EP2386365A1 - Méthode d'optimisation d'un processus de production biopharmaceutique - Google Patents

Méthode d'optimisation d'un processus de production biopharmaceutique Download PDF

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Publication number
EP2386365A1
EP2386365A1 EP10162135A EP10162135A EP2386365A1 EP 2386365 A1 EP2386365 A1 EP 2386365A1 EP 10162135 A EP10162135 A EP 10162135A EP 10162135 A EP10162135 A EP 10162135A EP 2386365 A1 EP2386365 A1 EP 2386365A1
Authority
EP
European Patent Office
Prior art keywords
control computer
band
finishing train
strip
point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP10162135A
Other languages
German (de)
English (en)
Inventor
Klaus Weinzierl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP10162135A priority Critical patent/EP2386365A1/fr
Priority to PCT/EP2011/053513 priority patent/WO2011138067A2/fr
Priority to RU2012152449/02A priority patent/RU2545872C2/ru
Priority to US13/696,376 priority patent/US9630227B2/en
Priority to EP11710447.1A priority patent/EP2566633B1/fr
Priority to CN201180022850.6A priority patent/CN102939173B/zh
Priority to BR112012028373A priority patent/BR112012028373A2/pt
Publication of EP2386365A1 publication Critical patent/EP2386365A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/74—Temperature control, e.g. by cooling or heating the rolls or the product
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D11/00—Process control or regulation for heat treatments
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D11/00—Process control or regulation for heat treatments
    • C21D11/005—Process control or regulation for heat treatments for cooling
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D8/00—Modifying the physical properties by deformation combined with, or followed by, heat treatment
    • C21D8/02—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips
    • C21D8/0221—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips characterised by the working steps
    • C21D8/0226—Hot rolling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2261/00—Product parameters
    • B21B2261/20—Temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B21B2275/04—Roll speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B21B2275/06—Product speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/46—Roll speed or drive motor control

Definitions

  • the present invention further relates to a computer program comprising machine code which is directly executable by a control computer for a finishing train for rolling a strip and whose execution by the control computer causes the control computer to operate the finishing train according to such an operating method.
  • the present invention further relates to a control computer for a finishing train for rolling a belt, wherein the control computer is designed such that it operates the finishing train according to such an operating method.
  • the present invention further relates to a finishing line for rolling a belt equipped with such a control computer.
  • a hot strip mill consists of at least one finishing train and one downstream of the finishing train cooling section.
  • the finishing train may be preceded by a roughing train - alternatively or in addition to the cooling section - or the finishing train may be preceded by a casting device.
  • the finishing train has a number of rolling stands.
  • the number of rolling stands can be determined as needed. As a rule, there are several rolling stands, for example four to seven rolling stands. In individual cases, however, only a single rolling stand can be present. For each roll stand - regardless of their number - a setpoint decrease is specified for every rolling pass to be performed. If several rolling stands are available, generally further input and / or outlet-side desired trains are specified. If only a single roll stand is present, input and / or outlet side predetermined tension can be specified. However, this is not mandatory.
  • One of the targets to be met on a hot strip mill is the final rolling temperature, that is, the temperature at which the strip exits the finishing train.
  • the final rolling temperature it is also possible to use another variable describing the energy content of the strip at this location, for example the enthalpy.
  • the target size should be kept as far as possible over the entire length of the tape.
  • the target size may alternatively be constant or vary along the length of the band.
  • the guide speed of the finishing train is usually adjusted accordingly.
  • the guide speed is a speed, from which - possibly in conjunction with the to be set in the finishing line Stichabtments and Sollseen - the occurring within the finishing line strip and roller peripheral velocities are clearly determined.
  • it may be a fictitious speed of the tape head or the speed of the first rolling stand of the finishing train.
  • the guide speed can be defined, for example, as a function as a location of the tape head.
  • actuators act - as well as cooling devices of the cooling section - only locally on the tape. In the context of the present invention, however, the presence of these other actuators is of minor importance.
  • Crucial factors are the conduction velocity (or a variable which is characteristic of the conduction velocity, for example the mass flow) and their determination.
  • the finishing train is usually arranged downstream of a cooling section.
  • the strip In the cooling section, the strip is cooled in a defined manner to a reel temperature (or enthalpy).
  • the speed at which the belt passes through the cooling section is determined by the guide speed.
  • the adjustment of the required for the individual band points Abkühlverdocument carried out in that the tape points are tracked away and control valves of the cooling devices of the cooling section, which adjust the flow of coolant flow, are controlled in a timely manner.
  • the control valves have in practice considerable delay times, which are often in the order of several seconds. In order to be able to control the control valves in good time, it is therefore necessary to be on time knowing in advance when a certain band point is within the control of a particular cooling device. In order to calculate exactly when a certain band point enters this influence area and when it exits from it, it is necessary to know not only the instantaneous value of the master speed, but also the future course of the master speed, at least within the delay time of the control valves. In addition, the cycle time as such, ie the time required by the respective band point for passing through the cooling section, also influences the reel temperature. The cycle time is - of course - influenced by the course of the conduction velocity.
  • 09 171 068.1 (Filing date 23.09.2009) describes a model predictive control, which regulates a finishing train and a cooling section together by means of a forecast.
  • the mass flow is predicted.
  • This approach requires coolant quantities output by actuators of the cooling section, to determine the mass flow. Furthermore, the mass flow is always readjusted immediately. Therefore, this approach does not solve the problem of reliably determining a conduction velocity history in advance.
  • the object of the present invention is to provide opportunities to be able to reliably determine, in a reliable manner, even before the arrival of a band point in the finishing train, the guide variable not only for this band point, but also for band points entering the finishing line after this band point.
  • control computer can, for example, carry out a weighted or unweighted averaging.
  • control computer to determine the effective actual size and the effective target size make a weighted or unweighted averaging.
  • the target function additionally receives a penalty, by means of which changes in the guide speed are punished.
