CN113084055A - Self-adaptive control method for eccentric state in radial-axial rolling process of large ring piece - Google Patents
Self-adaptive control method for eccentric state in radial-axial rolling process of large ring piece Download PDFInfo
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Abstract
The invention discloses an eccentric state self-adaptive control method in the radial-axial rolling process of a large ring piece, which realizes radial rolling by the rotation of a driving roller and the radial feeding of a core roller, realizes axial rolling by the rotation of an upper conical roller and a lower conical roller and the axial feeding, realizes stable rotation by a left guide roller and a right guide roller, and obtains the outer diameter of the ring piece and the position of the left guide roller and the position of the right guide roller by real-time measurement, wherein the control method comprises the following steps: s1, quantifying the eccentric degree of the ring piece, namely obtaining the real-time eccentric angle of the ring piece according to the known and measured size position data and the geometric relationship of each part; s2, adaptively adjusting the rotating speed of the conical roller according to the eccentric degree of the ring piece, wherein if the eccentric angle does not exceed an allowable value, the eccentric adjustment is not carried out, the rotating speed of the conical roller is set by the existing theory, if the eccentric angle exceeds the allowable value, the eccentric adjustment is carried out, the acceleration and deceleration of the conical roller are determined according to the eccentric direction of the eccentric angle, and the rotating speed of the conical roller is determined according to the change rate of the eccentric angle and the rotating speed limit adjustment range of the conical roller. The method has the advantages of good roundness and high precision in ring forming.
Description
Technical Field
The invention belongs to the technical field of plastic processing, and particularly relates to a self-adaptive control method for an eccentric state of a large ring in a radial-axial rolling process.
Background
The large ring piece is commonly used as a key component of important equipment such as a wind power bearing ring, an engineering machinery slewing bearing, an oil pressure vessel, an aerospace carrier rocket body and the like. The radial-axial rolling of the ring piece reduces the wall thickness and the height of the ring piece through the combined action of radial and axial rollers, so that the diameter is enlarged, the section profile is formed, and the method is a mainstream manufacturing method of the large-size high-performance ring piece. Because the ring rolling is to generate three-dimensional dynamic deformation under a multi-roller complex space force system, the defects of ellipse and the like are easy to occur, at present, in order to ensure the product percent of pass, enterprises generally adopt a method of increasing the allowance of forgings, thereby causing a great deal of waste of materials.
The eccentricity of the ring is an important reason for causing the ellipse of the ring in the rolling process, so that the eccentricity degree of the ring needs to be reduced by adjusting the roller motion in real time in the rolling process to improve the roundness of the formed ring, the ring is manually adjusted mainly by depending on experience of operators at present, corresponding regulation and control theories and methods are lacked, and particularly for the ring with the super-large size, the size and the rotational inertia change are large, the rigidity is low, and the difficulty in manually regulating and controlling the eccentricity is large.
Disclosure of Invention
The invention aims to provide a self-adaptive control method for the eccentric state of a large ring in the radial-axial rolling process, and the method has the advantages of good roundness and high precision of the formed ring.
The technical scheme adopted by the invention is as follows:
the self-adaptive control method for the eccentric state in the radial-axial rolling process of the large ring piece comprises the following steps of realizing radial rolling through rotation of a driving roller and radial feeding of a core roller, realizing axial rolling through rotation of an upper conical roller and a lower conical roller and axial feeding, realizing stable rotation through a left guide roller and a right guide roller, and measuring in real time to obtain the outer diameter of the ring piece and the positions of the left guide roller and the right guide roller, wherein the control method comprises the following steps: s1, quantifying the eccentric degree of the ring piece, namely obtaining the real-time eccentric angle of the ring piece according to the known and measured size position data and the geometric relationship of each part; s2, adaptively adjusting the rotating speed of the conical roller according to the eccentric degree of the ring piece, wherein if the eccentric angle does not exceed an allowable value, the eccentric adjustment is not carried out, the rotating speed of the conical roller is set by the existing theory, if the eccentric angle exceeds the allowable value, the eccentric adjustment is carried out, the acceleration and deceleration of the conical roller are determined according to the eccentric direction of the eccentric angle, and the rotating speed of the conical roller is determined according to the change rate of the eccentric angle and the rotating speed limit adjustment range of the conical roller.
Further, during rolling, the outer diameter of the ring piece is measured through a measuring roller or laser, and the positions of the left guide roller and the right guide roller are measured through a displacement sensor.
