CN101650267A - Driving control method of tire testing machine and tire testing machine - Google Patents
Driving control method of tire testing machine and tire testing machine Download PDFInfo
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- CN101650267A CN101650267A CN200910167024A CN200910167024A CN101650267A CN 101650267 A CN101650267 A CN 101650267A CN 200910167024 A CN200910167024 A CN 200910167024A CN 200910167024 A CN200910167024 A CN 200910167024A CN 101650267 A CN101650267 A CN 101650267A
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Abstract
The present invention is a driving control method of a tire testing machine provided with a controller for giving a rotation command to a tire driving electric motor so that a slippage ratio of a tirewith respect to movement of a simulated road surface is a preliminarily fixed value, and changing rotation speed of the tire, the method comprising: estimating longitudinal force imposed on the tirein accordance with the slippage ratio of the tire in a case where the rotation command is given; determining a torque limitation value for the tire driving electric motor based on an estimated longitudinal force estimate value; and applying the torque limitation value to torque limitation of the tire driving electric motor when the rotation command is given so as to change the rotation speed of the tire. With such a configuration, in a case where a tire test is performed while changing the slippage ratio, it is possible to perform the test without imposing excessive overloads on the tire driving electric motor.
Description
Technical field
The present invention relates to a kind of change for the skidding rate of tire of simulated roadway and the drive controlling method and the tyre tester of the tyre tester of testing.
Background technology
In the past, as can enough tire drive motors make tire axle (main shaft) rotation that tire has been installed, and can be enough with the discrete simulated roadway of tire drive motor with the tyre tester that motor rotates head roll with simulated roadway that tire contacts, have the technology shown in No. 6584835, the United States Patent (USP).
In this tyre tester, under tire and simulated roadway state of contact, by the rotating speed (speed of tire) that makes tire, rotating speed (speed of the head roll) difference of head roll, while can make the various tests of tire slippage on simulated roadway carrying out tire.
In this test, by adjusting the velocity contrast of tire speed and head roll speed, can change the degree of tire with respect to the simulated roadway slippage, promptly change the rate of skidding.
But, when the speed of the speed of adjusting tire in order to make the rate of skidding become desired value and head roll (during the rate of skidding change), if the surface state (state of tyre surface) of tire and tire be for the variations such as contact condition of simulated roadway, then sometimes the tire drive motor that makes the side that tire rotates is applied unusual load change.According to circumstances, the problem that causes adhesion slippage (stick slip), applies very big load to tyre tester is arranged.
Summary of the invention
Therefore, the present invention proposes in view of the above problems, its purpose is to provide a kind of drive controlling method and tyre tester of tyre tester, when change is skidded rate and is carried out the test of tire, apply very big overload can for the tire drive motor, and can test with the rate of skidding of wide region as much as possible.
To achieve these goals, the present invention proposes following method.That is, be a kind of drive controlling method of tyre tester, this tyre tester possesses: the tire drive motor makes the tire rotation via the tire axle; The simulated roadway drive motor moves simulated roadway; And controller, provide rotate instruction to above-mentioned tire drive motor and change the rotational speed of above-mentioned tire, make tire become predefined value with respect to the rate of skidding that moves of above-mentioned simulated roadway, wherein, the rate of skidding of the tire when above-mentioned rotate instruction is provided, infer the foe and aft force that acts on the tire, obtain moment limits value based on the foe and aft force presumed value of inferring for the tire drive motor, and the moment restriction of the tire drive motor when above-mentioned moment limits value used the rotational speed that changes above-mentioned tire with above-mentioned rotate instruction is provided.
Above-mentioned moment limits value is preferably obtained by formula (1).
(moment limits value)=(foe and aft force presumed value) * (tire rolling radius) (1)
Wherein,
(foe and aft force presumed value)=(inner coefficient) * (load load-carrying) * (rate of skidding)
Tire rolling radius: the distance of the core wheel from the simulated roadway to the tire
Inner coefficient: according to test condition and different coefficients
The load load-carrying: tire is for the vertical load-carrying of simulated roadway
Preferably, obtain applying above-mentioned rotate instruction to above-mentioned tire drive motor apply damping force or driving force and when making above-mentioned tire rotation as the moment that acts on from the external force of this tire one side on the above-mentioned simulated roadway drive motor, the moment suitable with this external force is attached on the output torque of this simulated roadway drive motor.
