differentiates in tactful three same tension roll assemblies
Wherein：
V ' is tension roll assembly RELATED APPLICATIONS strip linear velocity；
n3For the threshold value of strategy three.
The control method for reducing tension roll assembly skidding and influencing of the present invention, can also have the feature that：
In step 2, the tension control method of tension roll assembly is：Using a jockey pulley driving motor as Velocity Reference, tension force
The other motors of roller group then carry out direct torque according to the torque percentage identical with the Velocity Reference motor.
The control method for reducing tension roll assembly skidding and influencing of the present invention, can also have the feature that：
In step 2, the Compound tension control method of tension roll assembly optimization is：The driving motor of every jockey pulley all in accordance with
Certain speed preset carries out speed control, at the same according to maximum power motor torque percentage to the other motors of tension roll assembly
Carry out torque amplitude limit control.
The control method for reducing tension roll assembly skidding and influencing of the present invention, can also have the feature that：
In step 2, the tension control method of tension roll assembly is：Tension roll assembly is used as speed using the motor of transmission power maximum
Benchmark is spent, its control mode is speed control method, and under production line normal operating conditions, its control effect is tension closed loop
Output is speed preset value, and torque protection value does not work.Once skidding, its control is converted to, and tension closed loop output is
Torque reference value, controls as torque amplitude limit.And other motors are controlled using torque amplitude limit in tension roll assembly, itself and home roll
Torque percentage is proportional.
The control method for reducing tension roll assembly skidding and influencing of the present invention, can also have the feature that：
In step 3,
1) in (λ1~M1) in the range of, progressively adjust the last period tension force setting value and latter section of tension force setting value.Wherein M1For
Fixed value, λ1M is gradually approached with fixed step size in each iteration1。
2) if home roll skids in tension roll assembly, by its control mode switching to torque amplitude limit；If in tension roll assembly from
Roller skids, in (λ2~M2) in the range of, progressively adjust the torque ratio from roller.Wherein M2For fixed value, λ2In each iteration with
Fixed step size gradually approaches M2。
3) in (λ3~M3) in the range of, gradually reduce unit operation speed.Wherein M3For fixed value, λ3In each iteration
M is gradually approached with fixed step size3。
Above step performs successively, during skidding is reduced, monitors whether skidding eliminates in real time by step 1, walks
Rapid two determine tension controls, progressively adjusted in a manner of fixed step size approaches by step 3 to each fixed value (M1~
M3), program order performs, once tension roll assembly slipping phenomenon eliminates, then stops performing subsequent step.
The control method for reducing tension roll assembly skidding and influencing of the present invention, can also have the feature that：
If each fixed value of M1~M3 has approached completion, but still it cannot reduce or eliminate skidding, send abnormal signal.
Advantageous effect of the invention
The present invention's differentiates the strategy that skids by three in the controls, monitors cold-strip production line jockey pulley in real time
Group whether has skidded phenomenon and which root jockey pulley is skidding, according to production status using the composite control method formulated to life
Producing line tension roll assembly is controlled.When having skidded state, tension force, torque, speed are adjusted using fixed step size approximatioss respectively
Spend to reduce until eliminating the tension roll assembly slipping phenomenon occurred.
Brief description of the drawings
Fig. 1 is the structure diagram of four-roller tension roll assembly in cold-strip production unit；
Fig. 2 is the flow chart of fixed step size approximatioss；
Fig. 3 is to reduce the flow chart that tension roll assembly skidding influences.
Embodiment
Illustrate the embodiment of the present invention below in conjunction with attached drawing.
As shown in figure 3, it is as follows to reduce the step of tension roll assembly skidding influences：
Step 1: tension roll assembly slipping state monitors
The structure of cold-strip production line tension roll assembly as shown in Figure 1, be either in generating state or motoring condition,
When the difference of 12 tension force of strip at 11 both ends of jockey pulley is more than the frictional force at jockey pulley cornerite, strip 12 is often in cornerite
Frictional Slipping occurs for place, that is, skids.
Cold-strip production line tension roll assembly has some general character rules when skidding：
1st, skidding can make each section of tension value produce change, and constant-tension control can not be realized to unit.
2nd, skidding probability significantly improves during high-speed cruising.
3rd, during same cold-strip production line production different size strip, strip is easier to skid.
4th, the tension roll assembly skidding probability higher in generating state.
5th, for it is neighbouring open, the tension roll assembly of coiling machine, because strip cornerite changes with coil of strip diameter change, it skids
Probability is different from the tension roll assembly of other fixed cornerites.
