CN113667785A - Encoder dual-redundancy system for blast furnace stock rod and fault detection process - Google Patents
Encoder dual-redundancy system for blast furnace stock rod and fault detection process Download PDFInfo
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- CN113667785A CN113667785A CN202110874245.7A CN202110874245A CN113667785A CN 113667785 A CN113667785 A CN 113667785A CN 202110874245 A CN202110874245 A CN 202110874245A CN 113667785 A CN113667785 A CN 113667785A
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B7/00—Blast furnaces
- C21B7/24—Test rods or other checking devices
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B5/00—Making pig-iron in the blast furnace
- C21B5/006—Automatically controlling the process
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Abstract
The application provides a dual-redundancy system of an encoder for a blast furnace stock rod and a fault detection process, and relates to the field of blast furnace top material distribution. The encoder dual redundancy system comprises a frequency converter, a first encoder, a second encoder, a change-over switch and a controller. The output end of the controller is in signal connection with the frequency converter, the controller is in selective signal connection with the first encoder and the second encoder through the selector switch, and the controller is used for obtaining a first comparison result of a preset rotating speed control signal and a first rotating speed signal fed back by the first encoder and a second comparison result of the preset rotating speed control signal and a second rotating speed signal fed back by the second encoder; when the controller judges the signal distortion according to any one of the first comparison result and the second comparison result, whether the encoder corresponding to the previous comparison result is damaged or not is judged according to the other comparison result. Whether the fault point of signal distortion exists in the encoder can be judged quickly and accurately, and meanwhile, the troubleshooting difficulty is effectively reduced.
Description
Technical Field
The application relates to the field of blast furnace top material distribution, in particular to a dual-redundancy system of an encoder for a blast furnace stock rod and a fault detection process.
Background
The depth of the blast furnace top charge level is generally detected by a blast furnace stock rod. The conventional blast furnace stock rod mainly comprises a motor, a speed reducer, an encoder and a stock rod heavy hammer. The distortion of the blast furnace stock rod signal refers to deviation between actual operation data recorded by an encoder and control data (namely target operation data) output by a frequency converter, and the deviation can be caused by the action of the encoder or other external reasons, wherein on one hand, fault judgment of the encoder needs professional electricians and has high requirements on the electrical skill level, the fault judgment can lead to prolonging of accident time, and meanwhile, the fault time of a system for checking the encoder is long, so that the fault time is inconvenient to rapidly process, and the production efficiency is influenced.
Disclosure of Invention
An object of the embodiment of the application is to provide a dual redundancy system of an encoder for a blast furnace stock rod and a fault detection process, which can solve the technical problems of high difficulty and long troubleshooting time of the encoder.
First aspect, this application embodiment provides a two redundant systems of encoder for blast furnace stock rod, the blast furnace stock rod include the motor and with the speed reducer of motor connection, the two redundant systems of encoder include: the device comprises a frequency converter, a first encoder, a second encoder, a change-over switch and a controller.
The frequency converter is electrically connected with the motor to output a preset rotating speed control signal for controlling the rotating speed of the motor.
The first encoder is connected with an output shaft of the motor to obtain a first rotating speed signal of the motor.
The second encoder is connected with the output shaft of the speed reducer to obtain a second rotating speed signal of the speed reducer.
The output end of the controller is in signal connection with the frequency converter, and the receiving end of the controller is in selective signal connection with the first encoder and the second encoder through the selector switch.
The controller is used for obtaining a first comparison result of the preset rotating speed control signal and the first rotating speed signal and a second comparison result of the preset rotating speed control signal and the second rotating speed signal.
And when the controller judges the signal distortion according to any one of the first comparison result and the second comparison result, whether the encoder corresponding to any one of the comparison results is damaged or not is judged according to the other one of the first comparison result and the second comparison result.
In the above implementation, two encoders are utilized: the first encoder and the second encoder are mutually standby, when the controller judges that one encoder has signal distortion according to a comparison result, the two encoders can be switched through the selector switch, so that the other encoder is in signal connection with a receiving end of the controller, whether the fault point of the signal distortion before switching is judged quickly and accurately by judging whether the signal distortion still exists in the corresponding previous encoder or not after switching, the judging mode is simple and reliable, the judging difficulty is effectively reduced, the requirement on technical personnel is met, the accuracy of the judging result is improved simultaneously, and when one encoder is judged to be in fault, the other complete encoder can be directly switched to continue production, and the production efficiency is not influenced.
