CN103499946B - A kind of section bar hot finisher rolled piece position tracking device and tracking - Google Patents
A kind of section bar hot finisher rolled piece position tracking device and tracking Download PDFInfo
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- CN103499946B CN103499946B CN201310459195.1A CN201310459195A CN103499946B CN 103499946 B CN103499946 B CN 103499946B CN 201310459195 A CN201310459195 A CN 201310459195A CN 103499946 B CN103499946 B CN 103499946B
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Abstract
The invention discloses a kind of section bar hot finisher rolled piece position tracking device, comprise frame, tracing area, be located at zero current sampling interval and tension adjustment interval, cold/hot metal detector, frequency converter, man-machine interface LAN, high performance controller, man-machine interface server and the local control panel of tracing area, in high performance controller, be provided with rolled piece Position Tracking Control module. A kind of section bar hot finisher rolled piece location tracking method, comprises the steps: one, starts rolled piece Position Tracking Control module; Two, calculating rolled piece compares in the position of tracing area and with tension adjustment interval and zero current sampling interval positional value; Three, rolled piece Position Tracking Control module is according to cascade signal with sting steel current changing signal and finish the trace routine of current tracing area. The present invention has the advantages that rolled piece tracking precision is high, manual intervention is few, hot-rolled profile output is high, accident rate is low and cost of labor is low, can be widely used in section bar Rolling Automation control technology field.
Description
Technical field
The present invention relates to section bar Rolling Automation control technology field, particularly relate to a kind of section barHot finisher rolled piece position tracking device and tracking.
Background technology
Hot rolling is that modernization steel mill section bar is produced a necessary operation in chain, produces in hot rollingCheng Zhong, the rolling in finish rolling district has important impact to the formation finished product of section bar, in modern companyIn continuous rolling mode, in order to ensure to greatest extent rolled piece finished size precision, need to make tandem rollingThe tension force producing between frame reaches technique initialization required value, and this numerical value is generally zero or less numberValue. At present, below main employing, 4 kinds of methods realize the tension force control between frame both at home and abroad:(1) machinery cover is around-France; (2) power direct Detection Method between frame; (3) detect transfer roller method; (4)Rolling load electric current mnemonics (claiming again Torque method). At present, as heavy section continuous rollingThe tension control that technique is conventional, rolling load electric current mnemonics is considered to the most rationalControl mode, is extensively adopted by domestic and international product production line thus.
The general principle of rolling load electric current mnemonics is directly not measure rolled piece tension force, but logicalCross the current value that reads the each frame work drive motor of milling train, determine that according to the variation of electric current rolled piece rollsReal-time tension force in process processed, then according to tension variation, control and regulation finishing mill gantry speed,Like this, by changing the speed of the frame of having rolled rolled piece, change frame tension value to realize machineThe control of minimum tension between frame.
Realize in the process of minimum tension control in rolling load electric current mnemonics, first will be to rollingAccurately follow the tracks of the position of part, at the diverse location entering after each frame, true according to rolled pieceFixed zero tension force current sample interval and tension adjustment interval, after sampling, to rolling and rollThe gantry speed of part regulates, and realizes minimum tension control. With existing rolling shown in Fig. 1The on-the-spot structure chart of rolling of load current mnemonics is example, and diagram is 10 machines of certain continuous rollingFrame continuous-rolling, chooses three continuous frame N frame 2, the N+1 frame 2, the N+2Frame 2.
As can be seen from Figure 1, the interval and tension adjustment interval of zero tension force current sample is for each otherIndependently two regions are to enter N+1 machine at rolled piece to the adjustment process of frame 2 tension forceThe rear ability of frame 2 is carried out speed adjusting to N frame 2, eliminates N frame 2 and N+1 machineTension Difference between frame 2, enters after N+1 frame 2, and rolled piece 15 is introduced into tension forceBetween regulatory region, the first speed adjustment to 1～N frame 2, ensures between 1～N frame 2Electric current reaches after technique initialization numerical value, then enters zero current sampling interval to N+1 frame 2Electric current is sampled, and enters after N+2 frame 2 to rolled piece, can cause N+1 frame 2Curent change, at this moment adjusts 1～N+1 frame, 2 speed again. Make N+1 frame2 current values reach technique initialization current value, and Here it is first carries out tension adjustment and carry out electric current again and adoptThe process of sample, special, to the 1st frame 2, owing to there is no frame 2 above, soBetween 1 frame 2 and the 2nd frame 2 without tension adjustment interval, for the 10th frame 2, due toThere is no frame 2 below, so without zero current sampling interval. Can find out zero from this processThe process of tension force current sample must sting steel prompt drop process recover after start, tie in sampling processShu Houcai allows forebay 2 to carry out tension adjustment, arrives before next frame 2 at rolled piece 15,When essential end of tension adjustment stages of forebay 2, otherwise can cause frame 2 mill speedsFluctuation.
At present, traditional to the location tracking method of rolled piece 15 heads by 2 peaces of frameDress cold/hot metal detector 4(HMD, HotMetalDetector) carry out, with the first workFrame 2 is for the absolute position of starting point calculating rolled piece 15 heads in frame 2, according to each machineBetween frame 2, zero electricity is divided in the position of the velocity variations of rolled piece 15 and cold/hot metal detector 4Stream sampling interval and tension adjustment interval.
As shown in Figure 2, existing rolled piece position trace flow is: determine that finishing mill is not (in figureIllustrate) position of upper each cold/hot metal detector 4, follow taking first frame 2 positions as rolled pieceTrack starting point, arrives respectively each at workpiece front end 15.1 and the rolled piece afterbody 15.2 of rolled piece 15When cold/hot metal detector 4, carry out according to the position of cold/hot metal detector 4 distance the first frames 2Cumulative. Fig. 3 provided cumulative after by workpiece front end 15.1 with respect to first frame 2 absolutelyTo position respectively with the positional value of the tension adjustment interval setting or zero current sampling intervalWhen the workflow comparing, determine frame 2 tension adjustment or electric current adoptedSample. Because being one, the finishing mill of section bar hot rolling integrates mechanical, electric, pneumatic and hydraulic pressureComplication system, and at impact endurance test shock, high temperature, work under the adverse circumstances such as water and iron scaleDo. Therefore, the detection of cold/hot metal detector 4 is easily disturbed, and is easy to cause tracking signalErroneous judgement, makes tracking signal mistake, causes the data calculating of whole rolled piece 15 all to be lost efficacy,Thereby cannot ensure the tracking accuracy of rolled piece 15, and have influence on tension regulating system and normally work.Now can only stop tension adjustment, change by the manual adjustment of operative employee and carry out to ensure rolling, like thisWill inevitably affect section bar finished size and lumber recovery.