According to actual commissioning experience and production law, formulate control strategy and carry out comprehensive descision cold-strip production line jockey pulley
The generation that group is skidded.The input windows such as threshold value, tension roll assembly diameter and tension force setting value are provided in production line HMI man-machine interfaces.
Strategy one：The actual speed distribution standard deviation of each jockey pulley differentiates in same tension roll assembly
Wherein：
vjFor the actual speed of j-th of jockey pulley in jockey pulley roller group, unit is m/s；
For the actual speed average value of each jockey pulley in jockey pulley roller groupm/s；
n1For the threshold value of strategy one, m/s.
Strategy two：The actual torque distribution standard deviation of each jockey pulley differentiates in same tension roll assembly
Wherein：
pjFor the actual torque of j-th of jockey pulley in jockey pulley roller group, %；
For the actual torque average value of each jockey pulley in jockey pulley roller group%；
n2For tactful two threshold values, %.
Strategy three：The relative speed difference of each jockey pulley differentiates in same tension roll assembly
Wherein：
V ' is tension roll assembly RELATED APPLICATIONS strip linear velocity, and m/s, strip linear velocity is by laser velocimeter or fixes roller diameter
The roller encoder that tests the speed measures.
n3For tactful three threshold values, %.
The first two strategy is used for judging whether whole tension roll assembly has skidded, and when having skidded, strategy three is used for sentencing
Which disconnected jockey pulley is skidding.The first two strategy is run all the time judges that tension roll assembly is deposited there is no skidding, and there are skidding to be carried out
Strategy three, judges which or which jockey pulley skids in group.
Explanation：
1) above strategy comes into force when unit operation speed is more than more than a times of maximum speed；
2) above strategy comes into force when the actual tension fluctuation (percentage) of tension roll assembly is more than b times；
Δ T is tension fluctuation percentage；
TsetFor tension force setting value；
TactFor tension force actual value；
3) above strategy comes into force when unit production is thinner than the specification strip steel of c, 3) strategy is optional strategy.Strategy 1), 2),
3) can be set in production line HMI man-machine interfaces.
Step 2: tension roll assembly tension control method is formulated
Tension roll assembly uses multi-cell drive, its tension control method generally has two kinds：
1) it is typically that prominent motor using a jockey pulley driving motor as Velocity Reference.Tension roll assembly its
Its motor then carries out direct torque according to the torque percentage identical with the Velocity Reference motor.This control mode is simple, right
Tension force roller diameter accuracy requirement is not high, but once skids, and larger speed difference can be produced between jockey pulley and band, abrasion
Roll surface, damages band.
2) driving motor of every jockey pulley carries out speed control all in accordance with predetermined speed preset, while according to maximum work
The torque percentage of rate motor carries out torque amplitude limit control to the other motors of tension roll assembly.This control mode is in tension roll assembly
The synchronism of each motor, velocity accuracy, the accuracy requirement of gearratio and roller diameter are very high.But if there is skidding, due to
Fixed speed differs very little with the band speed of service, and the influence of the relative friction of band and roll surface to roll surface and strip surface has
Limit.
Rule of thumb, in the tension roll assembly that tension difference is small, roller diameter is small, velocity accuracy is not high, using the first direct torque
Method.In the tension roll assembly that tension difference is big, velocity accuracy is high, for example, adjacent to uncoiler, coiling machine, milling train tension roll assembly, it is more
Using second of torque amplitude limit control method.
For cold-strip production line tension roll assembly, skid to reduce, formulate the composite control method of optimization：
Tension roll assembly is with the motor of transmission power maximum, or home roll, and as Velocity Reference, its control mode is speed control
Mode processed, under production line normal operating conditions, its control effect is similar with the first, and tension closed loop output is speed preset
Value, torque protection value do not work.Once skidding, its control is converted to second, and tension closed loop output is torque reference
Value, as torque amplitude limit.And other motors or from roller in tension roll assembly, controlled using torque amplitude limit, its torque with home roll
Percentage is proportional, and the proportionality coefficient is predeterminable to be scheduled on 1 or so.