In step S1, the center coordinates of the ring are obtained by using the axis of the driving roller as the origin of plane coordinates and combining the known sizes of the driving roller and the left and right guide rollers, the real-time measured coordinates of the outer diameter of the ring, the left and right guide rollers, and the geometric relationship, so as to obtain the eccentric angle of the ring.
Further, the axis coordinate of the driving roller is set to be (0, 0), the driving roller and the ring piece are circumscribed at a point M, the measuring point of the outer diameter of the ring piece is set to be a point N, the MN direction is taken as the x-axis direction, the length of a line segment MN is taken as the outer diameter D of the ring piece, and the radius of the driving roller is known to be RmThe radius of the left and right guide rolls is RgMeasuring the center G of the left and right guide rollers1And G2Respectively is (x)1，y1)、(x2，y2)；
Obtaining the x-axis coordinate x of the circle center O of the ring piece according to the geometric relationo
xo＝Rm+0.5D
Because the left and right guide rollers are externally tangent with the ring piece, the circle center O of the ring piece is obtained from the geometric relation and is positioned at the circle center G of the left and right guide rollers1G2On the perpendicular bisector OQ of the connecting line, the equation of the straight line of the perpendicular bisector is expressed as
Obtaining the y-axis coordinate y of the circle center O of the ring piece by substituting the x-axis coordinate of the circle center O of the ring piece into the OQ equation of the perpendicular bisectoro
Obtaining an eccentric angle gamma relative to the origin through the coordinates of the circle center O of the ring piece
In step S2, let γ be the eccentricity angle, γcFor maximum allowable eccentricity angle of ring member, using ring member offset coefficient kγTo represent the relationship between the actual degree of deflection of the ring and the maximum degree of deflection allowed
When k isγWhen the actual eccentric angle of the ring piece is less than or equal to 0, the actual eccentric angle of the ring piece does not exceed the maximum allowable eccentric angle of the ring piece, eccentric adjustment is not carried out, and the rotating speed of the conical roller is set according to the existing theory; when k isγWhen the actual eccentric angle of the ring piece exceeds the maximum allowable eccentric angle of the ring piece, the eccentric adjustment is carried out;
when the eccentric adjustment is performed,
when gamma is greater than 0, the ring piece is shifted to the positive direction of the y axis, the rotating speed of the conical roller is slightly low, the rotating speed of the conical roller is adjusted to be high, and the rotating speed of the conical roller is set to be high
nc-new＝nc-old+kγ(nc-max-nc-old)
Wherein n isc-newFor the current conical roller speed ncSet value of (1), nc-oldThe last moment of the cone roller rotation speed value, nc-maxThe maximum cone roller rotating speed allowed by the equipment;
when gamma is less than or equal to 0, the ring piece is deviated towards the negative direction of the y axis, the rotating speed of the conical roller is too high, the rotating speed of the conical roller is adjusted to be low, and the rotating speed of the conical roller is set to be
nc-new＝nc-old+kγ(nc-min-nc-old)
Wherein n isc-minIs allowed by the equipmentAllowable maximum cone roll rotational speed;
in order to achieve a fast adjustment of the eccentricity angle of the ring, the rate of change of the eccentricity angle is specified, which is expressed as the rate of change gamma
Let γ be the lowest value of the absolute value of the rate of change of the eccentric angle of the ring | γ' |.cI.e. the eccentric angle is to be changed by gamma 'per unit time'cThe angle of (d);
when gamma is more than or equal to gamma'cThat is, the change rate of the eccentric angle of the ring piece is within the specified range, the rotating speed of the conical roller does not need to be further regulated, and the original value is maintained, that is to say
nc-new＝nc-old
When gamma is less than gamma'cAnd k isγWhen the eccentric angle of the ring piece is more than 1, the change rate of the eccentric angle of the ring piece is smaller, and the eccentric angle exceeds 2 times of an allowable value, the limit rotating speed of the conical roller is adopted for adjustment, namely
In step S2, when the eccentricity adjustment is not performed, the conical roller rotation speed is set according to the conical roller rotation speed matching theoretical formula
Wherein n isc-newFor the current conical roller speed ncSet value of (1), nmFor the rotation speed of the driving roller, R is the radius of the ring piece, and R is 0.5D, klIs the matching coefficient of the rotating speed of the conical roller, h is the wall thickness of the ring part, lcThe distance from the vertex of the conical roller to the outer diameter of the ring piece, and theta is the half cone angle of the conical roller.