Above-mentioned simulated roadway is set to, and moves by the head roll that is driven by above-mentioned simulated roadway drive motor, and the moment that is attached on the above-mentioned simulated roadway drive motor is preferably obtained by formula (2)～formula (4).
FF＝α×Tdm (4)
Wherein,
Td: because the damping force of tire drive motor or driving force and act on moment on the turning axle of head roll as external force
Tn: the generation moment of tire drive motor
TH: the rolling radius of tire
DR: adding the distance that obtains behind the thickness of simulated roadway on the radius of turn of head roll
Tdm: because the damping force of tire drive motor or driving force and act on moment on the turning axle of simulated roadway drive motor as external force
Gr: the reduction gear ratio of the reductor that is connected with the simulated roadway drive motor
FF: be attached to the moment on the simulated roadway drive motor
α: correction factor
Other technologies scheme of the present invention is a kind of tyre tester, comprising: the tire drive motor makes the rotation of tire axle; Simulated roadway; The simulated roadway drive motor moves above-mentioned simulated roadway; And controller, provide rotate instruction to above-mentioned tire drive motor and change the rotational speed of above-mentioned tire, make tire become predefined desired value with respect to the rate of skidding that moves of above-mentioned simulated roadway, here, above-mentioned controller comprises: the rotate instruction calculating part, in order to change the rotational speed of tire according to the above-mentioned rate of skidding, determine to send to the rotate instruction of described tire drive motor; Foe and aft force is inferred portion, infers the foe and aft force on the tire of acting on when above-mentioned rotate instruction is provided; The moment limits value for above-mentioned tire drive motor based on the above-mentioned foe and aft force of inferring, is set in moment limits value configuration part; And the moment restrictions, above-mentioned rotate instruction is provided and when changing above-mentioned tire, uses above-mentioned moment limits value to come the tire drive motor is carried out the moment restriction with the rotating speed of driving motor.
Above-mentioned controller preferably possesses: the opplied moment calculating part, and obtain in that above-mentioned rotate instruction is provided above-mentioned tire drive motor is applied damping force or driving force and acts on moment on the described simulated roadway drive motor as the external force from tyre side when making above-mentioned tire rotation; And the moment appendix, the moment suitable with the above-mentioned external force of calculating at this opplied moment calculating part is attached on the output torque of this simulated roadway drive motor.
According to the present invention, skid rate and when carrying out the test of tire, apply very big overload can not for the tire drive motor in change, and can test with the rate of skidding of wide region as much as possible.
Description of drawings
Fig. 1 is the whole front view of the tyre tester of the 1st embodiment.
Fig. 2 is the key diagram that the rate of skidding is set running, and the curve running (a) is shown, and the ladder running (b) is shown, and fixing running (c) is shown.
Fig. 3 shows the figure of the control loop of tire drive motor.
Fig. 4 is the whole front view of the tyre tester of the 2nd embodiment.
Fig. 5 shows the figure of the control loop of simulated roadway drive motor.
Embodiment
Below, with reference to the description of drawings embodiments of the present invention.
[the 1st embodiment]
Fig. 1 is the figure that tyre tester is shown.
Fig. 1 is the integrally-built figure that tyre tester is shown.In the following description, the paper above-below direction of establishing Fig. 1 is above-below direction or vertical, and the paper left and right directions of Fig. 1 is a left and right directions, and it is fore-and-aft direction that the paper of Fig. 1 connects direction.
As shown in Figure 1, tyre tester 1 possesses: road surface travel mechanism 3 moves simulated roadway 2; Tire holding mechanism 4, rotation keeps tire T freely; Travel mechanism 5, with tire T by being pressed on the simulated roadway 2, drift angle or camber angle (camber) etc. being provided; And controller 6, control tire holding mechanism 4, road surface travel mechanism 3 and travel mechanism 5.