In one possible embodiment, the switch includes a first switch having an off state that controls the operation of the first encoder and an on state that controls the first encoder to terminate the operation, and a second switch.
The second switch has an off state that controls the second encoder to operate and an on state that controls the second encoder to terminate the operation.
In the implementation process, the first switch and the second switch are arranged, so that the first encoder and the second encoder can be controlled to operate or stop operating, the switching is rapidly realized, and whether the corresponding encoders have faults or not is rapidly checked.
In one possible embodiment, the first switch is configured to be normally closed and the second switch is configured to be normally open.
When the comparison result of the preset rotating speed control signal and the first rotating speed signal is not matched and the signals are distorted, the first switch is switched to be in an open state and the second switch is switched to be in a closed state.
In the implementation process, the first switch is configured to be normally closed, the second switch is configured to be normally open, that is, the first rotation speed data sent by the first encoder is obtained by the controller in the actual use process, at this time, the second encoder is used as a standby, when the signal distortion occurs, the first switch can be switched to be in an open state, and the second switch can be switched to be in a closed state, so that the second encoder is used alone, and whether the signal distortion disappears to rapidly judge whether the first encoder fails or not according to the fact that the second encoder is used alone.
In one possible embodiment, the first switch is configured to be normally open and the second switch is configured to be normally closed.
When the comparison result of the preset rotating speed control signal and the second rotating speed signal is not matched and the signals are distorted, the first switch is switched to be in a closed state and the second switch is switched to be in an open state.
In the implementation process, the first switch is normally opened, the second switch is normally closed, that is, the second rotational speed data sent by the second encoder is obtained by the controller in the actual use process, at the moment, the first encoder is used as a standby mode and is not used, when the signal distortion occurs, the first switch is switched to be in a closed state, and the second switch is switched to be in an open state, so that the first encoder is used alone, and whether the second encoder fails or not is judged rapidly according to whether the signal distortion disappears when the first encoder is used alone.
In a possible embodiment, the controller is in signal connection with the first switch and the second switch, respectively, and the controller is configured to output control signals to the first switch and the second switch, respectively, according to the obtained comparison result.
In the implementation process, the first switch and the second switch are rapidly and automatically switched between the on state and the off state through the arrangement, and the workload of operators is reduced.
In one possible embodiment, the first encoder and the second encoder are both rotary encoders.
In the implementation process, the measurement precision is high.
In a second aspect, an embodiment of the present application provides a fault detection process based on the dual redundancy system of the encoder for the blast furnace probe, where the detection process includes:
and independently operating the first encoder, and when the controller obtains that the comparison result of the preset rotating speed control signal is not matched with the comparison result of the first rotating speed signal and judges that signal distortion is generated, interrupting the operation of the first encoder and operating the second encoder.
And if the comparison result of the preset rotating speed control signal and the second rotating speed signal is not matched and the signal distortion is judged to be still, judging that the first encoder has no fault.
When the first encoder generates a signal distortion condition during operation, the first encoder can be rapidly eliminated as a fault point by adopting the mode, so that operating personnel can rapidly eliminate and lock the fault point caused by other reasons, and the fault detection efficiency is improved.
Optionally, if the comparison result between the preset rotation speed control signal and the second rotation speed signal is matched and the signal distortion is determined to disappear, the first encoder is determined to be in fault.
When the first encoder generates a signal distortion condition during operation, the fault point can be quickly judged to be the first encoder by adopting the mode, the second encoder is continuously and independently used at the moment, the smooth production is ensured, and meanwhile, the first encoder is replaced or maintained.
In a third aspect, an embodiment of the present application provides a fault detection process based on the dual redundancy system of the encoder for the blast furnace probe, where the detection process includes:
and independently operating the second encoder, when the controller obtains that the comparison result of the preset rotating speed control signal and the second rotating speed signal is not matched and the signal distortion is judged, interrupting the operation of the second encoder and operating the first encoder, and if the comparison result of the preset rotating speed control signal and the first rotating speed signal is not matched and the signal distortion is judged to be still, judging that the second encoder has no fault.