The invention has the beneficial effects that:
the method can quantify the eccentric degree of the ring piece, can adaptively adjust the rotating speed of the conical roller according to the eccentric degree of the ring piece, and has good roundness and high precision in the forming of the ring piece.
Drawings
Fig. 1 is a schematic view of radial-axial rolling of a large ring in an embodiment of the present invention.
FIG. 2 is a geometric diagram for calculating the eccentric angle of the ring member according to the embodiment of the present invention.
FIG. 3 is a flow chart of a strategy for adaptively adjusting the rotating speed of the conical roller according to the eccentric degree of the ring member in the embodiment of the invention.
FIG. 4 is a geometric graph for theoretical calculation of the rotation speed of the conical rolls of the ring member in the embodiment of the invention.
FIG. 5 is a graph comparing the effect of the conventional method and the method in the embodiment of the invention, and comparing the eccentric angles of the ring pieces with various sizes.
FIG. 6 is a graph comparing the effect of the conventional method and the method in the embodiment of the invention, and comparing the rotating speed of the conical rollers of the ring members with various sizes.
FIG. 7 is a graph comparing the effect of the conventional method and the method in the embodiment of the invention, and comparing the relative roundness error of rings with various sizes.
In the figure: 1-a drive roller; 2-right guide roll; 3-a left guide roll; 4-core roll; 5-upper conical roller; 6-lower conical roller; 7-a measuring roll; 8-ring member.
Detailed Description
The invention is further illustrated by the following figures and examples.
A self-adaptive control method for an eccentric state in a radial-axial rolling process of a large ring piece is disclosed, as shown in figure 1, during rolling, the ring piece 8 generates circular rotation motion and wall thickness reduction deformation under the rotation motion of a driving roller 1 and the radial feed motion of a core roller 4, namely, radial rolling is realized, the ring piece 8 rotates coordinately and reduces the height under the rotation motion of an upper conical roller (5) and a lower conical roller (6) and the axial feed motion, namely, axial rolling is realized, left and right guide rollers (3 and 2) cling to the outer surface of the ring piece 8 to keep the ring piece 8 to rotate stably, during rolling, the outer diameter of the ring piece 8 can be measured through sensing parts such as a measuring roller 7 or laser, and the positions of the left and right guide rollers (.
The regulation and control method comprises the following steps:
s1, quantifying eccentric degree of the ring piece 8
And obtaining the real-time eccentric angle of the ring piece 8 according to the known and measured size position data and geometric relationship of each part, namely obtaining the center coordinate of the ring piece 8 by taking the axis of the driving roller 1 as a plane coordinate origin and combining the known sizes of the driving roller 1 and the left and right guide rollers (3 and 2), the real-time measured outer diameter of the ring piece 8, the coordinates of the left and right guide rollers (3 and 2) and the geometric relationship, and further obtaining the eccentric angle of the ring piece 8.
Specifically, as shown in fig. 2, assuming that the axis coordinate of the driving roller 1 is (0, 0), the driving roller 1 and the ring member 8 are circumscribed at a point M, the measuring point of the measuring roller 7 is a point N, the MN direction is the x-axis direction, and the length of the line segment MN is the outer diameter D of the ring member 8, the radius of the driving roller 1 is known as RmThe radius of the left and right guide rollers (3 and 2) is RgThe displacement sensor measures the circle centers G of the left and right guide rollers (3 and 2)1And G2Respectively is (x)1，y1)、(x2，y2)；
Obtaining the x-axis coordinate x of the circle center O of the ring piece 8 according to the geometric relationo
xo＝Rm+0.5D
Because the left and right guide rollers (3 and 2) are circumscribed with the ring member 8, the circle center O of the ring member 8 is obtained from the geometric relationship and is positioned at the circle center G of the left and right guide rollers (3 and 2)1G2On the perpendicular bisector OQ of the connecting line, the equation of the straight line of the perpendicular bisector is expressed as
Obtaining the y-axis coordinate y of the circle center O of the ring piece 8 by substituting the x-axis coordinate of the circle center O of the ring piece 8 into the OQ equation of the perpendicular bisectoro
Obtaining an eccentric angle gamma relative to the origin through the coordinates of the circle center O of the ring member 8
S2, self-adaptively adjusting the rotating speed of the conical rollers (5 and 6) according to the eccentricity degree of the ring piece 8
If the eccentricity angle does not exceed the allowable value, eccentric adjustment is not carried out, the rotating speed of the conical rollers (5 and 6) is set by the existing theory, if the eccentricity angle exceeds the allowable value, eccentric adjustment is carried out, acceleration and deceleration of the conical rollers (5 and 6) are determined according to the eccentric direction of the eccentricity angle, and the rotating speed of the conical rollers (5 and 6) is determined according to the change rate of the eccentricity angle and the rotating speed limit adjustment range of the conical rollers (5 and 6).