Road surface travel mechanism 3 possesses head roll 10 cylindraceous, reaches the simulated roadway drive motor 11 that drives these head roll 10 rotations.Head roll 10 is configured in the below of tire holding mechanism 4, is formed with simulated roadway 2 at its outer peripheral face.Turning axle 12 rotations of head roll 10 are bearing on the 1st supporting station 13 freely.Simulated roadway drive motor 11 is configured in the right side (right side of Fig. 1) of head roll 10, is fixed on the 1st supporting station 13.The turning axle 8 of simulated roadway drive motor 11 and the turning axle 12 of head roll 10 link via transmission shaft and become the one rotation freely.
The turning axle 24 of tire axle 15 (main shaft) and tire drive motor 18 links via transmission shaft 25 and the universal joint that is arranged on its two ends and becomes the one rotation freely.
When carrying out tire test, at first, tire T is installed on the tire axle 15, afterwards, the lifting frame 19 of travel mechanism 5 is descended, tire T is contacted with simulated roadway 2 via wheel rim with above-mentioned tyre tester 1.And, make under tire T and simulated roadway 2 state of contact, make simulated roadway drive motor 11 drive and make head roll 10 to rotate, and make tire drive motor 18 drive and make 15 rotations of tire axle, thereby on one side can make tire T slippage carry out various tests with respect to the mobile of simulated roadway 2 in one side.
Afterwards, comprise the structure of controller 6, while explain the drive controlling method when making tire testing method that tire T slippage tests and this tire test.
In tire test, at first, with make before the tire T slippage with slippage after test condition (air of tire T presses, act on load load-carrying on the tire T, simulated roadway translational speed etc. for simulated roadway 2) be made as identical condition (value) respectively.
And, in this tire test, as described later, set the skid rate Sr that move of tire T with respect to simulated roadway 2, when making tire T slippage with the rate of the skidding Sr that has set, carry out following various test: act on load on the tire T when measuring the camber angle that changes tire T, drift angle with load cell 17, or the state of the tyre surface of the tire T of observation when the rate Sr of skidding is changed one by one etc. etc.In addition, the present invention is applicable to and makes skid and test when rate Sr changes whole that the mode of the rate Sr of skidding various tests after changing is not defined as foregoing.
In the setting of the rate Sr that skids or the slippage running of change (be sometimes referred to as the rate of skidding and set running), at first, formerly with set load-carrying with tire T by under the state (making tire T and simulated roadway 2 state of contact) that is pressed on the head roll 10, make tire axle 15 with the rotation of the state of zero moment.That is, set in the running, at first in the rate of skidding, with tire T with after simulated roadway 2 contacts, tire drive motor 18 does not drive, and drives by only making simulated roadway drive motor 11, makes tire T become the drive rotary state that rotates along with moving of simulated roadway 2.
Drive in the rotary state at this, tire T only rotates by moving of simulated roadway 2, and therefore, tire T is not for simulated roadway 2 slippages, and the rate Sr of skidding is zero.
And, drive in the rotary state (when the rate Sr of skidding is zero) simulated roadway translational speed (head roll rotating speed) ω dz, tire rotational speed (tire rotational speed) ω tz with mensuration such as sensors.
Then, set in the running, change the tire rotational speed, make tire T slippage on simulated roadway 2 wittingly by the rotating speed that changes tire drive motor 18 in the rate of skidding.
Set in the running in the rate of skidding, if the time that consideration is changed the tire rotational speed in order to make tire T slippage, when change tire rotational speed, if the simulated roadway translational speed is certain, tire rotational speed ω tz when then as shown in Equation 5, the rate of the skidding Sr of tire T can by tire rotational speed ω t, the rate of skidding in when change (current) be zero tries to achieve.
Sr: it is flat to skid
ω t: the tire rotational speed of current (during change) (rotating speed of tire)
ω tz: the tire rotational speed of the rate of skidding 0 (rotating speed of tire)
But, set in the running in the rate of skidding, the power of the tire the during change of tire rotational speed is applied on the simulated roadway drive motor 11 via simulated roadway 2, because this external force, the rotating speed change of simulated roadway drive motor 11, in fact, along with the change of tire rotational speed, the change of simulated roadway translational speed.