Summary of the invention
The object of the invention is the deficiency in order to overcome above-mentioned background technology, a kind of section bar is providedHot finisher rolled piece position tracking device and tracking, make it have rolled piece tracking precisionHigh, manual intervention is few, hot-rolled profile output is high, good in economic efficiency, accident rate low with manually becomeThe feature that this is low.
A kind of section bar hot finisher rolled piece position tracking device provided by the invention, comprises along rollingThe part direction of motion sets gradually and is positioned at multiple frames in finish rolling district, between adjacent frame, is provided withTracing area, the interior and last frame of the first tracing area between the first frame and the second frameAfter last tracing area be respectively equipped with zero current sampling interval and tension adjustment interval, all the other are followedIn track region, be disposed with tension adjustment interval and zero current sample region along rolled piece traffic directionBetween, being provided with cold/hot metal detector in porch, finish rolling district, each frame coupling has frequency converter, alsoComprise the high performance controller that is connected by man-machine interface LAN, man-machine interface server andLocal control panel, is provided with rolled piece Position Tracking Control module in described high performance controller, whenWhen rolled piece enters the first frame along the direction of motion, described rolled piece Position Tracking Control module is by surveyingWhat the frequency converter matching to the cold/hot metal detector of rolled piece with the first frame sent stings steel electricityRheology signal enabling, when rolled piece enters after the first tracing area, control is followed the tracks of in described rolled piece positionMolding piece calculates rolled piece in the position of the first tracing area, and by the actual position value of rolled piece and theThe first zero current sampling interval positional value of one tracing area is compared, and follows when rolled piece arrives firstWhen track region tail end, described rolled piece Position Tracking Control module sends cascade to next tracing areaOutput signal to be to open the trace routine of next tracing area, subsequently according to and the second frame mutuallyWhat the frequency converter of joining sent sting trace routine that steel current changing signal finishes the first tracing area,And as the starting point of next tracing area trace routine; When rolled piece is followed by last along the direction of motionWhen track region enters current tracing area, described rolled piece Position Tracking Control module is followed according to lastThe cascade input signal that send in track region and matching with current tracing area input frameWhat frequency converter sent stings steel current changing signal startup rolled piece at the position of current tracing area meterCalculate, and by the actual position value of rolled piece respectively with the current tension adjustment interval of current tracing areaCompare with current zero current sampling interval positional value, when rolled piece arrives current tracing area tail endTime, described rolled piece Position Tracking Control module backward a tracing area send directly link signal withThe trace routine of a tracing area after opening, subsequently basis and current tracing area output frameWhat the frequency converter that matches sent sting steel current changing signal finishes the tracking of current tracing areaProgram as the starting point of a rear tracing area trace routine; When rolled piece enters along the direction of motionWhile entering last tracing area, before the last frame of described rolled piece Position Tracking Control module basisThe cascade input signal that tracing area sends and the frequency converter matching with last frame sendSting steel current changing signal and start the rolled piece in the end position calculation of tracing area, and by rolled pieceActual position value is compared with the interval positional value of last tension adjustment of last tracing area.
In technique scheme, also comprise the work station for programming, described work station passes throughEngineering Control local net be built in the rolled piece Position Tracking Control module in high performance controllerBe connected.
In technique scheme, described high performance controller has two, two high performance controlBetween device, be connected by Engineering Control local net.
In technique scheme, also comprise the process data inquiry dress for inquiring about creation dataPut, described process data inquiry unit is connected with high performance controller by logger network.
In technique scheme, described high performance controller is by secondary LAN and for factoryReport, the production schedule and the factory management level two of row's table are connected.
In technique scheme, the actual position value of described rolled piece comprise respectively workpiece front end andActual position value in the each comfortable tracing area of rolled piece afterbody.
A kind of section bar hot finisher rolled piece location tracking method provided by the invention, comprises as followsStep: one, rolled piece enters finish rolling district along the direction of motion, described cold/hot metal detector is surveyed rolled piece,When rolled piece enters the first frame and the frequency converter that matches of the first frame send and sting steel curent changeSignal, described cold/hot metal detector and sting steel current changing signal and start rolled piece Position Tracking ControlModule; Two, rolled piece enters the first tracing area, and described rolled piece Position Tracking Control module is calculatedRolled piece is in the position of the first tracing area, and by the actual position value of rolled piece and the first tracing areaThe first zero current sampling interval positional value compare; Three, rolled piece arrives the first tracing area tailEnd, finishes the position calculation of rolled piece in the first tracing area, described rolled piece Position Tracking ControlModule sends directly link signal to open the tracking of next tracing area to next tracing areaProgram, what send according to the frequency converter matching with the second frame subsequently stings steel current changing signalFinish the trace routine of the first tracing area initial as next tracing area trace routinePoint; Four, rolled piece enters current tracing area along the direction of motion by last tracing area, described in rollThe cascade input signal that part Position Tracking Control module is sent according to last tracing area and with work asThe steel current changing signal of stinging that the frequency converter that front tracing area input frame matches sends opensMoving rolled piece is in the position calculation of current tracing area, and by the actual position value of rolled piece respectively with work asThe current tension adjustment interval of front tracing area is compared with current zero current sampling interval positional value; Five, rolled piece arrives current tracing area tail end, finishes rolled piece in current tracing areaPosition calculation, a described rolled piece Position Tracking Control module backward tracing area sends directly linkSignal is with the trace routine of a tracing area after opening, subsequently according to exporting with current tracing areaThe steel current changing signal of stinging that the frequency converter that terminal frame matches sends finishes current tracing areaTrace routine and as the starting point of a rear tracing area trace routine; Six, rolled piece is along fortuneMoving direction enters last tracing area, and described rolled piece Position Tracking Control module is according to last frameThe cascade input signal that tracing area before sends and the frequency converter matching with last frameThe steel current changing signal of stinging sending starts the in the end position calculation of tracing area of rolled piece, and willCompared with the interval positional value of last tension adjustment of the actual position value of rolled piece and last tracing area; Seven, rolled piece arrives last tracing area tail end, finishes the trace routine of rolled piece in finish rolling district.