Specifically, as shown in fig. 3, let γ be the eccentric angle, γcFor maximum allowable eccentricity angle of ring member, using ring member offset coefficient kγTo represent the relationship between the actual degree of deflection of the ring and the maximum degree of deflection allowed
When k isγWhen the actual eccentric angle of the ring piece is less than or equal to 0, the actual eccentric angle of the ring piece does not exceed the maximum allowable eccentric angle of the ring piece, eccentric adjustment is not carried out, the rotating speed of the conical rollers (5 and 6) is set according to the existing theory, as shown in figure 4, in the embodiment, the rotating speed of the conical rollers (5 and 6) is set according to the rotating speed matching theoretical formula of the conical rollers (5 and 6)
Wherein n isc-newFor the current cone roller (5 and 6) rotating speed ncSet value of (1), nmFor driving the roller 1, R is the radius of the ring 8, R is 0.5D, klThe rotating speed matching coefficient of the conical rollers (5 and 6) is generally selected within the range of 0.5-1, usually 0.75 can be selected, h is the wall thickness of the ring piece 8, lcIs the distance from the apex of the conical rollers (5 and 6) to the outer diameter of the ring 8, and theta is the half cone angle of the conical rollers (5 and 6).
When k isγWhen the actual eccentric angle of the ring piece 8 exceeds the maximum allowable eccentric angle of the ring piece 8, the eccentric adjustment is carried out;as shown in fig. 3, when the eccentric adjustment is performed:
when gamma is larger than 0, the ring member 8 shifts to the positive direction of the y axis, the rotating speed of the conical rollers (5 and 6) is smaller, the rotating speed of the conical rollers (5 and 6) is adjusted to be larger, and the rotating speed of the conical rollers (5 and 6) is set to be larger
nc-new＝nc-old+kγ(nc-max-nc-old)
Wherein n isc-newFor the current cone roller (5 and 6) rotating speed ncSet value of (1), nc-oldThe rotating speed value n of the conical rollers (5 and 6) at the last momentc-maxThe maximum cone roller (5 and 6) rotation speed allowed by the device;
when gamma is less than or equal to 0, the ring piece 8 is deviated towards the negative direction of the y axis, the rotating speed of the conical rollers (5 and 6) is larger, the rotating speed of the conical rollers (5 and 6) is adjusted to be smaller, and the rotating speed of the conical rollers (5 and 6) is set to be lower
nc-new＝nc-old+kγ(nc-min-nc-old)
Wherein n isc-minThe maximum cone roller (5 and 6) rotation speed allowed by the device;
in order to achieve a rapid adjustment of the eccentricity angle of the ring 8, provision is made for the rate of change of the eccentricity angle, which is expressed as the rate of change γ
Let γ be the lowest value of the absolute value | γ '| of the rate of change of the eccentricity angle of the ring 8'cI.e. the eccentric angle is to be changed by gamma 'per unit time'cThe angle of (d);
when gamma is more than or equal to gamma'cThat is, the change rate of the eccentric angle of the ring member 8 is within a specified range, the rotating speed of the conical rollers (5 and 6) does not need to be further regulated, and the original value is maintained, that is, the eccentric angle of the ring member 8 is within the specified range
nc-new＝nc-old
When gamma is less than gamma'cAnd k isγWhen the eccentric angle of the ring member 8 is more than 1, the change rate of the eccentric angle is smaller, and the eccentric angle exceeds 2 times of an allowable value, the limit rotating speed of the conical rollers (5 and 6) is adopted for adjustment, namely
Examples
Taking the radial-axial rolling of a certain large 42CrMo ring as an example, the ring 8 has the outer diameter of 9500mm, the inner diameter of 8884mm and the height of 308mm, and the ring blank has the outer diameter of 3500mm, the inner diameter of 2412mm and the height of 544 mm.