Optionally, if the comparison result of the preset rotation speed control signal and the first rotation speed signal is matched and the signal distortion is determined to disappear, the second encoder is determined to be in fault.
By the aid of the mode, when the second encoder generates signal distortion during operation, whether the second encoder is a fault point of the signal distortion can be rapidly checked, fault detection efficiency and precision are improved, and meanwhile, the checking difficulty is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic structural view of a blast furnace probe;
fig. 2 is a diagram of an encoder dual redundancy system.
Icon: 10-blast furnace stock rod; 100-a motor; 110-a speed reducer; 120-a reversing mechanism; 130-trial weight; 20-encoder dual redundant system; 200-frequency converter; 210-a first encoder; 220-a second encoder; 230-a controller; 240-a first switch; 250-a second switch; 260-display.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is noted that the terms "first", "second", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, e.g. as a fixed connection, a detachable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The present application provides an encoder dual redundancy system 20 for a blast furnace probe 10.
Referring to fig. 1, a blast furnace probe 10 includes a motor 100, a reducer 110, a reversing mechanism 120, and a probe weight 130.
The output shaft of the motor 100 is connected with the speed reducer 110 to form a power mechanism, the output shaft of the speed reducer 110 is in transmission connection with the sounding weight 130 through the reversing mechanism 120, and the reversing mechanism 120 is used for converting the rotary motion of the output shaft of the speed reducer 110 into a linear motion for driving the sounding weight 130 to move up and down along the weight pipeline in the blast furnace. The reversing mechanism 120 includes, for example, a sprocket disposed on the output shaft of the speed reducer 110, a chain connected to the trial weight 130 and engaged with the sprocket, and the like, which refer to the related art and are not limited herein.
Referring to fig. 1 and fig. 2, the encoder dual redundancy system 20 includes: a frequency converter 200, a first encoder 210, a second encoder 220, a switch and a controller 230.
The frequency converter 200 is electrically connected to the motor 100 to output a preset rotation speed control signal for controlling the rotation speed of the motor 100, that is, the frequency converter 200 is used to control the rotation speed of the motor 100.
The first encoder 210 is connected to an output shaft of the motor 100 to obtain a first rotation speed signal of the motor 100. The second encoder 220 is connected to the output shaft of the speed reducer 110 to obtain a second rotation speed signal of the speed reducer 110.
In order to ensure the accuracy of the obtained first rotation speed signal and the second rotation speed signal, the first encoder 210 and the second encoder 220 are both rotary encoders.
The controller 230 is, for example, a programmable logic controller 230, specifically, a PLC controller 230, or the like.
The receiving end of the controller 230 is in signal connection with the frequency converter 200 to receive the preset rotation speed control signal, and the output end of the controller 230 is in signal connection with the first encoder 210 or the second encoder 220 through the switch to receive the first rotation speed signal and the second rotation speed signal. The controller 230 may obtain the displacement data of the probe weight 130 corresponding to the first rotation speed signal and the second rotation speed signal through conversion, so as to obtain the depth data of the material level at the top of the blast furnace.
The controller 230 is configured to obtain a first comparison result indicating whether the preset rotation speed control signal is matched with the first rotation speed signal, and a second comparison result indicating whether the preset rotation speed control signal is matched with the second rotation speed signal, and is configured to determine whether the signals are distorted according to the matching results, where the signals are not distorted if the comparison results are matched, and the signals are distorted if the comparison results are not matched.
The matching here means that the expected rotation speed of the motor 100 controlled by the preset rotation speed control signal is substantially the same as the actual rotation speed of the motor 100 fed back by the first rotation speed signal, and the expected rotation speed of the output shaft of the speed reducer 110 controlled by the preset rotation speed control signal is substantially the same as the actual rotation speed of the motor 110 fed back by the second rotation speed signal, where the substantially same here means within the allowable error range.