In technique scheme, the actual position value of described rolled piece comprise respectively workpiece front end andActual position value in the each comfortable tracing area of rolled piece afterbody, wherein, in step 2, when rollingPart head enters the first tracing area, and described rolled piece Position Tracking Control module is first calculated rolled piece headPortion is in the position of the first tracing area, and by the actual position value of workpiece front end and the first tracking areaThe first zero current sampling interval positional value in territory is compared; In step 3, workpiece front end arrivesThe first tracing area tail end, finishes the position calculation of workpiece front end in the first tracing area, instituteState rolled piece Position Tracking Control module and send directly link signal to open to next tracing areaThe trace routine of next tracing area to workpiece front end, subsequently according to matching with the second frameThe steel current changing signal of stinging that frequency converter sends finishes workpiece front end following at the first tracing areaTrack program and as workpiece front end the starting point at next tracing area trace routine; In stepIn four, workpiece front end enters current tracing area along the direction of motion by last tracing area, described inThe cascade input signal that rolled piece Position Tracking Control module is sent according to last tracing area and withWhat the frequency converter that current tracing area input frame matches sent stings steel current changing signalStart the position calculation of workpiece front end at current tracing area, and by the physical location of workpiece front endValue is and current zero current sampling interval interval with the current tension adjustment of current tracing area respectivelyPositional value is compared; In step 5, workpiece front end arrives current tracing area tail end, finishesThe position calculation of workpiece front end in current tracing area, described rolled piece Position Tracking Control moduleA tracing area sends directly link signal to open a rear tracing area to workpiece front end backwardTrace routine, send out according to the frequency converter matching with current tracing area output frame subsequentlySend sting steel current changing signal finish workpiece front end at the trace routine of current tracing area, alsoStarting point as workpiece front end at a rear tracing area trace routine; In step 6, rolled pieceHead enters last tracing area along the direction of motion, described rolled piece Position Tracking Control module basisThe cascade input signal that tracing area before last frame sends and matching with last frameThe steel current changing signal stung that sends of frequency converter start in the end tracing area of workpiece front endPosition calculation, and the actual position value of workpiece front end and the last tension force of last tracing area are adjustedSaving interval positional value compares; In step 7, workpiece front end arrives last tracing area tail end,Finish the trace routine of workpiece front end in finish rolling district.
In technique scheme, before step 1, first start finishing mill, then initializeCold/hot metal detector and rolled piece Position Tracking Control module, more respectively to workpiece front end and rolled piece tailThe positional value of portion carries out assignment, and wherein, workpiece front end assignment is 0, and the assignment of rolled piece afterbody isFrame actual pitch.
In technique scheme, in step 3, by the frequency converter matching with the second frameSend sting steel current changing signal as workpiece front end at next tracing area trace routineAfter starting point, described rolled piece Position Tracking Control module is calculated rolled piece afterbody at the first tracing areaPosition, when rolled piece afterbody arrives the first tracing area tail end, described rolled piece Position Tracking ControlModule is each self-corresponding physical location in the first tracing area to workpiece front end and rolled piece afterbodyCascade signal in value and the first tracing area resets, and finishes rolled piece at the first tracing areaTrace routine; In step 5, by the frequency conversion matching with current tracing area output frameDevice send sting steel current changing signal as workpiece front end at a rear tracing area trace routineStarting point after, described rolled piece Position Tracking Control module is calculated rolled piece afterbody at current tracking areaThe position in territory, when rolled piece afterbody arrives current tracing area tail end, control is followed the tracks of in described rolled piece positionMolding piece is each self-corresponding actual bit in current tracing area to workpiece front end and rolled piece afterbodyCascade signal in the value of putting and current tracing area resets, and finishes rolled piece at current tracing areaTrace routine; In step 7, finish workpiece front end after the trace routine in finish rolling district, instituteState rolled piece Position Tracking Control module and calculate the in the end position of tracing area of rolled piece afterbody, when rollingPart afterbody arrives last tracing area tail end, and described rolled piece Position Tracking Control module is to rolled piece headPortion and rolled piece afterbody be each self-corresponding actual position value and heel in tracing area in the endCascade signal in track region resets, and finishes the trace routine of rolled piece in finish rolling district.
Section bar hot finisher rolled piece position tracking device of the present invention and tracking, toolThere is following beneficial effect: in section bar hot finisher rolled piece position tracking device of the present invention, instituteThe spacing of stating between adjacent frame 2 is 5m, and described tension adjustment is interval defeated with tracing area 3Enter the distance of frame 2 of end between 0.5～2m, described zero current sampling interval and tracking areaThe distance of the frame 2 of territory 3 inputs between 3～4.5m, this be tension adjustment interval withThe positional value of zero current sampling interval. Because tension adjustment is interval and the position of zero current sampling intervalPut and be not to determine by the absolute position with respect to entrance the first work housing, but by each workMake the Relative position determination of frame zoning, dividing by frame on the basis of tracing area,Utilize the self-defining tracking window defencive function of each tracing area (to define having of tracking signalEffect scope, within the scope of this, tracking signal is effective, otherwise invalidating signal, such as rolled piece reality existsBetween 2 and No. 3 frames, at this moment because making No. 5 frame generation currents, certain external interference changesSting steel signal, this algorithm is ignored this interfering signal, ensures that the tracking signal of rolled piece still existsBetween 2 and No. 3 frames, normally calculate), realize and causing stinging steel signal and heat because of external disturbanceIn the situation of metal detection unit Signal Fail, still keep the continuous function of tracking signal, realizeIn the operation of rolling, tension force regulates continuously, has improved the position tracking precision of rolled piece, has reduced artificialThe number of times of intervening.
In the time of current tracing area tracking signal error detection, can be automatically according to last tracking area letterNumber and gantry speed automatically carry out the rolled piece position Continuous Tracking of one's respective area, at next tracing areaAfter tracking signal is normal, rolled piece tracking error is carried out to automatic calibration.
Meanwhile, set up rolled piece in finish rolling district by cascade input signal and directly link signalFront and back logic linkage relationship, go up a tracing area and do not send cascade tracking signal, nextTracing area can only not set up the tracking of this tracing area according to stinging steel current changing signal, and canWith judge rolled piece state in this tracing area (rolled piece has 5 kinds of states, 1, this trackingRegion does not have rolled piece; 2, workpiece front end is at this tracing area; 3, rolled piece middle part is at this tracking areaTerritory; 4, rolled piece afterbody is at this tracing area; 5, last rolled piece afterbody and a rear workpiece front end are sameShi Ben tracing area), in the time having more than 2 or 2 rolled piece in finish rolling district simultaneously, canTrace into respectively the position of each independent rolled piece in frame by this signal, this is traditional rolled pieceTracking mode cannot realize.