Therefore, in the present invention, set in the running at the rate Sr that skids, as the formula (6), simulated roadway translational speed ω dz when tire rotational speed ω tz, current simulated roadway translational speed (the simulated roadway translational speed during change) ω d, the rate of skidding when being zero from the rate of skidding is zero, calculate the tire rotational speed ω t z ' corresponding with the variation of simulated roadway translational speed ω dz, by formula (7), add the simulated roadway translational speed of the variation that is accompanied by the tire rotational speed, revise the rate of the skidding Sr that is used to set.
Wherein,
Sr: the rate of skidding
ω t: the tire rotational speed of current (during change) (rotating speed of tire)
ω d: the simulated roadway translational speed of current (during change) (rotating speed of head roll)
ω tz: the tire rotational speed of the rate of skidding 0 (rotating speed of tire)
ω dz: the simulated roadway translational speed of the rate of skidding 0 (rotating speed of head roll)
ω tz ': the tire rotational speed that the rate of skidding of trying to achieve from the simulated roadway translational speed of current (during change) 0 is suitable
Promptly, set in the running in the rate of skidding of the present invention, slave controller 6 provides rotate instruction and makes the increase and decrease of tire rotational speed to tire drive motor 18, makes the rate of the skidding Sr that tries to achieve with formula (6) become the desired value of using (predefined value) in tire test.
Like this, set in the running in the rate of skidding, suitably setting is skidded rate Sr and is carried out tire test.Set running if will see this rate of skidding in more detail, then set in the running, as shown in Figure 2, have curve running, ladder running, three kinds of runnings of fixing running in this rate of skidding.These curve runnings, ladder turn round, fixing running, as mentioned above, are common on rate Sr this point is skidded in setting, but in running separately, (in 1 step-length) changes the situation difference of the rate Sr that skids in the given time.
Shown in Fig. 2 (a), curve running is that (in 1 step-length) makes the rate Sr that skids increase and decrease running up to the rate of finally skidding that becomes setting (rate of finally skidding) gradually in 1 step-length in given time.Shown in Fig. 2 (b), the ladder running is that (in the 1 step-length) rate of will skidding Sr increases and decreases the running that keeps certain hour to the rate of skidding of finally skidding rate and will once increase interimly in given time.Shown in Fig. 2 (c), fixedly running is that (in 1 step-length) makes the rate of skidding increase and decrease to the rate of finally skidding at one stroke, keeps the blunt running that finishes to running of finally skidding thereafter in given time.
And, in curve running, ladder running, fixing running, singly shake in addition running and two running of shaking.
Here, zero for the rate of skidding of simulated roadway 2 not slippages with tire T is benchmark, if the skid rate Sr of tire rotational speed when increasing is positive side, the rate of skidding Sr when the tire rotational speed is reduced is a minus side, and the running of then singly shaking is that the tire rotational speed is fixed on increase or the either party who reduces, makes the running of rate Sr to the side variation of positive side or minus side of skidding.Two runnings of shaking be to carry out the increase of tire rotational speed and reduce two sides, make the running of rate Sr of skidding to the two sides variation of positive side and minus side.
Thus, when testing making tire T slippage, carry out the test separately of curve running, ladder running and fixing running, and in curve running, ladder running and fixing running separately, test while in singly shake running or two running of shaking, change the rate Sr of skidding.
In curve running, ladder running, fixing running running separately, during the change of the desired value of the rate of skidding Sr, each rate of skidding that changes will be inferred the foe and aft force that acts on the tire according to its desired value.
Particularly, as mentioned above, slave controller 6 provides rotate instruction so that the rate of skidding when becoming desired value, is inferred the foe and aft force that acts on the tire T according to the desired value of the rate of skidding to the tire drive motor 18 corresponding with the tire rotational speed.This foe and aft force presumed value that acts on the tire T is obtained by formula (8).
(foe and aft force presumed value)=(inner coefficient) * (load load-carrying) * (rate of skidding) (8)
Inner coefficient: according to test condition and different coefficients
The load load-carrying: tire is for the vertical load-carrying of simulated roadway
Formula (8) is waited by experiment and tries to achieve.Inner coefficient is different because of the kind of tire T etc., therefore, and in the scope 0.2～0.3 in PC tire T (riding tire for vehicles T), preferably 0.25, among the TB tire T (truck/big bus with) in 0.08～0.2 scope, preferably 0.12, tire T is big more, and inner coefficient is more little.Inner coefficient is set in according to test condition in 0.3～0.08 the scope.Can be from the measured value of for example load cell 17, act on the load-carrying in the drum shaft branch or make the pressure of the driving pressure cylinder of lifting frame lifting try to achieve the load load-carrying.