  • the actual size and the desired size of the points already entered the finishing line are received for each master in their determination only if these tape points at the time for which the respective guide is determined, not from the finishing train have leaked.
  • the actual and nominal values of all band points, which are located at the time when the determined band point enters the finishing train in the finishing train can be included in the determination of the reference variable for a specific band point.
  • control computer compares the expected energy content with the actual energy content and tracks the control values
  • control computer tracks the guiding variables
  • control computer takes into account the changed course of the characteristic variable when determining expectation variables.
  • control computer carries out the tracking for all already determined control variables.
  • control computer automatically tracks only those reference variables which were determined for band points which have a minimum distance at the time of tracking from the entrance of the finishing train.
  • This procedure is particularly advantageous if the control computer or another control device uses the determined control variables to determine at least one further control variable and the further control variable ⁇ e is delayed by a dead time and acts only locally on the belt. This procedure is optimal if the minimum distance is determined in such a way that a time difference corresponding to the minimum distance is at least as long as the dead time.
  • control computer can - of course - adapt the determination rule for as yet unidentified control variables as such.
  • adaptation result can already be used to determine further parameters of the same Band or only when determining reference values for subsequent bands.
  • the two last-mentioned procedures - keyword "tracking already determined parameters" on the one hand and "adapting the determination rule" on the other hand for example, be coupled to each other such that the control computer comprises a model of the finishing train, is determined by means of which temperature for a band point on the outlet side of the finishing train is expected when the respective band point upstream of the finishing train has a given temperature and passes through the finishing train while the finishing train is operated at a given guide speed.
  • the model can be adapted immediately. This corresponds to the adaptation of the investigation rule.
  • the guide variable is newly determined using the adapted model of the finishing train. In terms of approach, this corresponds to tracking the already determined parameters.
  • a smooth transition from the originally determined control variables to the newly determined control parameters can take place.
  • the operating method according to the invention already represents a considerable advance over the prior art even if the prediction horizon is relatively small, for example three to five band points.
  • the operating method according to the invention shows its full superiority in particular when the first band point and the part of the second band points for which their respective reference variable was determined before the first band point entered the finishing line correspond to a prediction horizon which is at least as great as the dead time is with which the further manipulated variable acts on the band. This applies in particular in cooperation with the tracking of the already determined control variables, if the tracking is also tuned to the said dead time.
  • control computer chains together the determined guiding variables or the corresponding guiding speeds by a spline, so that a guiding-speed course resulting from the linking is continuous and differentiable.
  • the control computer preferably executes the determination of the control variables online or in real time as part of a precalculation.
  • the object of the invention is further achieved by a computer program of the type mentioned.
  • the computer program is designed in this case such that the control computer executes an operating method with all steps of an operating method according to the invention.
  • control computer for a finishing train for rolling a belt which is designed such that it carries out such an operating method during operation.
  • the object is further achieved by a finishing train for rolling a belt, which is equipped with such a control computer.
  • a hot strip mill comprises at least one finishing train 1.
  • a band 2 is to be rolled.
  • the band 2 is usually a metal band, for example a steel band.
  • the band may be made of copper, brass, aluminum or another metal.
  • the finishing train 1 has to roll the belt 2 a rolling mill 3 or - as in FIG. 1 shown - several rolling stands 3 on. Shown in FIG. 1 three such stands 3.
  • the actual number of rolling stands 3 can be three, as shown. Alternatively, it may be different from three, in particular larger. As a rule, the number of rolling stands 3 is four to eight, in particular 5 to 7.
  • the rolling stands 3 in FIG. 1 only the work rolls shown (2-high). In general, the rolling stands 3 include in addition to the work rolls back-up rolls (4-high), sometimes additionally also intermediate rolls (6-high).
  • the finishing train 1 may comprise a heating device 4, for example an induction furnace. If the heating device 4 is present, it is usually located at the entrance of the finishing train 1. Alternatively or additionally - as with intermediate stand cooling devices - 3 heaters may be present between the rolling stands. The heater 4, if present, is considered within the scope of the present invention as part of the finishing train 1. As an alternative or in addition to the heating device 4, the finishing train 1 may have interstitial cooling devices 5. If the inter-frame cooling devices 5 present are each inter-frame cooling device 5 of two of the rolling stands 3 eingabelt. They are, if they are present, part of the finishing train 1. Each inter-frame cooling device 5 has at least one control valve 5 'and at least one spray nozzle 5 ".
  • the finishing train 1 may further be downstream of a cooling section 6. If the cooling section 6 is present, it has cooling devices 7. Each cooling device 7 has at least one control valve 7 'and at least one spray nozzle 7 ".
  • the strip 2 is cooled with a liquid cooling medium (usually water with or without admixtures).
  • a liquid cooling medium usually water with or without admixtures.
  • the finishing train 1 is further equipped with a control computer 8.
  • the control computer 8 is used at least to control the finishing train 1, so the rolling stands 3 and - if present - the heater 4 and the interstand cooling devices 5.
  • the control computer 8 also control other facilities, such as the cooling section 6 and their cooling devices 7.
  • the Cooling section 6 are controlled by another controller 8 '.
  • the mode of operation of the control computer 8 is determined by a computer program 9 which is supplied to the control computer 8, for example via a mobile data carrier 10.
  • the mobile data carrier 10 can be configured as required, for example as a CD-ROM, as a USB memory stick or as an SD memory card.
  • the computer program 9 stored in machine-readable form, for example in electronic form.
  • the computer program 9 comprises machine code 11 with which the control computer 8 is programmed and which can be processed directly by the control computer 8.
  • the processing of the machine code 11 by the control computer 8 causes the control computer 8 to operate the finishing train 1 in accordance with an operating method which will be explained in more detail below.
  • Programming with the computer program 9 thus effects a corresponding configuration of the control computer 8.