The present invention is workable, not only can greatly improve section bar hot fine rolling district rolled piece trackingPrecision can reduce because of tension adjustment the lost efficacy steel scrap or the device damage thing that cause simultaneouslyTherefore, reduce cost of labor and security incident incidence, improve hot-rolled profile output, increaseSection bar hot rolling mill economic benefit.
Brief description of the drawings
Fig. 1 is the on-the-spot structure chart of rolling of the rolling load electric current mnemonics of prior art;
Fig. 2 is the rolled piece physical location trace flow figure of prior art;
Fig. 3 is prior art workpiece front end is adopted with tension adjustment interval and zero current respectivelyThe workflow diagram of the interval position setting value comparison of sample;
Fig. 4 is automated network in section bar hot finisher rolled piece position tracking device of the present inventionConfiguration structure;
Fig. 5 is the on-the-spot knot of the rolling of section bar hot finisher rolled piece position tracking device of the present inventionComposition;
Fig. 6 is the rolled piece actual bit of section bar hot finisher rolled piece location tracking method of the present inventionPut trace flow figure;
Fig. 7 be section bar hot finisher rolled piece location tracking method of the present invention by workpiece front endThe workflow of and zero current sampling interval position setting value comparison interval with tension adjustment respectivelyFigure.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail, but this enforcementExample should not be construed as limitation of the present invention.
Existing section bar hot finisher rolled piece position tracking device and track side in Fig. 1 to Fig. 3Method is existing description in background technology, do not repeat them here.
Referring to Fig. 4 to Fig. 5, section bar hot finisher rolled piece position tracking device of the present invention, bagDraw together finish rolling district 1, frame 2, tracing area 3, cold/hot metal detector 4, frequency converter 5, man-machineInterface LAN 6, high performance controller 7, man-machine interface server 8, local control panel 9,Work station 10, process data inquiry unit 11, logger network 12, secondary LAN 13With Engineering Control local net 14.
Described frame 2 has multiple, sets gradually and is positioned at finish rolling district along rolled piece 15 directions of motionIn 1. Between adjacent frame 2, be provided with tracing area 3, the first frames 2.1 and the second frame 2.2Between the first tracing area 3.1 in and last tracing area 3.5 after last frame 2.3Be respectively equipped with zero current sampling interval and tension adjustment interval, all the other tracing areas 3 are interior along rolled piece15 traffic directions are disposed with tension adjustment interval and zero current sampling interval. In finish rolling district 1Porch is provided with cold/hot metal detector 4, and each frame 2 couplings have frequency converter 5, also comprise logicalCross high performance controller 7, man-machine interface server 8 and that man-machine interface LAN 6 is connectedLocal control panel 9.
In described high performance controller 7, be provided with rolled piece Position Tracking Control module, work as workpiece front end15.1 while entering the first frame 2.1 along the direction of motion, described rolled piece Position Tracking Control module byThe frequency converter 5 that detects the cold/hot metal detector 4 of rolled piece 15 and match with the first frame 2.1The steel current changing signal of stinging sending starts, when rolled piece 15 enters after the first tracing area 3.1,Described rolled piece Position Tracking Control module is calculated workpiece front end 15.1 at the first tracing area 3.1Position, and by the 1 of the actual position value of workpiece front end 15.1 and the first tracing area 3.1The interval 3.1.1 positional value of current sample is compared, in the present embodiment, and described adjacent frame 2Between spacing be 5m, the frame of described tension adjustment zone distance tracing area 3 inputs2 distance is between 0.5～2m, and described zero current sampling interval is inputted apart from tracing area 3The distance of the frame 2 of end is between 3～4.5m, and this is, and tension adjustment is interval adopts with zero currentThe positional value in sample interval. In the time that workpiece front end 15.1 arrives the first tracing area 3.1 tail end, instituteState rolled piece Position Tracking Control module and send directly link signal to open to next tracing area 3Open the trace routine of next tracing area 3, subsequently according to the change matching with the second frame 2.2What frequently device 5 sent sting trace routine that steel current changing signal finishes the first tracing area 3.1,And as the starting point of next tracing area 3 trace routine, follow described rolled piece position and follow the tracks of controlMolding piece calculates rolled piece afterbody 15.2 in the position of the first tracing area 3.1, when rolled piece afterbody15.2 arrive the first tracing area 3.1 tail ends, and described rolled piece Position Tracking Control module is to rolled pieceHead 15.1 and rolled piece afterbody 15.2 are in the interior each self-corresponding actual bit of the first tracing area 3.1Cascade signal in the value of putting and the first tracing area 3.1 resets, and finishes rolled piece 15 firstThe trace routine of tracing area 3.1. When workpiece front end 15.1 along the direction of motion by last tracking areaWhen territory 3.2 enters current tracing area 3.3, described rolled piece Position Tracking Control module is according to frontThe cascade input signal that one tracing area 3.2 sends and input terminal with current tracing area 3.3What the frequency converter 5 that frame 2 matches sent stings steel current changing signal startup workpiece front end 15.1In the position calculation of current tracing area 3.3, and the actual position value of workpiece front end 15.1 is dividedDo not sample with the interval 3.3.1 of current tension adjustment and the current zero current of current tracing area 3.3Interval 3.3.2 positional value is compared, when workpiece front end 15.1 arrives current tracing area 3.3 tailsWhen end, a described rolled piece Position Tracking Control module backward tracing area 3.4 sends directly linkSignal is to open the trace routine of a tracing area 3.4 afterwards, subsequently basis and current tracing areaWhat the frequency converter 5 that 3.3 output frames 2 match sent sting, and steel current changing signal finishes to work asThe trace routine of front tracing area 3.3 rising as rear tracing area 3.4 trace routinesInitial point, then, described rolled piece Position Tracking Control module is calculated rolled piece afterbody 15.2 currentThe position of tracing area 3.3, when rolled piece afterbody 15.2 arrives current tracing area 3.3 tail ends,Described rolled piece Position Tracking Control module to workpiece front end 15.1 and rolled piece afterbody 15.2 currentLevel in the interior each self-corresponding actual position value of tracing area 3.3 and current tracing area 3.3Connection signal resets, and finishes the trace routine of rolled piece 15 at current tracing area 3.3. Work as rolled pieceWhen head 15.1 enters last tracing area 3.5 along the direction of motion, control is followed the tracks of in described rolled piece positionThe cascade input signal that molding piece sends according to the tracing area 3 before last frame 2.3 and withWhat the frequency converter 5 that last frame 2.3 matches sent stings steel current changing signal startup rolled piece headPortion 15.1 is the position calculation of tracing area 3.5 in the end, and by the reality of workpiece front end 15.1Positional value is compared with the interval 3.5.1 positional value of last tension adjustment of last tracing area 3.5.