That is, a first signal loop is formed among the controller 230, the frequency converter 200 and the first encoder 210, a second signal loop is formed among the controller 230, the frequency converter 200 and the second encoder 220, and the first signal loop and the second signal loop are connected in parallel and switched by the switch.
When the controller 230 determines the signal distortion according to any one of the first comparison result and the second comparison result, it determines whether the encoder corresponding to any one of the comparison results is damaged according to the other one of the first comparison result and the second comparison result.
That is, when the controller 230 determines that the signal is distorted according to the first comparison result, the first encoder 210 corresponding to the first matching result is determined to be damaged by switching to the second signal loop according to whether the second comparison result is matched, and when the controller 230 determines that the signal is distorted according to the second comparison result, the first encoder 220 corresponding to the second matching result is determined to be damaged by switching to the first signal loop according to whether the first comparison result is matched.
The switch includes a first switch 240 and a second switch 250.
In some optional embodiments, the receiving end of the controller 230 is connected to the first encoder 210 via a first switch 240, and the receiving end of the controller 230 is connected to the second encoder 220 via a second switch 250. That is, only the first switch 240 and the second switch 250 are used to control the switching of the first control loop and the second control loop.
In this embodiment, the first switch 240 has an off state for controlling the operation of the first encoder 210 and an on state for controlling the first encoder 210 to terminate the operation; the second switch 250 has an off state that controls the operation of the second encoder 220 and an on state that controls the second encoder 220 to terminate the operation.
Specifically, the first switch 240 and the second switch 250 may be power switches of the corresponding first encoder 210 and the second encoder 220, and the first switch 240 and the second switch 250 are used to control the first encoder 210 and the second encoder 220 to operate or terminate operation, so that the receiving end of the controller is in signal connection with the first encoder 210 or the second encoder 220.
It should be noted that the signal connection in the present application includes an electrical connection of a physical contact, and also includes a wireless communication signal connection.
In this embodiment, the first switch 240 is normally open, the second switch 250 is normally closed, that is, the second encoder 220 is used, the first encoder 210 is not used as a spare encoder, and the first signal loop is interrupted and the second signal loop performs signal transmission.
When the controller 230 determines that the signal is distorted according to the mismatch between the comparison result of the preset rotation speed control signal and the second rotation speed signal, the first switch 240 is switched to the off state and the second switch 250 is switched to the on state. That is, the first encoder 210 is used alone, and when the first signal loop performs signal transmission and the second signal loop performs signal interruption, whether the fault point of the signal distortion of the second signal loop is the second encoder 220 is determined quickly and accurately by whether the first signal loop is signal distorted.
In some optional embodiments, the first switch 240 is configured to be normally closed, and the second switch 250 is configured to be normally open; that is, the first encoder 210 is used, and the second encoder 220 is not used as a spare encoder, and the first signal loop performs signal transmission and the second signal loop performs signal interruption.
When the controller 230 determines the signal distortion according to the mismatch between the comparison result of the preset rotation speed control signal and the first rotation speed signal, the first switch 240 is switched to the open state and the second switch 250 is switched to the closed state to independently use the second encoder 220, at this time, the second signal loop performs signal transmission and the first signal loop is interrupted, and whether the fault point of the signal distortion of the first signal loop is the first encoder 210 is determined quickly and accurately by whether the second signal loop is the signal distortion.
It should be noted that, whichever setting is described above, a person skilled in the art may manually turn off or turn on the first switch 240 and the second switch 250 according to actual requirements.
In this embodiment, the controller 230 is respectively in signal connection with the first switch 240 and the second switch 250, and the controller 230 is configured to respectively output a control signal to the first switch 240 and the second switch 250 according to the obtained comparison result. That is, when the controller 230 obtains the determination result, the first switch 240 and the second switch 250 can be directly controlled to be turned off and on by the control signal, the operation is fast, and the operation efficiency is improved.
The encoder dual redundancy system 20 may further include a display 260, wherein the controller 230 is in signal connection with the display 260, and the controller 230 feeds back the comparison result and the corresponding displacement data of the weight 130 to the display 260, so that technicians can visually see the data change and perform judgment and processing in time.