The relevant parameters of the ring rolling mill are as follows: radius R of drive roller 1m675mm, guide rolls (2 and 3) radius Rg250mm, the half cone angle theta of the conical rollers (5 and 6) is 17.5 degrees, the distance lc between the vertex of the conical rollers (5 and 6) and the contact point of the vertex of the conical rollers and the outer diameter of the ring member 8 is 1100mm, and the rotating speed n of the driving roller 1 is nm＝0.283r/s。
In the speed regulation strategy of the conical rollers (5 and 6), the matching coefficient k of the rotating speeds of the conical rollers (5 and 6)l0.75, the maximum permissible eccentric angle γ of the ring 8c0.008727rad, the lowest value of the absolute value of the rate of change of eccentricity of the ring 8'c0.001745rad/s, maximum cone roll (5 and 6) speed n allowed by the apparatusc-max1.27324r/s, minimum cone roller (5 and 6) speed n allowed by the devicec-min＝0.31831r/s。
The obtained results are shown in fig. 5 to 7, compared with the traditional method, the method can quantify the eccentric degree of the ring piece 8, can self-adaptively adjust the rotating speed of the conical rollers (5 and 6) according to the eccentric degree of the ring piece 8, can quickly and accurately adjust the rotating speed of the conical rollers (5 and 6), controls the eccentric angle of the ring piece 8 within an allowable range, and has the advantages of good roundness and high precision when the ring piece 8 is formed, and better effect when the size of the ring piece 8 is larger.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (6)
1. A self-adaptive control method for the eccentric state of a large ring in the radial-axial rolling process is characterized by comprising the following steps: realize radial rolling through the rotation of drive roller and radial feed of core roller during rolling, realize axial rolling through upper and lower conical rollers rotation and axial feed, realize steadily rotatory, real-time measurement through controlling the guide roll and obtain the ring external diameter and control the guide roll position, include the step during regulation and control: s1, quantifying the eccentric degree of the ring piece, namely obtaining the real-time eccentric angle of the ring piece according to the known and measured size position data and the geometric relationship of each part; s2, adaptively adjusting the rotating speed of the conical roller according to the eccentric degree of the ring piece, wherein if the eccentric angle does not exceed an allowable value, the eccentric adjustment is not carried out, the rotating speed of the conical roller is set by the existing theory, if the eccentric angle exceeds the allowable value, the eccentric adjustment is carried out, the acceleration and deceleration of the conical roller are determined according to the eccentric direction of the eccentric angle, and the rotating speed of the conical roller is determined according to the change rate of the eccentric angle and the rotating speed limit adjustment range of the conical roller.
2. The self-adaptive control method for the eccentric state in the radial-axial rolling process of the large ring according to claim 1, characterized in that: in step S1, the center coordinates of the ring are obtained by using the axis of the driving roller as the origin of plane coordinates and combining the known sizes of the driving roller and the left and right guide rollers, the real-time measured coordinates of the outer diameter of the ring, the left and right guide rollers, and the geometric relationship, so as to obtain the eccentric angle of the ring.
3. The self-adaptive control method for the eccentric state in the radial-axial rolling process of the large ring according to claim 2, characterized in that: setting the axis coordinate of the driving roller as (0, 0), the point M of the driving roller and the ring piece which are circumscribed, the measuring point of the outer diameter of the ring piece as N point, taking the MN direction as the x-axis direction and the length of the line segment MN as the outer diameter D of the ring piece, and knowing the radius of the driving roller as RmThe radius of the left and right guide rolls is RgMeasuring the center G of the left and right guide rollers1And G2Respectively is (x)1，y1)、(x2，y2)；
Obtaining the x-axis coordinate x of the circle center O of the ring piece according to the geometric relationo
xo＝Rm+0.5D
Because the left and right guide rollers are externally tangent with the ring piece, the circle center O of the ring piece is obtained from the geometric relation and is positioned at the circle center G of the left and right guide rollers1G2On the perpendicular bisector OQ of the connecting line, the equation of the straight line of the perpendicular bisector is expressed as
Obtaining the y-axis coordinate y of the circle center O of the ring piece by substituting the x-axis coordinate of the circle center O of the ring piece into the OQ equation of the perpendicular bisectoro
Obtaining an eccentric angle gamma relative to the origin through the coordinates of the circle center O of the ring piece