Described work station 10 is for programming, and described work station 10 is by Engineering Control local net14 are connected with the rolled piece Position Tracking Control module being built in high performance controller 7. InstituteStating high performance controller 7 has two, between two high performance controllers 7, passes through ECO engineering control officeTerritory net 14 is connected. Also comprise the process data inquiry unit 11 for inquiring about creation data,Described process data inquiry unit 11 is connected with high performance controller 7 by logger network 12Logical. Described high performance controller 7 is by secondary LAN 13 and for factory's report, the production scheduleBe connected with the factory management level two (not shown) of row's table.
Described section bar hot finisher rolled piece position tracking device adopts CONVERTEAM public affairsThe high performance controller 7 (HPC, high-performancecontroller) of department, high performance controlDevice 7 be one based on standard VME(VersaModuleEurocard) calculating of bus standardThe real-time disposal of multi-tasks device of machine, fast response time, disposal ability are strong. Its CPU (centreReason unit) high primary frequency can reach 1.8GHz, the program scanning time only needs 1ms, can be wellMeet the multi-process of finishing mill control, the requirement of response fast.
The programming tool of rolled piece Position Tracking Control module is the exploitation of CONVERTEAM companyThe programming software P80i based on HPC, this software main feature is as follows:
1, program structure is followed IEC(InternationalElectrotechnicalCommission,International Electrotechnical Commission) standard;
2, functional block (FunctionBlock) programming mode;
3, variable addressing and name are easily;
4, powerful off-line simulation function;
5, on-line monitoring function.
Each high performance controller 7 comprises that some function control block (FCB)s (Resource) are to realize notCongenerous, rolled piece Position Tracking Control module is a function control of high performance controller 7Piece, section bar hot finisher rolled piece position tracking device comprises 2 high performance controllers 7 altogether(HPC, high-performancecontroller), 1 work station 10(WorkStation),2 man-machine interface servers 8(HMIServer, HumanMachineInterfaceServer),7 playscript with stage directions ground control panel 9(LocalPanel, because figure meta is equipped with limit, have only drawn FirstWith the 7th playscript with stage directions ground control panel), 1 process data inquiry unit 11(PDA, ProcessDataAqusition), described high performance controller 7, work station 10, man-machine interface server8, local control panel 9 and process data inquiry unit 11 are by 4 grades of network services, 4 gradesNetwork is respectively man-machine interface LAN 6(HMI_LAN), Engineering Control local net 14(ENG_LAN), secondary LAN 13(LEVEL2_LAN), logger network 12（IBA_LAN）。
Referring to Fig. 6 to Fig. 7, section bar hot finisher rolled piece location tracking method of the present invention, bagDraw together following steps:
One, start finishing mill (not shown), initialize cold/hot metal detector 4 and rolled piecePosition Tracking Control module, the respectively positional value to workpiece front end 15.1 and rolled piece afterbody 15.2Carry out assignment, wherein, workpiece front end 15.1 assignment are 0, and the assignment of rolled piece afterbody 15.2 isFrame 2 actual pitch.
Two, rolled piece 15 enters finish rolling district 1 along the direction of motion, and described cold/hot metal detector 4 is visitedSurvey rolled piece 15, when workpiece front end 15.1 enters the first frame 2.1 and the first frame 2.1 matchFrequency converter 5 send and sting steel current changing signal, described cold/hot metal detector 4 and sting steel electric currentVariable signal starts rolled piece Position Tracking Control module.
Three,, when workpiece front end 15.1 enters the first tracing area 3.1, follow the tracks of described rolled piece positionControl module is first calculated the position of workpiece front end 15.1 at the first tracing area 3.1, and by rolled pieceThe first zero current sampling interval of the actual position value of head 15.1 and the first tracing area 3.13.1.1 positional value is compared.
Four, workpiece front end 15.1 arrives the first tracing area 3.1 tail ends, finishes workpiece front end15.1 position calculation in the first tracing area 3.1, described rolled piece Position Tracking Control moduleSend directly link signal to open next tracing area 3 to rolled piece head to next tracing area 3The trace routine of portion 15.1, basis sends with the frequency converter 5 that the second frame 2.2 matches subsequentlyThe steel current changing signal of stinging finish the tracking journey of workpiece front end 15.1 at the first tracing area 3.1Order and as workpiece front end 15.1 starting point at next tracing area 3 trace routine, instituteState rolled piece Position Tracking Control module and calculate the position of rolled piece afterbody 15.2 at the first tracing area 3.1Put, when rolled piece afterbody 15.2 arrives the first tracing area 3.1 tail ends, follow the tracks of described rolled piece positionControl module is interior each at the first tracing area 3.1 to workpiece front end 15.1 and rolled piece afterbody 15.2Cascade signal in self-corresponding actual position value and the first tracing area 3.1 resets, and finishesRolled piece 15 is at the trace routine of the first tracing area 3.1.
Five, workpiece front end 15.1 enters current tracking along the direction of motion by last tracing area 3.2Region 3.3, described rolled piece Position Tracking Control module is sent according to last tracing area 3.2Cascade input signal and the frequency converter 5 matching with current tracing area 3.3 input frames 2The steel current changing signal of stinging sending starts the position of workpiece front end 15.1 at current tracing area 3.3Put calculating, and by the actual position value of workpiece front end 15.1 respectively with current tracing area 3.3The interval 3.3.1 of current tension adjustment and current zero current sampling interval 3.3.2 positional value are compared.