  • control computer 8 In the context of the operating procedure, the control computer 8 must comply with FIG. 2 in a step S1 for a first band point 12 of the band 2, a number of second band points 13 of the band 2 and a number of third band points 13 'of the band 2 each an actual size G and a target size G * be known, and at the latest to one Time at which the first band point 12 is still in front of the finishing train 1.
  • the second band points 13 are all behind the first band point 12, so they run after the first band point 12 in the finishing train 1 a.
  • the third band points 13 'enter the finishing train 1 before the first band point 12.
  • the FIGS. 3 to 6 show corresponding embodiments.
  • each band point 12, 13, 13 ' is characteristic of the energy content which the respective band point 12, 13, 13' has at a location xE in front of the finishing train 1.
  • the actual size G is thus at the location xE in front of the finishing train 1 based.
  • the location xE can be determined as needed. In particular, it may be according to FIG. 1 to act at a location immediately before the first device 4, 3 of the finishing train 1, by means of which - directly or indirectly - the temperature of the belt 2 is affected. It is still possible that a temperature measuring device is arranged at this location. In general, however, the temperature measuring device 14 is arranged upstream of the location Xe.
  • the desired value G * of each band point 12, 13, 13 ' is characteristic of the energy content which the respective band point 12, 13, 13' should have at a location xA behind the finishing train 1.
  • the desired values G * are therefore related to the location xA behind the finishing train 1.
  • the location xA can be determined as required, analogously to the location xE in front of the finishing train 1. For example, it may be the location of a temperature measuring device 15 downstream of the finishing train 1, but upstream of the cooling section 6.
  • the type of the actual size G and the target size G * can be determined as needed. As a rule, these are the corresponding temperatures. Alternatively, an enthalpy in particular comes into question.
  • location always refers to a location which is stationary with respect to the finishing train 1.
  • band point in contrast, always refers to a point which is stationary relative to the band 2.
  • Distances of the strip points 12, 13, 13 'from each other are not determined by their geometric distances in the context of the present invention, since these distances change by the rolling of the strip 2 in the finishing train 1. Rather, the distances are defined by the mass which is located between the band points 12, 13, 13 '.
  • the band points 12, 13, 13 ' may, based on the mass of the band 2 located between them, be equidistant.
  • the band points 12, 13, 13 ' can be defined by the fact that - for example by means of the temperature measuring device 14 - in each case a measured value for the actual quantity G is detected in equidistant time steps.
  • the time interval between two successive band points 12, 13, 13 ' is generally between 100 ms and 500 ms, typically between 150 ms and 300 ms. For example, it may be 200 ms.
  • step S2 the control computer 8 determines - of course, before the arrival of the first band point 12 in the finishing train - for the first band point 12 on the basis of a determination rule a Leitiere L *.
  • step S3 the control computer 8 determines at least for a part of the second band points 13 also on the basis of a determination rule a respective control variable L *.
  • the control computer 8 also executes step S3 before entering the first strip point 12 into the finishing train 1.
  • Steps S2 and S3 of FIG. 2 usually form a unit in practice.
  • the separate illustration in FIG. 2 is merely a better illustration of the present invention.
  • control computer 8 determines in the context of step S3 for all second band points 13, which - starting from the first band point 12 - are within a predetermined prediction horizon H, whose master size L *. If, therefore, in the context of step S3 for a particular second band point 13, its reference variable L * is determined, as a rule, for all other second band points 13 which lie between the first band point 12 and the specific second band point 13, their respective reference variable L * determined.
  • the determined guiding variables L * are respectively characteristic of the guiding speed vL of which the control computer 8 operates the finishing train 1 when the belt point 12, 13, for which the respective guiding variable L * was determined, enters the finishing train 1.
  • the guide speed vL can be, for example be the speed at which the tape 2 enters the finishing train 1. Alternatively, it may be the speed with which the belt 2 leaves the finishing train 1. Other sizes - for example, a determination of the mass flow or a roller speed or a roller peripheral speed - are conceivable. It is crucial that all of the strip and roll peripheral speeds occurring in the finishing train 1 are uniquely determined by the guide speed vL, possibly in conjunction with stitch acceptments and debit trains.
  • a step S4 the control computer 8 determines, if necessary, the corresponding guide speeds vL on the basis of the control variables L *.
  • the control computer 8 operates the finishing train 1 in accordance with the guide speeds vL determined in step S4.
  • the control computer 8 thus always sets the guide speed vL in such a way that the finishing line 1 is currently operated at the guide speed vL, which corresponds to the guide variable L * of the strip point 12, 13 currently entering the finishing line 1.
  • the determination rule for determining the guiding variables L * is in each case specific to the respective band point 12, 13.
  • the determined value of the reference variable L * for a particular band point 12, 13 can not therefore be readily determined by the value of the reference variable L * for another band point 12, 13 are closed.
  • the actual size G and the desired size G * of the corresponding band point 12, 13 enter into the determination rule for the reference variable L * for a specific band point 12, 13.
  • FIG. 7 shows an example of a snapshot of the finishing train 1, while the band 2 is rolled in the finishing train 1.
  • the band points P5 to P30 in the finishing train 1 are currently the band points P5 to P30 in the finishing train 1.
  • the band points P1 to P4 have already left the finishing train 1 in this case, so have exited the finishing train 1 again.
  • the band points P31 to P35 are still in front of the finishing train 1.
  • the band point P31 occurs in this case next in the finishing train 1 a.
  • the band points P32, P33, P34 and P35 enter the finishing train 1 in succession.
  • the actual and target variables G, G * are known up to and including the band point P35.
  • the determination of the guide quantity L * for the band point P4 must have been completed one time clock before the point in time when the band point P1 entered the finishing train 1.
  • the determination of the guiding quantity L * for the band point P30 is sufficient for the determination of the guiding quantity L * for the band point P30 to take into account the actual and nominal quantities G, G * of the band points P5 to P30, ie those band points which, according to the illustration of FIG FIG. 7 currently located in the finishing mill 1.
  • the guiding variables L * are determined for the band points P31 to P35.