Meanwhile, in order to avoid omission, the dual redundant encoder system 20 may further include an alarm mechanism (not shown), the alarm mechanism is connected to the controller 230, the controller 230 is configured to control the alarm mechanism to alarm when the signal distortion is determined, and the alarm mechanism includes, but is not limited to, a horn or a warning light.
The embodiment further provides a fault detection process based on the encoder dual redundancy system 20 for the blast furnace stock rod 10, and the detection process includes:
when the controller 230 obtains a comparison result of the preset rotation speed control signal and the first rotation speed signal, which is not matched, and determines that signal distortion occurs, the first signal loop is interrupted and the second signal loop performs signal transmission, which is to interrupt the operation of the first encoder 210 and operate the second encoder 220, by switching the states of the first switch 240 and the second switch 250.
Under the above conditions, if the comparison result of the preset rotation speed control signal obtained by the controller 230 and the second rotation speed signal is not matched, and it is determined that the second signal loop still has signal distortion, it is determined that the first encoder 210 has no fault.
If the controller 230 obtains that the comparison result of the preset rotation speed control signal and the second rotation speed signal is matched to determine that the signal distortion disappears, it is determined that the first encoder 210 has a fault. At this time, the operation of the first encoder 210 and the operation of the second encoder 220 may be maintained, and the production may be continued, and the first encoder 210 may be repaired or replaced when the wind is down.
In some optional other embodiments, the fault detection process of the encoder dual redundancy system 20 based on the blast furnace probe 10 includes:
when the controller 230 obtains that the comparison result of the preset rotation speed control signal and the second rotation speed signal is not matched and determines that the signal of the second signal loop is distorted, the state of the first switch 240 and the state of the second switch 250 are switched to interrupt the second signal loop, and the signal transmission of the first signal loop, that is, the operation of the second encoder 220 is interrupted and the first encoder 210 is operated.
Under the above conditions, if the comparison result of the preset rotation speed control signal obtained by the controller 230 is not matched with the first rotation speed signal, and it is determined that the signal distortion still exists in the first signal loop, it is determined that the second encoder 220 has no fault.
If the controller 230 obtains that the comparison result of the preset rotation speed control signal and the first rotation speed signal is matched to determine that the signal distortion disappears, it is determined that the second encoder 220 has a fault. At this time, the operation of the first encoder 210 may be performed while the operation of the second encoder 220 is interrupted, and the production may be continued, so that the second encoder 220 may be repaired or replaced when the wind is down.
In conclusion, the encoder dual-redundancy system for the blast furnace stock rod and the fault detection process can rapidly and accurately check whether the fault point of signal distortion exists in the first encoder and the second encoder or not, the judgment mode is simple and reliable, error of misjudgment of the encoder fault is avoided, the judgment difficulty is reduced, the requirements of technical personnel are met, the technical problems are effectively solved, meanwhile, when only one of the two encoders is judged to have a fault, the other encoder can be directly switched to be a good encoder to continue production, and the production efficiency is not affected.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The utility model provides a two redundant systems of encoder for blast furnace stock rod, blast furnace stock rod include the motor and with the speed reducer that the motor is connected, its characterized in that, the two redundant systems of encoder include:
the frequency converter is electrically connected with the motor to output a preset rotating speed control signal for controlling the rotating speed of the motor;
the first encoder is connected with an output shaft of the motor to obtain a first rotating speed signal of the motor;
the second encoder is connected with an output shaft of the speed reducer to obtain a second rotating speed signal of the speed reducer;
a switch; and
the output end of the controller is in signal connection with the frequency converter, and the receiving end of the controller is in selective signal connection with the first encoder and the second encoder through the selector switch;
the controller is used for obtaining a first comparison result of the preset rotating speed control signal and a first rotating speed signal and a second comparison result of the preset rotating speed control signal and a second rotating speed signal;
when the controller judges the signal distortion according to any one of the first comparison result and the second comparison result, whether the encoder corresponding to the any one of the comparison results is damaged or not is judged according to the other one of the first comparison result and the second comparison result.