Six, workpiece front end 15.1 arrives current tracing area 3.3 tail ends, finishes workpiece front end15.1 position calculation in current tracing area 3.3, described rolled piece Position Tracking Control moduleA tracing area 3.4 sends directly link signal to open a rear tracing area 3.4 to rolling backwardThe trace routine of part head 15.1, subsequently basis and current tracing area 3.3 output frames 2What the frequency converter 5 matching sent sting, and steel current changing signal finishes workpiece front end 15.1 is working asThe trace routine of front tracing area 3.3 and as workpiece front end 15.1 at a rear tracing areaThe starting point of 3.4 trace routines, described rolled piece Position Tracking Control module is calculated rolled piece afterbody15.2 in the position of current tracing area 3.3, when rolled piece afterbody 15.2 arrives current tracing area3.3 tail ends, described rolled piece Position Tracking Control module is to workpiece front end 15.1 and rolled piece afterbody15.2 at the interior each self-corresponding actual position value of current tracing area 3.3 and current tracing areaCascade signal in 3.3 resets, and finishes the trace routine of rolled piece 15 at current tracing area 3.3.
Seven, workpiece front end 15.1 enters last tracing area 3.5, described rolled piece along the direction of motionThe tandem that Position Tracking Control module is sent according to the tracing area 3 before last frame 2.3Enter signal and sting steel current changing signal with the frequency converter 5 that last frame 2.3 matches sendsStart the in the end position calculation of tracing area 3.5 of workpiece front end 15.1, and by workpiece front endThe interval 3.5.1 of the last tension adjustment position of 15.1 actual position value and last tracing area 3.5The value of putting is compared.
Eight, workpiece front end 15.1 arrives last tracing area 3.5 tail ends, finishes workpiece front end15.1 trace routines in finish rolling district 1, described rolled piece Position Tracking Control module is calculated rolled piece tailPortion 15.2 is the position of tracing area 3.5 in the end, when rolled piece afterbody 15.2 arrives last trackingRegion 3.5 tail ends, described rolled piece Position Tracking Control module is to workpiece front end 15.1 and rolled piece tailPortion 15.2 is the interior each self-corresponding actual position value of tracing area 3.5 and last tracking area in the endCascade signal in territory 3.5 resets, and finishes the trace routine of rolled piece 15 in finish rolling district 1.
In section bar hot finisher rolled piece position tracking device of the present invention and tracking, eachThe calculating of tracing area 3 is all independently carried out, and completes at the trace routine of last tracing area 3.2After, send cascade input signal CASC_IN to current tracing area 3.3, current tracking areaAfter has calculated in territory 3.3, send directly link signal CASC_OUT to a rear tracing area3.4, rolled piece 15 trace routines after starting in a tracing area 3.4. Stinging in track algorithmSteel current changing signal (being again external trace end signal) EXT_END is actual trackingRegion 3 end signals, described in sting steel current changing signal EXT_END can be to tracing area 3Cascade signal CASC_IN and CASC_OUT proofread and correct. By calculating, Ke YizhiWorkpiece front end 15.1(HEAD_POS signal in the each tracing area 3 in road) and rolled piece tailThe relative position of portion 15.2 in this tracing area 3. By the rolled piece in each tracing area 3The relative position of head 15.1 and rolled piece afterbody 15.2, with all above tracing area 3Total length adds up, and just can obtain workpiece front end 15.1 relative respectively with rolled piece afterbody 15.2In the absolute position of the first frame 2.1.
In addition, described rolled piece Position Tracking Control module can also be passed through cascade signal CASC_INSet up the front and back logic linkage relationship of rolled piece 15 in frame 2 with CASC_OUT,Last tracing area 3.2 does not send cascade signal, not basis only of current tracing area 3.3Sting steel current changing signal and set up the tracking of current tracing area 3.3, and can judge currentRolled piece 15 states of tracing area 3.3 (rolled piece 15 has 5 kinds of states, and 1, current trackingRegion 3.3 does not have rolled piece 15; 2, workpiece front end 15.1 is at current tracing area 3.3; 3, rollPart 15 middle parts are at current tracing area 3.3; 4, rolled piece afterbody 15.2 is at current tracing area 3.3;5, last rolled piece afterbody 15.2 and a rear workpiece front end 15.1 are simultaneously at current tracing area 3.3),And, can be by cascade have more than 2 or 2 rolled pieces 15 in finishing mill time simultaneouslySignal traces into respectively each independent rolled piece 15 position of 3 in tracing area, and this is traditionRolled piece tracking mode cannot realize.
The most important thing is tension adjustment interval and the zero current sampling interval of each tracing area 3Can independently operate by rolled piece Position Tracking Control module, not be subject to the shadow of other tracing areas 3Ring, i.e. the independent actual position value HEAD_POS that calculates workpiece front end 15.1, and independentlyThe actual position value of workpiece front end 15.1 is adjusted with the forward pull of working as of current tracing area 3.3 respectivelySave interval 3.3.1 and current zero current sampling interval 3.3.2 positional value is compared. Even like this certainOne tracing area 3 cannot carry out tension adjustment and electric current because external factor causes following the tracks of losing efficacySampling, enters next tracing area 3 and makes after tracking signal recovery normally at rolled piece 15, stillCan continue tension adjustment and the current sample process of tracing area 3 below, with prior art phaseRatio, the time of significantly having reduced manual intervention, has improved production efficiency, and has made rolled piece15 dimensional accuracy and lumber recovery are also greatly improved.
Obviously, those skilled in the art can carry out various changes and modification and not to the present inventionDepart from the spirit and scope of the present invention. Like this, if these amendments of the present invention and modification belong toWithin the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise theseChange and modification are interior.
It is known that the content not being described in detail in this description belongs to professional and technical personnel in the fieldPrior art.