Based on the foe and aft force presumed value of trying to achieve, try to achieve moment limits value for tire drive motor 18 by formula (1) by formula (8).
(moment limits value)=(foe and aft force presumed value) * (tire rolling radius) (1)
Wherein,
Tire rolling radius: the distance of the core wheel from the simulated roadway to the tire
Tire rolling radius is the distance from as the formula (1) simulated roadway to the core wheel of tire, but in tire test, Tr is very difficult for the actual measurement tire rolling radius, therefore in the present embodiment, obtains tire rolling radius Tr by formula (9).
Wherein,
Tr: tire rolling radius
DR: the distance that on the radius of turn of head roll, adds the thickness of simulated roadway
And, to set in the running in the rate of skidding, the higher limit of the output torque of the tire drive motor 18 in the time of will changing the tire rotational speeies by tire drive motor 18 is made as the moment limits value of being obtained by formula (1).
As mentioned above, in the present invention, so that when becoming desired value, making the moment of tire drive motor 18 become, the rate Sr of skidding is being no more than the moment limits value of trying to achieve with formula (1) by tire drive motor 18 change tire rotational speeies.
Rotate instruction that rotate instruction value calculating part 30 decision provides to tire drive motor 18 makes the rate Sr that skids become the desired value of having set.At length, rotate instruction value calculating part 30 is if be provided the target rate Sr that skids when tire test, then to become the mode of this desired value, obtain the tire rotational speed ω t of change with formula (5) and formula (6), decision is used to become the rotating speed of the tire drive motor 18 of this tire rotational speed ω t.
At length, as shown in Figure 3, rotate instruction value calculating part 30, the desired value of the rotating speed of the tire drive motor 18 of the tire rotational speed of obtaining to the rotating speed (tire rotational speed) of current tire drive motor 18 with based on the rate of the skidding Sr by target poor applies gain and obtains the rotate instruction value.Rotate instruction value calculating part 30 exports the rotate instruction value of obtaining to the 1st moment restrictions 33.
Foe and aft force is inferred portion 31 and is inferred the foe and aft force that acts on the tire T based on the desired value of the rate Sr that skids, therefore, provides when skidding rate Sr, uses this rate Sr that skids, and tries to achieve the foe and aft force of tire T by formula (8).
Moment limits value configuration part 32 is based on inferring the foe and aft force of inferring in the portion 31 at foe and aft force, try to achieve moment limits value for tire drive motor 18 by formula (1), therefore with the moment limits value to 33 outputs of the 1st moment restrictions.
The 1st moment restrictions 33 is when changing the rotating speed of tire drive motor 18 by rotate instruction, the moment limits value that to obtain in moment limits value configuration part 32 is as the moment in the rotate instruction of tire drive motor 18 restriction, and the output torque of tire drive motor 18 is limited.
Promptly, the mat woven of fine bamboo strips 1 moment restrictions 33, at first, provide based on from the rotate instruction value of rotate instruction value calculating part 30 for the rotate instruction of tire drive motor 18 time, whether the output torque of the tire drive motor 18 when judging by this rotate instruction tire on the drive wheels drive motor 18 surpasses the moment limits value.And, when the mat woven of fine bamboo strips 1 moment restrictions 33 does not surpass the moment limits value in output torque, via current control division 37, based on the rotate instruction value tire on the drive wheels drive motor 18 that provides from rotate instruction value calculating part 30, when output torque surpasses the moment limits value, tire drive motor 18 is rotated with the moment of moment limits value.