  • the band point P31 corresponds in the representation of FIG. 7 the determination of the guide quantities L * for these band points P31 to P35 must be completed at the latest at the time of the occurrence of the band point P27 to P31 in the finishing train 1 at the latest.
  • the band points P1 to P30 correspond to the third band points 13 '.
  • the finishing train 1 are usually at the same time a plurality of band points 12, 13, 13 '.
  • Typical numerical values lie between 10 and 200, for example between 50 and 100. It is possible to take into account only a few band points 12, 13, 13 'of the band points 12, 13, 13' which are currently in the finishing train 1 at a particular time, for example, every second or every fourth band point 12, 13, 13 '. This approach leads to a reduced computational effort and still delivers acceptable results.
  • the actual and nominal values G, G * of all band points 12, 13, 13 ' are taken into account for the determination of the reference variable L * for a specific band point 12, 13, which at the time of entry of that band point 12, 13, whose control variable L * is determined to be in the finishing train 1 already in the finishing mill 1.
  • the illustration shown is of course purely exemplary.
  • the number of (third) band points 13 'located in the finishing train 1 is purely exemplary.
  • the number of (second) band points 13 whose lead variable L * is predicted is purely exemplary.
  • the prediction horizon H is purely exemplary. In particular, in practical applications, the prediction horizon H can be several seconds, ie at a time cycle of, for example, 200 ms per measured value acquisition of the actual quantity G a correspondingly five times the number of band points 12, 13. In some cases even a prediction horizon H of up to one minute and more is possible. which corresponds to a prediction horizon H of 300 band points and more at a time interval of 200 ms from band to band point.
  • control computer 8 in step S1 of FIG. 2 the actual and nominal values G, G * are known for all band points 12, 13, 13 'of the (entire) band 2. In this case, it is possible that the control computer 8 passes through the steps S2 and S3 only once and in steps S2 and S3 - so to speak in one stroke - determines the guiding variables L * for all band points 12, 13, 13 'of the band 2. In this case the control computer 8 executes the determination of the control variables L * on the basis of a prediction online.
  • control computer 8 in the context of step S1 of FIG. 2 the actual and nominal quantities G, G * are known for all band points 12, 13, 13 'of the entire band 2, he in steps S2 and S3 of FIG. 2 but always determined only for some of the band points 12, 13, 13 'whose guiding variables L *.
  • steps S2 and S3 are as in FIG. 2 indicated by dashed lines, incorporated in a loop.
  • the control computer 8 executes the determination of the control variables L * in real time with the control of the finishing train 1.
  • the control computer 8 determines the guiding variables L * by the prediction horizon H, so to speak.
  • step S1 is included in the loop with. Also in this case, the control computer 8 executes the determination of the control variables L * in real time.
  • the control computer 8 will only know the actual and nominal values G, G * of band points 12, 13 during a certain passage of the loop, which are not yet in the finishing train 1 occurred.
  • the actual and target variables G, G * of the band points 13 ', which have already entered the finishing train 1, are known to the control computer 8 in this case, however, on the basis of earlier loop passes. In this case, it is only necessary for the control computer 8 to "remember" the "old" actual and target variables G, G * *.
  • control computer 8 selects according to FIG. 8 in a step S11 first one of the band points 12, 13, whose actual and desired size G, G * the control computer 8 are already known. For example, the control computer 8 selects the band point P31 of FIG FIG. 7 ,
  • the control computer 8 determines all band points 12, 13, 13 ', whose actual and desired values G, G * are included in the determination of the control variable L * for the band point 12, 13, which the control computer 8 has selected in step S11 , For example, the control computer 8 - see FIG. 7 determine the band points P6 to P31 for the band point P31. In an analogous manner, the control computer would determine the band points P7 to P32 for the band point P32 in step S12, for the band point P33 the band points P8 to P33, etc.
  • step S13 the control computer 8 selects one of the band points 12, 13, 13 'determined in step S12.
  • step S14 the control computer 8 determines an individual wire size l * for the tape point 12, 13, 13 'selected in step S13, for example for the tape point P6. Only the actual size G and the desired size G * of the band point 12, 13, 13 'selected in step S13 are included in the determination of the individual wire size l *. The respective Einzelleit withdraw l * is therefore related to this one band point 12, 13, 13 '.
  • the Einzelleit sou l * determines a corresponding conduction velocity vL.
  • the control computer 8 assumes that the band point 12, 13, 13 'considered in step S14 passes through the finishing line 1 and the finishing line 1 passes through the finishing line 1 during the entire passage of the considered band point 12, 13, 13' Time of entry into the finishing train 1 until the time of departure from the finishing train 1 - is operated constantly at this conduction velocity vL, which is determined by the corresponding Einzelleit donors l *.
  • an energy content is expected for the considered band point 12, 13, 13 'at the location xA, to which the nominal value G * of the considered band point 12, 13, 13' is related.
  • the control computer 8 determines this expected energy content.
  • the determination of the expected energy content can be determined by the control computer 8, for example by means of a finishing road model.
  • Suitable Fertigstra- ⁇ enmodelle are known as such. They are used, for example, to determine the expected final rolling temperature, see the already mentioned DE 103 21 791 A1 ,
  • the expected energy content is characterized by a corresponding expected quantity GE.
  • the expectation variable GE can alternatively be the temperature or the enthalpy, analogous to the actual and set values G, G *.
  • the control computer 8 determines the Einzelleitiere l * for the considered band point 12, 13, 13 'in step S14 such that the expectation size GE with the target size G * for the considered band point 12, 13, 13' matches.
  • step S15 the control computer 8 checks whether it has already performed step S14 for all band points 12, 13, 13 'to be used. If this is not the case, the control computer 8 returns to step S13. In the renewed execution of step S13 of course, the control computer 8 selects another, previously not considered band point 12, 13, 13 ', which enters into the determination of the sought Leitiere L *, for example, the band point P7.
  • step S15 determines in step S15 that it has already determined all the required individual panel sizes l *
  • the control computer 8 proceeds to a step S16.