Claims (10)
1. a section bar hot finisher rolled piece position tracking device, comprises along rolled piece (15)The direction of motion sets gradually and is positioned at multiple frames (2) in finish rolling district (1), adjacent frame(2) between, be provided with tracing area (3), the first frame (2.1) and the second frame (2.2) itBetween the first tracing area (3.1) in and last tracing area after last frame (2.3)(3.5) be respectively equipped with zero current sampling interval and tension adjustment interval, all the other tracing areas (3)Interiorly be disposed with the interval and zero current sampling interval of tension adjustment along rolled piece (15) traffic direction,Be provided with cold/hot metal detector (4) in porch, finish rolling district (1), each frame (2) coupling hasFrequency converter (5), also comprises the high performance control being connected by man-machine interface LAN (6)Device (7), man-machine interface server (8) and local control panel (9), is characterized in that:In described high performance controller (7), be provided with rolled piece Position Tracking Control module,
In the time that rolled piece (15) enters the first frame (2.1) along the direction of motion, described rolled piece positionPut and follow the tracks of control module by detecting the cold/hot metal detector (4) of rolled piece (15) and with firstWhat the frequency converter (5) that frame (2.1) matches sent stings the startup of steel current changing signal, whenRolled piece (15) enters after the first tracing area (3.1), described rolled piece Position Tracking Control mouldPiece calculates rolled piece (15) in the position of the first tracing area (3.1), and by rolled piece (15)Actual position value and the first zero current sampling interval (3.1.1) of the first tracing area (3.1)Positional value is compared, in the time that rolled piece (15) arrives the first tracing area (3.1) tail end, and instituteState rolled piece Position Tracking Control module to next tracing area (3) send directly link signal withOpen the trace routine of next tracing area (3), subsequently basis and the second frame (2.2) phaseThe steel current changing signal of stinging that the frequency converter (5) of coupling sends finishes the first tracing area (3.1)Trace routine and as the starting point of next tracing area (3) trace routine;
When rolled piece (15) enters current tracking along the direction of motion by last tracing area (3.2), described rolled piece Position Tracking Control module is according to last tracing area (3.2) when in the region (3.3)The cascade input signal sending and with current tracing area (3.3) input frame (2) mutuallyThe steel current changing signal startup rolled piece (15) of stinging of frequency converter (5) transmission of joining is followed currentThe position calculation in track region (3.3), and by the actual position value of rolled piece (15) respectively with work asThe current tension adjustment interval (3.3.1) of front tracing area (3.3) and the sampling of current zero currentInterval (3.3.2) positional value is compared, when rolled piece (15) arrives current tracing area (3.3)When tail end, a described rolled piece Position Tracking Control module backward tracing area (3.4) sends levelConnection output signal is with the trace routine of a tracing area (3.4) after opening, subsequently according to work asWhat the frequency converter (5) that front tracing area (3.3) output frame (2) matches sent stingsSteel current changing signal finishes the trace routine of current tracing area (3.3) and as rear oneThe starting point of tracing area (3.4) trace routine;
In the time that rolled piece (15) enters last tracing area (3.5) along the direction of motion, described in rollPart Position Tracking Control module is sent according to last frame (2.3) tracing area (3) beforeCascade input signal and stinging of sending of the frequency converter (5) that matches with last frame (2.3)Steel current changing signal starts the in the end position calculation of tracing area (3.5) of rolled piece (15),And the actual position value of rolled piece (15) and the last tension force of last tracing area (3.5) are adjustedInterval (3.5.1) positional value of joint is compared.
2. section bar hot finisher rolled piece position tracking device according to claim 1,It is characterized in that: also comprise the work station (10) for programming, described work station (10) is logicalCross Engineering Control local net (14) and be built in the rolled piece position in high performance controller (7)Tracking control module is connected.
3. section bar hot finisher rolled piece position tracking device according to claim 2,It is characterized in that: described high performance controller (7) has two two high performance controllers (7)Between be connected by Engineering Control local net (14).
4. section bar hot finisher rolled piece position tracking device according to claim 1,It is characterized in that: also comprise the process data inquiry unit (11) for inquiring about creation data,Described process data inquiry unit (11) is by logger network (12) and high performance controller(7) be connected.
5. according to the section bar hot finisher rolled piece position described in any one in claim 1 to 4Put tracking means, it is characterized in that: described high performance controller (7) is by secondary LAN(13) with for factory's report, the production schedule and the factory management level two of row's table be connected.
6. according to the section bar hot finisher rolled piece position described in any one in claim 1 to 4Put tracking means, it is characterized in that: the actual position value of described rolled piece (15) comprises and rolling respectivelyActual bit in part head (15.1) and the each comfortable tracing area of rolled piece afterbody (15.2) (3)The value of putting.
7. one kind is utilized section bar hot finisher rolled piece position tracking device described in claim 1Tracking, it is characterized in that: comprise the steps:
One, rolled piece (15) enters finish rolling district (1), described cold/hot metal detector along the direction of motion(4) survey rolled piece (15), when rolled piece (15) enters the first frame (2.1) and the first machineThe frequency converter (5) that frame (2.1) matches sends stings steel current changing signal, described thermometalDetector (4) and sting steel current changing signal and start rolled piece Position Tracking Control module;
Two, rolled piece (15) enters the first tracing area (3.1), and control is followed the tracks of in described rolled piece positionMolding piece calculates rolled piece (15) in the position of the first tracing area (3.1), and by rolled piece (15)Actual position value and the first zero current sampling interval (3.1.1) of the first tracing area (3.1)Positional value is compared;
Three, rolled piece (15) arrives the first tracing area (3.1) tail end, finishes rolled piece (15)Position calculation in the first tracing area (3.1), described rolled piece Position Tracking Control moduleSend directly link signal to open next tracing area (3) to next tracing area (3)Trace routine, sends according to the frequency converter (5) matching with the second frame (2.2) subsequentlySting trace routine that steel current changing signal finishes the first tracing area (3.1), and as underThe starting point of one tracing area (3) trace routine;
Four, rolled piece (15) enters current following along the direction of motion by last tracing area (3.2)Track region (3.3), described rolled piece Position Tracking Control module is according to last tracing area (3.2)The cascade input signal sending and with current tracing area (3.3) input frame (2) mutuallyThe steel current changing signal startup rolled piece (15) of stinging of frequency converter (5) transmission of joining is followed currentThe position calculation in track region (3.3), and by the actual position value of rolled piece (15) respectively with work asThe current tension adjustment interval (3.3.1) of front tracing area (3.3) and the sampling of current zero currentInterval (3.3.2) positional value is compared;
Five, rolled piece (15) arrives current tracing area (3.3) tail end, finishes rolled piece (15)Position calculation in current tracing area (3.3), described rolled piece Position Tracking Control moduleA tracing area (3.4) sends directly link signal with a tracing area (3.4) after opening backwardTrace routine, subsequently according to and current tracing area (3.3) output frame (2) mutuallyThe steel current changing signal of stinging that the frequency converter (5) of joining sends finishes current tracing area (3.3)Trace routine and as the starting point of a rear tracing area (3.4) trace routine;
Six, rolled piece (15) enters last tracing area (3.5), described rolled piece along the direction of motionPosition Tracking Control module is sent according to last frame (2.3) tracing area (3) beforeWhat cascade input signal and the frequency converter (5) matching with last frame (2.3) sent stings steelCurrent changing signal starts the in the end position calculation of tracing area (3.5) of rolled piece (15),And the actual position value of rolled piece (15) and the last tension force of last tracing area (3.5) are adjustedInterval (3.5.1) positional value of joint is compared;
Seven, rolled piece (15) arrives last tracing area (3.5) tail end, finishes rolled piece (15)At the trace routine of finish rolling district (1).