Tension roll assembly slipping state is even eliminated Step 3: reducing by fixed step size approximatioss
By the multiple strategies of step 1, whether monitoring cold-strip production line tension roll assembly occurs in real time in the controls
Slipping phenomenon and which root jockey pulley are skidding, and by step 2 formulate composite control method to production line tension roll assembly into
Row control.When having skidded state, reduce the slipping phenomenon for even eliminating and having occurred using fixed step size approximatioss.If M1~
Each fixed value of M3 has approached completion, but still cannot reduce or eliminate skidding, sends abnormal signal.With reference to example pair
Embodiments of the present invention are described further：
Certain steel mill's cold-strip processing line carries out all fronts tension force Discrete control by 4 tension roll assemblies.Since production line has been thrown
, with ageing equipment, often there is strip slipping phenomenon, causes strip running deviation in production more than 6 years at tension roll assembly so that product closes
Lattice rate is less than 80%.Pass through the specific implementation of the present invention, hence it is evident that reducing to skid at tension roll assembly influences, and does not occur again because skidding
Strip running deviation phenomenon is caused to occur, through statistics, the present invention lifts product qualification rate to more than 93%.Specific implementation process is such as
Under：
1) production unit tension roll assembly slipping state monitoring policy is formulated
The input windows such as threshold value, tension roll assembly diameter and tension force setting value are provided in production line HMI man-machine interfaces.Wherein,
Threshold value n1=0.08, n2=0.03, n3=0.02.This tension roll assembly by four tension roll assemblies into, j=1,2,3,4.And in life
Producing line HMI man-machine interfaces are set, when unit operation speed is more than more than 0.6 times of maximum speed, and the reality of tension roll assembly
When fluctuation percentage is more than 25%, strategy one, strategy two, strategy three come into force in the content of the invention, it is respectively：
2) slipping state monitored according to control system, using the composite control method of optimization
Tension roll assembly is expressed as first jockey pulley of j=1 using the motor of transmission power maximum as Velocity Reference, or
Home roll.Under production line normal operating conditions, its control mode is speed control, and tension closed loop output is speed, and torque is protected
Value does not work, once skidding, its control is converted to torque amplitude limit control, tension closed loop output torque, as amplitude limit.And
In roller group other motors or from roller using torque amplitude limit control, be set as 0.95 with the torque ratio of home roll.
3) setting approaches desired value, and using fixed step size approximatioss, gradually reducing skidding influences
As shown in Fig. 2, approaching subprogram by fixed step size, progressively reduce and even eliminate the skidding that tension roll assembly has occurred
Phenomenon.During skidding is reduced, whether monitoring in real time is skidded and is eliminated, program circulation execution, in a manner of fixed step size approaches
Progressively adjust to each fixed value, once tension roll assembly slipping phenomenon eliminates, then stop performing subsequent step.If M1~M3's is each
Fixed value has approached completion, but still cannot reduce or eliminate skidding, sends abnormal signal.
In (λ1~0.95) in the range of, λ1In each iteration with fixed step size, single step 0.01, gradually approaches 0.95, progressively
Adjust the last period tension force setting value and latter section of tension force setting value.
If tension roll assembly home roll skids, by its control mode switching to torque amplitude limit；If tension roll assembly skids from roller,
In (λ2~0.9) in the range of, λ20.9 is gradually approached, is progressively adjusted from roller with fixed step size, single step 0.01 in each iteration
Torque ratio.As slipping state does not eliminate also, in (λ3~0.75) in the range of, λ3In each iteration with fixed step size, single step
0.01,0.75 is gradually approached, gradually reduces unit operation speed.
The reduction of cold-strip production unit tension roll assembly skidding is realized by above embodiment, until skidding
The final elimination of state.
Claims (9)
1. a kind of control method for reducing tension roll assembly skidding and influencing, it is characterised in that include the following steps：
Step 1: tension roll assembly slipping state monitors
Step 2: tension roll assembly tension control method is formulated
Tension roll assembly slipping state is even eliminated Step 3: reducing by fixed step size approximatioss.
2. the control method that tension roll assembly skidding influences is reduced as claimed in claim 1, it is characterised in that：In step 1, sentence
The method that disconnected jockey pulley skids is：
The actual speed distribution standard deviation of each jockey pulley differentiates in same tension roll assembly
Wherein：
vjFor the actual speed of j-th of jockey pulley in jockey pulley roller group, unit m/s；
For the actual speed average value of each jockey pulley in jockey pulley roller groupUnit is m/s；
n1For threshold value 1, unit m/s.
3. the control method that tension roll assembly skidding influences is reduced as claimed in claim 1, it is characterised in that：In step 1, sentence
The method that disconnected jockey pulley skids is：
The actual torque distribution standard deviation of each jockey pulley differentiates in same tension roll assembly
Wherein：
pjFor the actual torque of j-th of jockey pulley in jockey pulley roller group, %；
For the actual torque average value of each jockey pulley in jockey pulley roller group%；
n2For threshold value 2, %.