  • step S16 the control computer 8 determines the reference variable L * for all individual element sizes l *, which it has determined during the repeated execution of step S14
  • the control computer 8 may form the weighted or unweighted mean value of the Einzelleitieren l *.
  • step S17 the control computer 8 checks whether it has already carried out the steps S11 to S16 for all band points 12, 13 whose guide variables L * are to be calculated. If this is not the case, the control computer 8 returns to step S11. Of course, the control computer 8 selects another band point 12, 13 which has not yet been considered. Otherwise, the method of FIG FIG. 8 completed.
  • step S21 the control computer 8 uses the actual variables G of the band points 12, 13, 13 'determined in step S12 to determine an effective actual variable G'.
  • the control computer 8 determines an effective setpoint G '* in step S22 on the basis of the setpoint values G * of the band points 12, 13, 13' determined in step S12.
  • the control computer 8 in steps S21 and S22 a weighted or unweighted Averaging. Regardless of which approach is taken, however, the procedures of steps S21 and S22 should correspond.
  • step S23 the control computer 8 determines the reference variable L * for the band point 12, 13 selected in step S11.
  • the master variable L * determined in step S23 corresponds to a corresponding master speed vL. If the selected in step S11 band point 12, 13 at the location xE, to which the actual size G of the selected in step S11 band point 12, 13, the effective actual size G 'would have and the control computer 8, the finishing line 1 during the entire run of the band point 12, 13 selected in step S11 would operate at this guide speed vL, an actual energy content would be expected for this band point 12, 13 at the location xA, to which the setpoint G * of the band point 12, 13 selected in step S11 is related which is characterized by an expected quantity GE. The control computer 8 determines the control variable L * in step S23 such that the determined expectation variable GE agrees with the effective setpoint G '*. The determination of the expected variable GE can - analogous to the procedure of step S14 of FIG. 8 - By means of a corresponding, known per se finishing road model.
  • the control computer 8 in a step S31, the guiding variables L *, which he is to determine, ie the Leitgrö- ⁇ en L * for the first band point 12 and for at least a portion of the second band points 13 - first as provisional values.
  • a step S32 the control computer 8 determines a respective expectation variable GE for the band points 12, 13 considered in step S31.
  • the expected values GE determined in step S32 are in each case characteristic of the expected energy content of the respective band point 12, 13 which is expected for the respective band point 12, 13, if the respective band point 12, 13 is the finishing train 1 in accordance with the scheduled course of the guide speed vL - As defined by the sequence of the guiding variables L * - goes through.
  • the expected energy contents GE are each related to the location xA, to which the desired quantities G * for the band points 12, 13 are related.
  • the control computer 8 forms an objective function Z. At least the amounts of the differences of the expectation variables GE from the corresponding desired variables G * enter into the objective function Z.
  • the objective function Z may include a sum, corresponding to the representation in FIG FIG. 10
  • each summand is the square of the difference of an expected quantity GE from the corresponding target size G *.
  • indices i, j were used because the indices i and j run over different areas.
  • ⁇ i and ⁇ j are - in principle arbitrary, non-negative - weighting factors.
  • control computer 8 varies the applied guiding variables L * with the aim of optimizing the target function Z according to the embodiment above. With a correspondingly different design of the objective function Z, maximizing would also be possible.
  • the procedures of the FIG. 8 and 9 are applicable regardless of whether in a single execution of steps S2 and S3 of FIG. 2 only a few guiding variables L * are determined or whether the guiding variables L * for all band points 12, 13, 13 'of the band 2 are determined in advance.
  • the procedure of FIG. 10 on the other hand, meaningful results are usually only obtained if the prediction horizon H covers the entire band 2 or, if the band 2 is long enough, is sufficiently large.
  • the effective finishing line length is determined by the maximum number of tape points 12, 13, 13 'simultaneously located in the finishing train 1.
  • expectation quantities GE must be determined.
  • the determination of the expected quantities GE takes place - from the point of view - by means of a model of the finishing train 1, which models the thermal processes (heat conduction and heat transfer, possibly also phase transformations and microstructure) in the finishing train 1.
  • models are known per se, see the DE 103 21 791 A1 ,
  • control computer 8 it is possible to use such a model as such also in steps S14, S23 and S32.
  • the control computer 8 according to the representation of FIG. 11 in a step S41 in advance - that is, before the determination of the control variables L * - created a data field.
  • the control computer 8 deposits in the data field in a step S42 for a multiplicity of possible guide speeds vL and possible actual variables G, which expectation variable GE results for the respective possible actual variable G and the respective possible guide speed vL. Because in this case, the control computer 8 in the context of the appropriately configured steps S2 and S3 of FIG. 2 (or the steps S14, S23 and S32) determine the guiding variables L * for the band points 12, 13 using the data field. In the procedure according to FIG.
  • control computer 8 determines the Einzelleitieren l * using the data field, so that the use of the data field is indirect nature.
  • the respective control variable L * is determined directly.
  • the data field is used to determine the respectively resulting expected quantities GE.
  • the nature of the integration of the data field in the procedures of FIG. 8 and 9 is immediately apparent, since the actual size G the Control computer 8 is known and the relationship between the possible conduction velocity vL and the expectation variable GE is unambiguous (the larger the given actual size G is the conduction velocity vL, the greater the expected energy content of the corresponding band point 12, 13, 13 ').
  • the data field is also in connection with the approach of FIG. 10 applicable. For it is possible to form in the first and, as a rule, already very good approximation for a specific band point 12, 13, 13 'the mean value of all guiding variables G * or of all guiding speeds vL with which the finishing train 1 during the passage of the relevant band point 12, 13, 13 'is operated by the finishing train 1. This mean value can be regarded as the effective guide speed vL.
  • the data field can thus be evaluated at this point in order to determine the expectation variable GE for the corresponding band point 12, 13, 13 '.