8. tracking according to claim 7, is characterized in that: described rolled piece (15)Actual position value comprise respectively workpiece front end (15.1) and the each leisure of rolled piece afterbody (15.2)Actual position value in tracing area (3),
Wherein, in step 2, when workpiece front end (15.1) enters the first tracing area (3.1),Described rolled piece Position Tracking Control module is first calculated workpiece front end (15.1) at the first tracing area(3.1) position, and by the actual position value of workpiece front end (15.1) and the first tracing area(3.1) the first zero current sampling interval (3.1.1) positional value is compared;
In step 3, workpiece front end (15.1) arrives the first tracing area (3.1) tail end,Finish the position calculation of workpiece front end (15.1) in the first tracing area (3.1), described in rollPart Position Tracking Control module sends directly link signal to open to next tracing area (3)The trace routine of next tracing area (3) to workpiece front end (15.1), subsequently according to theThe steel current changing signal of stinging that the frequency converter (5) that two frames (2.2) match sends finishes to rollPart head (15.1) is at the trace routine of the first tracing area (3.1) and as workpiece front end(15.1) in the starting point of next tracing area (3) trace routine;
In step 4, workpiece front end (15.1) along the direction of motion by last tracing area (3.2)Enter current tracing area (3.3), described rolled piece Position Tracking Control module is according to last trackingThe cascade input signal that send in region (3.2) and with current tracing area (3.3) input terminalWhat the frequency converter (5) that frame (2) matches sent stings steel current changing signal startup workpiece front end(15.1) in the position calculation of current tracing area (3.3), and by workpiece front end (15.1)Actual position value respectively with the current tension adjustment interval (3.3.1) of current tracing area (3.3)Compare with current zero current sampling interval (3.3.2) positional value;
In step 5, workpiece front end (15.1) arrives current tracing area (3.3) tail end,Finish the position calculation of workpiece front end (15.1) in current tracing area (3.3), described in rollA part Position Tracking Control module backward tracing area (3.4) sends directly link signal to openThe trace routine of a tracing area (3.4) to workpiece front end (15.1) after opening, subsequently according toThe frequency converter (5) that current tracing area (3.3) output frame (2) matches sendsSting steel current changing signal and finish workpiece front end (15.1) following in current tracing area (3.3)Track program and as workpiece front end (15.1) at a rear tracing area (3.4) trace routineStarting point;
In step 6, workpiece front end (15.1) enters last tracing area along the direction of motion(3.5), described rolled piece Position Tracking Control module is according to the tracking before of last frame (2.3)The cascade input signal that send in region (3) and the frequency converter matching with last frame (2.3)(5) the steel current changing signal of stinging sending starts in the end tracking area of workpiece front end (15.1)The position calculation in territory (3.5), and by the actual position value of workpiece front end (15.1) and heelLast tension adjustment interval (3.5.1) positional value in track region (3.5) is compared;
In step 7, workpiece front end (15.1) arrives last tracing area (3.5) tail end,Finish the trace routine of workpiece front end (15.1) in finish rolling district (1).
9. tracking according to claim 8, is characterized in that: step 1 itBefore, first start finishing mill, then initialize cold/hot metal detector (4) and rolled piece position and follow the tracks ofControl module, then the positional value to workpiece front end (15.1) and rolled piece afterbody (15.2) respectivelyCarry out assignment, wherein, workpiece front end (15.1) assignment is 0, rolled piece afterbody (15.2)Assignment is frame (2) actual pitch.
10. tracking according to claim 8, is characterized in that: in step 3,What the frequency converter (5) matching with the second frame (2.2) was sent stings steel current changing signalAs workpiece front end (15.1) after the starting point of next tracing area (3) trace routine,Described rolled piece Position Tracking Control module is calculated rolled piece afterbody (15.2) at the first tracing area(3.1) position, when rolled piece afterbody (15.2) arrives the first tracing area (3.1) tail end,Described rolled piece Position Tracking Control module is to workpiece front end (15.1) and rolled piece afterbody (15.2)Each self-corresponding actual position value and the first tracing area in the first tracing area (3.1)(3.1) cascade signal in resets, and finishes rolled piece (15) in the first tracing area (3.1)Trace routine;
In step 5, will match with current tracing area (3.3) output frame (2)Frequency converter (5) send sting steel current changing signal as workpiece front end (15.1) rearAfter the starting point of one tracing area (3.4) trace routine, described rolled piece Position Tracking Control mouldPiece calculates rolled piece afterbody (15.2) in the position of current tracing area (3.3), when rolled piece afterbody(15.2) arrive current tracing area (3.3) tail end, described rolled piece Position Tracking Control moduleEach in current tracing area (3.3) to workpiece front end (15.1) and rolled piece afterbody (15.2)Cascade signal in self-corresponding actual position value and current tracing area (3.3) resets,Finish the trace routine of rolled piece (15) in current tracing area (3.3);
In step 7, finish the trace routine of workpiece front end (15.1) in finish rolling district (1)After, described rolled piece Position Tracking Control module is calculated in the end tracking area of rolled piece afterbody (15.2)The position in territory (3.5), when rolled piece afterbody (15.2) arrives last tracing area (3.5) tailEnd, described rolled piece Position Tracking Control module is to workpiece front end (15.1) and rolled piece afterbody (15.2)In the end each self-corresponding actual position value and last tracing area in tracing area (3.5)(3.5) cascade signal in resets, and finishes the tracking journey of rolled piece (15) in finish rolling district (1)Order.
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| CN105327948B (en) * | 2015-11-20 | 2018-07-24 | 广东韶钢松山股份有限公司 | Wire and rod continuous rolling control method |
| CN108568453B (en) * | 2018-05-17 | 2019-10-08 | 飞马智科信息技术股份有限公司 | The materiel tracking system and tracking of continuous rolling production line |
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Effective date of registration: 20170613 Address after: 430080 Wuhan, Hubei Qingshan District, Heping Avenue, No. 1244 Patentee after: General Electric (Wuhan) Automation Co., Ltd. Address before: 430080 Wuchang, Hubei Friendship Road, No. A, block, floor 999, 15 Co-patentee before: Wuhan Corfu moral Automation Co., Ltd Patentee before: Wuhan Iron & Steel (Group) Corp. |
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