4. the control method that tension roll assembly skidding influences is reduced as claimed in claim 1, it is characterised in that：In step 1, sentence
Disconnected is that the method which root jockey pulley skids is：
The relative speed difference of each jockey pulley differentiates in same tension roll assembly
Wherein：
V ' is tension roll assembly RELATED APPLICATIONS strip linear velocity, m/s；
n3For threshold value 3, %.
5. the control method that tension roll assembly skidding influences is reduced as claimed in claim 1, it is characterised in that：
In step 2, the tension control method of tension roll assembly is：Using a jockey pulley driving motor as Velocity Reference, tension roll assembly
Other motors then carry out direct torque according to the torque percentage identical with the Velocity Reference motor.
6. the control method that tension roll assembly skidding influences is reduced as claimed in claim 1, it is characterised in that：
In step 2, the tension control method of tension roll assembly is：The driving motor of every jockey pulley is given all in accordance with certain speed
Surely speed control is carried out, while torque amplitude limit is carried out to the other motors of tension roll assembly according to the torque percentage of maximum power motor
Control.
7. the control method that tension roll assembly skidding influences is reduced as claimed in claim 1, it is characterised in that：
In step 2, the tension control method of tension roll assembly is：Tension roll assembly is used as speed base using the motor of transmission power maximum
Standard, its control mode is speed control method, and under production line normal operating conditions, its control effect is tension closed loop output
It is speed preset value, torque protection value does not work.Once skidding, its control is converted to, and tension closed loop output is torque
Set-point, controls as torque amplitude limit.And other motors are controlled using torque amplitude limit in tension roll assembly, its torque with home roll
Percentage is proportional.
8. the control method that tension roll assembly skidding influences is reduced as claimed in claim 1, it is characterised in that：
In step 3,
1) in (λ1~M1) in the range of, progressively adjust the last period tension force setting value and latter section of tension force setting value.Wherein M1For fixation
Value, λ1M is gradually approached with fixed step size in each iteration1。
2) if home roll skids in tension roll assembly, by its control mode switching to torque amplitude limit；If beaten in tension roll assembly from roller
It is sliding, in (λ2~M2) in the range of, progressively adjust the torque ratio from roller.Wherein M2For fixed value, λ2In each iteration with fixation
Step-length gradually approaches M2。
3) in (λ3~M3) in the range of, gradually reduce unit operation speed.Wherein M3For fixed value, λ3In each iteration with fixation
Step-length gradually approaches M3。
Above step performs successively, during skidding is reduced, monitors whether skidding eliminates in real time by step 1, step 2
Determine tension control, progressively adjusted to each fixed value (M1~M3), journey in a manner of fixed step size approaches by step 3
Sequence order performs, once tension roll assembly slipping phenomenon eliminates, then stops performing subsequent step.
9. the control method that tension roll assembly skidding influences is reduced as claimed in claim 8, it is characterised in that：
If each fixed value of M1~M3 has approached completion, but still it cannot reduce or eliminate skidding, send abnormal signal.
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| CN113061713A (en) * | 2021-02-04 | 2021-07-02 | 宝信软件(武汉)有限公司 | Control method of soaking pit roller way |
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| WO2022083263A1 (en) * | 2020-10-22 | 2022-04-28 | 北京科技大学 | Roller table aluminum pickup control method based on micro torque of driving roller |
| CN112626331A (en) * | 2020-11-30 | 2021-04-09 | 北京科技大学 | Method for judging furnace roller slipping in continuous annealing furnace |
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| CN112828052B (en) * | 2021-01-05 | 2022-04-05 | 北京科技大学 | Tension roller slip online evaluation method based on strip steel cold rolling |
| CN112828052A (en) * | 2021-01-05 | 2021-05-25 | 北京科技大学 | Tension roller slip online evaluation method based on strip steel cold rolling |
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| CN113061713B (en) * | 2021-02-04 | 2022-09-13 | 宝信软件(武汉)有限公司 | Control method of soaking pit roller way |
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Application publication date: 20180424 Assignee: Wuhan Jiyan Intelligent Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2022420000140 Denomination of invention: A Control Method for Reducing the Slip Effect of Tension Roll Group Granted publication date: 20190709 License type: Common License Record date: 20221208 |
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Application publication date: 20180424 Assignee: Wuhan Dayan Precision Photoelectric Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2024980006632 Denomination of invention: A control method for reducing the slipping effect of tension roller group Granted publication date: 20190709 License type: Common License Record date: 20240604 Application publication date: 20180424 Assignee: Espoo (Wuhan) Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2024980006631 Denomination of invention: A control method for reducing the slipping effect of tension roller group Granted publication date: 20190709 License type: Common License Record date: 20240604 |