  • the data field can be designed as needed. For example, it can be a pure interpolation field with, for example, 5, 8, 10, ... interpolation points per dimension. In this case, it is possible to interpolate between individual support points linearly or nonlinearly (for example by means of splines). Alternatively, the data field may be formed, for example, as a neural network.
  • the location xE is located in front of the finishing train 1, to which the actual quantities G are related, but behind the temperature measuring device 14. It is therefore necessary to convert the measured quantities into the actual quantities G (which refer to the location xE). This is relatively easy, since only an air gap must be calculated. Input values for the air gap are the temperature value measured by means of the temperature measuring device 14 and the time which accumulates for the respective band point 12, 13, 13 'until the corresponding band point 12, 13, 13' projects the location xE reached the finishing train 1. The time is given for each band point 12, 13, 13 'by the conduction velocities of the upstream band points 12, 13, 13'.
  • the finishing train 1 has neither an input-side heating device 4 nor inter-frame cooling devices 5. If the heating device 4 and / or the inter-frame cooling devices 5 are present, the operating method according to the invention can be adapted accordingly. The necessary adjustments will be explained below in connection with a single inter-frame cooling device 5. However, the corresponding embodiments are readily applicable also in embodiments of the Fertigstra ⁇ e 1, which has more than one inter-frame cooling device 5 and / or an input-side heater 4, wherein the heater 4 may be provided alternatively or in addition to the inter-frame cooling devices 5 ,
  • the finishing train 1 has a single intermediate-frame cooling device 5, for example between the second and the third rolling stand 3 as shown in FIG. 1 .
  • the model of the finishing mill 1 - this is immediately and without further ado - divided into three submodels, which in FIG. 12 are referred to as partial model TM1, partial model TM2 and partial model TM3.
  • the partial model TM1 is similar in design to a model of a finishing train 1, as previously assumed, ie a model of a finishing train 1 without interstand cooling devices. It models the behavior of the belt 2 in the finishing train 1 to before the inter-frame cooling device 5.
  • the submodel TM1 receives as input variables the actual size G of a band point 12, 13, 13 'and the leading speed vL or the corresponding Leit ein.
  • the submodel TM1 supplies as output variable an expectation variable TE which corresponds to an expected energy content with which the corresponding band point 12, 13, 13 'enters the inter-frame cooling device 5.
  • the partial model TM1 is two-dimensional, because it has two input variables, namely the actual size G and the guide speed vL.
  • the partial model TM2 models the inter-frame cooling device 5 as such. It receives as input quantities the expected quantity TE delivered by the partial model TM1, the guide speed vL with which the respective strip point 12, 13, 13 'passes through the intermediate stand cooling device 5 and a coolant quantity M given as such, with which the strip 2 is acted upon per unit of time ,
  • the amount M of cooling fluid per unit time is preferably defined as a function of the amount of material of the belt 2, which has already passed the inter-frame cooling device 5.
  • the amount M of cooling fluid per unit of time may be defined, for example, as a function of the respective band point 12, 13, 13 ', which is just entering the inter-frame cooling device 5.
  • the partial model TM2 thus has three input variables, in contrast to a model of a finishing train 1 without interstand cooling devices.
  • the setting up of a corresponding three-dimensional data field for the three-dimensional partial model Depending on the computing power available, TM2 may still be possible.
  • partial model TM2 is preferably split into two submodels TM2 ', TM2 ", which are multiplicatively linked with one another, because with sufficient accuracy, a three-dimensional function f, which displays an expected variable TA behind the inter-frame cooling device 5 as a function of expected size TE before the intermediate structure Cooling device 5, the guide speed vL and the amount M of cooling liquid per unit time, are shown as the product of a two-dimensional function g and a one-dimensional function h
  • the function g is in this case of the expected value TE, which is supplied by the partial model TM1, and the The function h depends only on the quantity M of cooling liquid per unit of time, so it can be used
  • the submodel TM3 has the same structure as the submodel TM1. It models the part of the finishing train 1 which is arranged behind the intermediate stand cooling device 5.
  • the submodels TM1 to TM3 are connected to each other and concatenated with each other, so that the outputs of the one submodel TM1, TM2 input variables of the next model TM2, TM3 are.
  • the dimensionality of the modeling problem can already be considerably reduced, namely to the consideration of a three-dimensional and two-dimensional problems.
  • the complexity can be further reduced. In particular, by reducing the complexity of the three-dimensional problem, the real-time and on-line capability is maintained even when the inter-frame cooling devices 5 and / or the heater 4 are present.
  • the guiding variables L * can therefore be calculated on condition that the course of the amount M of cooling fluid per unit time is given.
  • the quantity M can then be varied for each intermediate-structure cooling device 5 in order to obtain the expected energy contents of the band points 12, 13, 13 'as far as possible from the corresponding desired energy contents the band points 12, 13, 13 'approximate.
  • the determination of the correct quantities M takes place completely analogously to the determination of the correct quantities of cooling liquid for the cooling devices 7 of the cooling section 6.
  • control computer 8 it is possible for the control computer 8 to control the finishing train 1 without detecting a measured quantity GM which is characteristic of the actual energy content of the band points 12, 13, 13 'behind the finishing train 1.
  • the control computer 8 counteracts a corresponding temperature measurement take, which was detected by the temperature measuring device 15.
  • control computer 8 determines according to FIG. 13 in a step S52 for at least a portion of the band points 12, 13, 13 '- preferably for all band points 12, 13, 13' - in each case an expected quantity GE '.
  • the control computer determines 8 for each band point 12, 13, 13 'whose expectation size GE' while the respective band point 12, 13, 13 'passes through the finishing train 1.
  • the control computer 8 it is alternatively possible for the control computer 8 to determine the corresponding expectation variable GE 'before the respective band point 12, 13, 13' passes through the finishing train 1.
  • Each such expected expectation variable GE ' is characteristic of the energy content which is expected for the respective band point 12, 13, 13' at the location xA, to which the desired quantities G * are related.