4. The self-adaptive control method for the eccentric state of the large ring in the radial-axial rolling process as claimed in any one of claims 1 to 3, wherein the self-adaptive control method comprises the following steps: in step S2, let γ be the eccentricity angle, γcFor maximum allowable eccentricity angle of ring member, using ring member offset coefficient kγTo represent the relationship between the actual degree of deflection of the ring and the maximum degree of deflection allowed
When k isγWhen the actual eccentric angle of the ring piece is less than or equal to 0, the actual eccentric angle of the ring piece does not exceed the maximum allowable eccentric angle of the ring piece, eccentric adjustment is not carried out, and the rotating speed of the conical roller is set according to the existing theory; when k isγWhen the actual eccentric angle of the ring piece exceeds the maximum allowable eccentric angle of the ring piece, the eccentric adjustment is carried out;
when the eccentric adjustment is performed,
when gamma is greater than 0, the ring piece is shifted to the positive direction of the y axis, the rotating speed of the conical roller is slightly low, the rotating speed of the conical roller is adjusted to be high, and the rotating speed of the conical roller is set to be high
nc-new＝nc-old+kγ(nc-max-nc-old)
Wherein n isc-newFor the current conical roller speed ncSet value of (1), nc-oldThe last moment of the cone roller rotation speed value, nc-maxThe maximum cone roller rotating speed allowed by the equipment;
when gamma is less than or equal to 0, the ring piece is deviated towards the negative direction of the y axis, the rotating speed of the conical roller is too high, the rotating speed of the conical roller is adjusted to be low, and the rotating speed of the conical roller is set to be
nc-new＝nc-old+kγ(nc-min-nc-old)
Wherein n isc-minThe maximum cone roller rotating speed allowed by the equipment;
in order to achieve a fast adjustment of the eccentricity angle of the ring, the rate of change of the eccentricity angle is specified, which is expressed as the rate of change gamma
Let γ be the lowest value of the absolute value of the rate of change of the eccentric angle of the ring | γ' |.cI.e. the eccentric angle is to be changed by gamma 'per unit time'cThe angle of (d);
when gamma is more than or equal to gamma'cThat is, the change rate of the eccentric angle of the ring piece is within the specified range, the rotating speed of the conical roller does not need to be further regulated, and the original value is maintained, that is to say
nc-new＝nc-old
When gamma is less than gamma'cAnd k isγWhen the eccentric angle of the ring piece is more than 1, the change rate of the eccentric angle of the ring piece is smaller, and the eccentric angle exceeds 2 times of an allowable value, the limit rotating speed of the conical roller is adopted for adjustment, namely
5. The self-adaptive control method for the eccentric state of the large ring in the radial-axial rolling process as claimed in any one of claims 1 to 3, wherein the self-adaptive control method comprises the following steps: in step S2, when the eccentricity adjustment is not performed, the conical roller rotation speed is set according to the conical roller rotation speed matching theoretical formula
Wherein n isc-newFor the current conical roller speed ncSet value of (1), nmFor the rotation speed of the driving roller, R is the radius of the ring piece, and R is 0.5D, klIs the matching coefficient of the rotating speed of the conical roller, h is the wall thickness of the ring part, lcThe distance from the vertex of the conical roller to the outer diameter of the ring piece, and theta is the half cone angle of the conical roller.
6. The self-adaptive control method for the eccentric state in the radial-axial rolling process of the large ring according to claim 1, characterized in that: during rolling, the outer diameter of the ring piece is measured through a measuring roller or laser, and the positions of the left guide roller and the right guide roller are measured through a displacement sensor.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114535473A (en) * | 2022-02-21 | 2022-05-27 | 中国重型机械研究院股份公司 | Position control system and method for radial centering roller of ring rolling machine |
| IT202100025973A1 (en) * | 2021-10-11 | 2023-04-11 | Project Group Srl | CONTROL METHOD OF AN AXIAL RADIAL ROLLING MILL WITH VARIABLE COEFFICIENT REGULATORS |
| IT202100025964A1 (en) * | 2021-10-11 | 2023-04-11 | Project Group Srl | CONTROL METHOD OF AN AXIAL RADIAL MILL |
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| IT202100025964A1 (en) * | 2021-10-11 | 2023-04-11 | Project Group Srl | CONTROL METHOD OF AN AXIAL RADIAL MILL |
| EP4163031A1 (en) * | 2021-10-11 | 2023-04-12 | Project Group Srl | Method for controlling an axial radial rolling mill for rings with variable coefficient controllers and axial radial rolling mill for rings |
| EP4163030A1 (en) * | 2021-10-11 | 2023-04-12 | Project Group Srl | Method for controlling a radial-axial rolling mill for rings and radial-axial rolling mill for rings |
| CN114535473A (en) * | 2022-02-21 | 2022-05-27 | 中国重型机械研究院股份公司 | Position control system and method for radial centering roller of ring rolling machine |
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