2. The dual redundancy system of encoder for blast furnace probe according to claim 1,
the change-over switch comprises a first switch and a second switch;
the first switch has a closed state for controlling the first encoder to operate and an open state for controlling the first encoder to terminate operation;
the second switch has an off state that controls the second encoder to operate and an on state that controls the second encoder to terminate the operation.
3. The encoder dual redundancy system for a blast furnace probe of claim 2, wherein the first switch is configured to be normally closed and the second switch is configured to be normally open;
when the comparison result of the preset rotating speed control signal and the first rotating speed signal is not matched and the signals are distorted, the first switch is switched to be in an open state and the second switch is switched to be in a closed state.
4. The dual redundancy system of encoder for blast furnace probes of claim 2, wherein the first switch is configured to be normally open and the second switch is configured to be normally closed;
when the comparison result of the preset rotating speed control signal and the second rotating speed signal is not matched and the signals are distorted, the first switch is switched to be in a closed state and the second switch is switched to be in an open state.
5. The dual redundancy system of the encoder for the blast furnace probe according to claim 2, wherein the controller is connected to the first switch and the second switch by signals, and the controller is configured to output control signals to the first switch and the second switch according to the obtained comparison result.
6. The dual encoder redundancy system for a blast furnace probe of claim 1, wherein the first encoder and the second encoder are both rotary encoders.
7. A fault detection process based on the encoder dual redundancy system for the blast furnace probe according to claim 1, wherein the detection process comprises:
the first encoder is operated and the second encoder is not operated, and when the controller obtains that the comparison result of the preset rotating speed control signal is not matched with the comparison result of the first rotating speed signal and judges that signal distortion is generated, the operation of the first encoder is interrupted and the second encoder is operated;
and if the comparison result of the preset rotating speed control signal and the second rotating speed signal is not matched and the signal distortion is judged to be still, judging that the first encoder has no fault.
8. The fault detection process of claim 7, wherein the first encoder detecting step comprises: and if the preset rotating speed control signal is matched with the comparison result of the second rotating speed signal and the signal distortion disappears, judging that the first encoder has a fault.
9. A fault detection process based on the encoder dual redundancy system for the blast furnace probe according to claim 1, wherein the detection process comprises:
and operating the second encoder and not operating the first encoder, interrupting the operation of the second encoder and operating the first encoder when the controller obtains that the comparison result of the preset rotating speed control signal and the second rotating speed signal is not matched and the signal distortion is judged, and judging that the second encoder has no fault if the comparison result of the preset rotating speed control signal and the first rotating speed signal is not matched and the signal distortion is judged to be still.
10. The fault detection process of claim 9, wherein the second encoder detecting step comprises: and if the preset rotating speed control signal is matched with the comparison result of the first rotating speed signal and the signal distortion disappears, judging that the second encoder has a fault.
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| CN202110874245.7A CN113667785B (en) | 2021-07-30 | 2021-07-30 | Encoder dual-redundancy system for blast furnace stock rod and fault detection process |
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| CN202110874245.7A CN113667785B (en) | 2021-07-30 | 2021-07-30 | Encoder dual-redundancy system for blast furnace stock rod and fault detection process |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115085875A (en) * | 2022-05-25 | 2022-09-20 | 上海卓昕医疗科技有限公司 | Device and method for realizing safe backup by double encoders |
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| CN201581099U (en) * | 2009-12-31 | 2010-09-15 | 中冶南方工程技术有限公司 | Control system for preventing inverted pendulum of stock rod |
| CN110442077A (en) * | 2019-07-12 | 2019-11-12 | 淮北矿业股份有限公司 | A kind of bilinear con- trol device |
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| CN201581099U (en) * | 2009-12-31 | 2010-09-15 | 中冶南方工程技术有限公司 | Control system for preventing inverted pendulum of stock rod |
| CN110442077A (en) * | 2019-07-12 | 2019-11-12 | 淮北矿业股份有限公司 | A kind of bilinear con- trol device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115085875A (en) * | 2022-05-25 | 2022-09-20 | 上海卓昕医疗科技有限公司 | Device and method for realizing safe backup by double encoders |
| CN115085875B (en) * | 2022-05-25 | 2024-05-28 | 上海卓昕医疗科技有限公司 | Device and method for realizing safe backup of double encoders |
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