  • the control computer 8 determines the expected quantities GE 'using the Leit Anlagensverlaufs, with which the respective band point 12, 13, 13' actually passes through the finishing train 1.
  • the control computer 8 compares the energy content according to the measured variable GM and the energy content according to the corresponding expected variable GE 'with each other. Depending on the comparison of step S53, the control computer 8 automatically carries out at least a part of the control variables in a step S54 L *, which has already been determined by the control computer 8 at the time of the comparison.
  • step S54 the tracking of the control variables L * in the context of step S54 only refers to those control variables L * which, although already determined at this point in time, are still pending.
  • the step S54 is thus carried out only for guiding variables L * which were determined for band points 12, 13 which have not yet entered the finishing train 1 at the time of the tracking.
  • the first tracking variable L * can be tracked by 10% of its change, the second tracking variable by 20% of its change, the third tracking variable L * by 30% of its change, etc.
  • step S54 it is possible that the control computer 8 in a step S55 on the basis of the comparison, the determination rule for determining the control variables L * as such adapted. This ensures that future determined control variables L *, which are not yet determined at the time of the comparison of step S53, are determined in an improved manner.
  • the adaptation of the determination rule may include in particular an adaptation of the model of the finishing train 1 and here in particular of the heat transfer model.
  • the adaptation can take place, for example, by adding an offset to the actual quantities G before they are used as the input variable of the data field.
  • the leading velocity vL may be scaled by a factor and / or added to an offset before being used as the input of the data field.
  • an offset can be added to the expected variable GE, GE 'respectively determined using the data field.
  • the real-time capability of the operating method according to the invention is maintained in this simplified way of adapting the model of the finishing train 1.
  • step S54 It is possible in the context of step S54 to track all the control variables L * which have already been determined at this time, but have not yet been executed, that is to say, for example, the master variable L * for the (first) band point 12 entering the finishing train 1 next.
  • the control computer 8 automatically performs only those guiding variables L * determined for (second) belt points 13 which at the time of tracking from the entrance of the finishing train 1 have a minimum distance MIN (see FIG. 14 ) exhibit.
  • the prediction horizon H is determined by the second band point 13, whose master size L * is already determined and which has the greatest distance from the finishing line 1 from the second band points 13 whose guiding variables L * have already been determined. It may be expedient if the control computer 8 automatically uses the comparison to track only those reference variables L * which were determined for second band points 13 which have the minimum distance MIN at the time of tracking from the entrance of the finishing train 1. This will be described below in connection with FIG. 7 be illustrated.
  • the control computer 8 determines the temperature for the band point P2 at the exit of the finishing train 1 (ie at location xA) is expected. This corresponds to the step S52 of FIG. 13 , The control computer 8 continues to receive from the temperature measuring device 15, the actual temperature, which is measured for the band point P2. This corresponds to the step S51 of FIG. 13 , Assume that the comparison of step S53 gives a deviation. Despite the deviation, the control computer 8 - for example - the already determined Leitgrö- ⁇ en L * for the band points P31 to P34 unchanged.
  • step S53 Based on the comparison of step S53 in step S54, it only traces the reference variable L * of the band point P35.
  • the control variables L * for subsequent band points P36, P37,..., Which are not yet determined at this time, are determined by the control computer 8 on the basis of a determination rule which it adapts in step S55 on the basis of the comparison of step S53.
  • the finishing train 1 is usually downstream of a cooling section 6.
  • the cooling section 6 has cooling devices 7.
  • Each cooling device has (at least) one control valve 7 'and a number of spray nozzles 7 "assigned to the respective control valve 7'
  • the amount of cooling fluid delivered locally to the belt 2 is set by means of the respective control valve 7 '
  • the control valves 7' react relatively Calculated from the time at which a control valve 7 'is controlled with a changed manipulated variable S until the time at which the changed control affects the belt 2, there is a dead time T, which is often in the range of seconds
  • the course of the guide speed vL also influences the passage time of the belt points 12, 13, 13 'through the cooling section 6.
  • control device 8' which controls the cooling devices 7 of the cooling section 6, not only knows the current value of the guide speed vL, but also their future course. Only then can the control device 8 'of the cooling section 6 react in good time to future changes in the guide speed vL.
  • the control device 8 'of the cooling section 6 must therefore use the control variable L * - and also future upcoming control variables L * - to determine the manipulated variables S for the control valves 7', when the correct amounts of coolant are applied to the "right" places of the belt 2 should. This of course also applies in an analogous form when the control of the cooling section 6 is carried out by the control computer 8.
  • the characteristic variable course should be used in the determination of the manipulated variables S for the inter-frame cooling devices 5 in order to be able to react in good time to future changes in the guide speed vL.
  • the prediction horizon H is according to FIG. 14 at least that way is large as the above-explained dead time T.
  • the prediction horizon H is even greater than the dead time T. If, for example - see FIG. 7 - The dead time T corresponds to the band points P31 to P33, the prediction horizon H should extend over more than two band points, for example according to the representation of FIG. 7 over four band points.
  • the minimum distance MIN within which the tracking of the control magnitudes L * is suppressed, should be at least as long as the dead time T, for example according to FIG. 7 amount to three band points.
  • the guiding variables L * are determined point by point for the individual band points 12, 13.
  • the step S4 is formed in the form of a step S61.
  • the control computer 8 chains the determined control variables L * to each other by a spline, so that the chaining results in a control variable course that is continuous and differentiable.
  • the so-defined Leit Anlagensverlauf is continuous and differentiable.
  • step S62 the control computer 8 determines the corresponding point-specific guide speeds vL on the basis of the guide variables L * determined on a point-by-point basis. In this case, the control computer 8 chains the corresponding guide speeds vL by a spline to each other, so that the chaining results in a continuous and differentiable conduction velocity course.
  • Steps S61 and S62 are alternative to each other. They are therefore both in FIG. 15 represented, however, both drawn only dashed.
  • the above-described operating method for the finishing train 1 provides - initially - guiding speeds vL until the last band point 13 of the band 2 has entered the finishing train 1.
  • the guide speed vL must be defined as long as at least one band point 12, 13 is located in the finishing train 1, ie even if no further band points 12, 13 run into the finishing train 1 more. It is readily possible to expand the procedure according to the invention accordingly. It is only necessary to consider within the control computer 8 in addition to the band points 12, 13, 13 'for the physically existing band 2 virtual band points, which are attached to the first-mentioned band points. Also for these virtual band points, a corresponding control variable L * is determined. The virtual band points, however, neither an actual size G nor a target size G * is assigned, so that the virtual band points themselves do not contribute to the determination of the corresponding guiding variables L *.
  • the Leitiere L * was further explained in each case in conjunction with the band points 12, 13, which run into the finishing train 1 at certain times. However, this is not to be understood as meaning that the corresponding guiding variables L * are permanently assigned to the corresponding band points 12, 13. The decisive factor is therefore only the assignment of the respective control variable L * at a certain point in time, wherein the time is defined by the fact that the corresponding band point 12, 13 at this time in the finishing train 1 enters.
  • the present invention has many advantages.
  • an improved - even significantly improved - accuracy with which the cooling section 6 can be controlled So it is possible, for example, both a final rolling temperature (at the outlet of the finishing train 1) and a reel temperature (at the outlet of the cooling section 6) to comply with high accuracy.

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EP10162135A 2010-05-06 2010-05-06 Méthode d'optimisation d'un processus de production biopharmaceutique Withdrawn EP2386365A1 (fr)

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EP10162135A EP2386365A1 (fr) 2010-05-06 2010-05-06 Méthode d'optimisation d'un processus de production biopharmaceutique
PCT/EP2011/053513 WO2011138067A2 (fr) 2010-05-06 2011-03-09 Procédé pour faire fonctionner un train finisseur avec prédiction de la vitesse de commande
RU2012152449/02A RU2545872C2 (ru) 2010-05-06 2011-03-09 Способ функционирования чистового прокатного стана с прогнозированием скорости управления
US13/696,376 US9630227B2 (en) 2010-05-06 2011-03-09 Operating method for a production line with prediction of the command speed
EP11710447.1A EP2566633B1 (fr) 2010-05-06 2011-03-09 Procédé pour faire fonctionner un train finisseur avec prédiction de la vitesse de commande
CN201180022850.6A CN102939173B (zh) 2010-05-06 2011-03-09 用于具有引导速度的预测功能的精轧机列的运行方法
BR112012028373A BR112012028373A2 (pt) 2010-05-06 2011-03-09 método de operação para uma linha de produção com previsão da velocidade de comando.

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CN115161445A (zh) * 2022-06-30 2022-10-11 武汉大学 一种优化9%Cr热强钢管道中频感应加热局部焊后热处理参数的方法

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EP2386365A1 (fr) 2010-05-06 2011-11-16 Siemens Aktiengesellschaft Méthode d'optimisation d'un processus de production biopharmaceutique
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EP2873469A1 (fr) 2013-11-18 2015-05-20 Siemens Aktiengesellschaft Procédé de fonctionnement pour une voie de refroidissement
EP2898963A1 (fr) * 2014-01-28 2015-07-29 Siemens Aktiengesellschaft Section de refroidissement avec refroidissement double à une valeur de consigne respective
US9897984B2 (en) * 2014-08-05 2018-02-20 Mitsubishi Electric Research Laboratories, Inc. Model predictive control with uncertainties
EP3009205B1 (fr) 2014-10-14 2018-12-26 Primetals Technologies Germany GmbH Prise en compte d'une vitesse de référence pour la détermination d'une vitesse de guidage
JP6172129B2 (ja) * 2014-12-09 2017-08-02 Ｊｆｅスチール株式会社 熱延鋼帯の仕上圧延方法
EP3202502A1 (fr) * 2016-02-04 2017-08-09 Primetals Technologies Germany GmbH Reglage de position de bande
RU2655398C2 (ru) * 2016-08-26 2018-05-28 Антон Владимирович Шмаков Способ производства проката
CN112139260B (zh) * 2019-06-26 2022-11-18 宝山钢铁股份有限公司 一种热轧可逆道次轧制温降控制方法
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WO2003045599A1 (fr) * 2001-11-15 2003-06-05 Siemens Aktiengesellschaft Procede pour commander un train finisseur monte en amont d'une section de refroidissement et concu pour laminer des feuillards metalliques a chaud
DE10321791A1 (de) * 2003-05-14 2004-12-30 Siemens Ag Verfahren zur Regelung der Temperatur eines Metallbandes, insbesondere in einer Fertigstraße zum Walzen von Metall-Warmband

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT519995A3 (de) * 2017-05-29 2021-03-15 Andritz Ag Maschf Verfahren zur Regelung der Aufwickeltemperatur eines Metallbandes
AT519995B1 (de) * 2017-05-29 2021-04-15 Andritz Ag Maschf Verfahren zur Regelung der Aufwickeltemperatur eines Metallbandes
CN115161445A (zh) * 2022-06-30 2022-10-11 武汉大学 一种优化9%Cr热强钢管道中频感应加热局部焊后热处理参数的方法
CN115161445B (zh) * 2022-06-30 2024-02-27 武汉大学 一种优化9%Cr热强钢管道中频感应加热局部焊后热处理参数的方法

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US20130054003A1 (en) 2013-02-28
RU2545872C2 (ru) 2015-04-10
US9630227B2 (en) 2017-04-25
RU2012152449A (ru) 2014-06-20
WO2011138067A2 (fr) 2011-11-10
WO2011138067A3 (fr) 2011-12-29
EP2566633A2 (fr) 2013-03-13
CN102939173B (zh) 2015-11-25
EP2566633B1 (fr) 2015-04-29
CN102939173A (zh) 2013-02-20
BR112012028373A2 (pt) 2017-06-13

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