According to tyre tester 1 of the present invention, change by the rate of skidding, when rotate instruction is provided, infer the foe and aft force that is applied on the tire according to this rate of skidding, based on the foe and aft force presumed value of inferring, obtain moment limits value for tire drive motor 18, the moment restricted application moment limits value of the tire drive motor 18 when changing the rotational speed of tire to rotate instruction is provided, therefore, tire drive motor 18 is not applied very big overload, and can test with the rate of skidding of wide region as much as possible.That is, in the present invention, the foe and aft force of tire effect learnt when rate is skidded in the variation of moment limits value to(for) tire drive motor 18 therefore the rate of skidding to be set at the boundary that allows up to performance near tire drive motor 18.Thus, can increase the change scope of the rate of skidding.
[the 2nd embodiment]
Fig. 4 and Fig. 5 are the figure that the tyre tester 1 in the mat woven of fine bamboo strips 2 embodiments is shown.
This opplied moment calculating part 34 is obtained in that rotate instruction is provided when tire drive motor 18 effect damping force or driving force made the tire rotation for the simulated roadway drive motor as the moment (being sometimes referred to as opplied moment) that acts on from the external force of tire one side.In other words, opplied moment calculating part 34 is obtained and the rate Sr that skids is made tire drive motor 18 rotation as desired value so that the opplied moment that acts on simulated roadway drive motor 11 1 sides when becoming this and skidding rate Sr.Particularly, opplied moment calculating part 34 is when making tire T rotation with the set rate of skidding Sr, use acts on moment (opplied moment) Tdm of simulated roadway motor 11 1 sides suc as formula the generation moment Tn that produces on the tire drive motor 18 shown in (2) and the formula (3) when obtaining slippage.
FF＝α×Tdm (4)
Wherein,
Td: the moment on the turning axle that acts on head roll as external force by the damping force or the driving force of tire drive motor
Tn: the generation moment of tire drive motor
TH: the rolling radius of tire
DR: the distance that on the radius of turn of head roll, adds the thickness of simulated roadway
Tdm: the moment on the turning axle that acts on the simulated roadway drive motor as external force by the damping force or the driving force of tire drive motor
Gr: the reduction gear ratio of the reductor that is connected with the simulated roadway drive motor
FF: be attached to the moment on the simulated roadway drive motor
α: correction factor
Gr is the reduction gear ratio of the reductor that is connected with motor 11 with simulated roadway.
At length, as shown in Figure 5, controller 6 is when driving simulated roadway drive motor 11, to the rotating speed of current simulated roadway drive motor 11 be used to make desired value poor of the rotating speed of the certain simulated roadway drive motor 11 of simulated roadway translational speed, apply ride gain and obtain the rotate instruction value.At this moment, by the moment appendix 35 of controller 6, to adding the revised opplied moment FF that calculates at opplied moment calculating part 34 with the corresponding output torque of rotate instruction value for simulated roadway drive motor 11.That is, revised opplied moment FF that will be suitable with the external force of calculating at opplied moment calculating part 34 by moment appendix 35, is attached to by feedforward on the output torque of simulated roadway drive motor 11.In addition, opplied moment FF also can be attached on the output torque of simulated roadway drive motor 11 by feedback.
And, the 2nd moment restrictions 36 that in controller 6, has the moment of restriction simulated roadway drive motor 11, the mat woven of fine bamboo strips 2 moment restrictions 36 judge the output torque of simulated roadway drive motor 11 whether surpass in the simulated roadway drive motor 11 the moment limits value (not promptly, the moment limits value of simulated roadway drive motor 11 itself), carry out the restriction of output torque.In addition, simulated roadway drive motor 11 is via current control division 37, and the rotate instruction that provides based on slave controller 6 drives.
In the tyre tester 1 of these mat woven of fine bamboo strips 2 embodiments, when the driving that makes simulated roadway drive motor 11 with tire drive motor 18 drives, when the driving by tire drive motor 18 makes 15 rotations of tire axle, opplied moment calculating part 34 obtain with from the suitable opplied moment of external force of tire one side direction simulated roadway drive motor 11, by moment appendix 35 the opplied moment FF that obtains is attached on the output torque corresponding with the rotate instruction value.
According to the 2nd embodiment, when changing the tire rotational speed by the driving of tire drive motor 18, because opplied moment FF is applied on the simulated roadway drive motor 11 in advance, even change the rate Sr that skids, the rotating speed of head roll 10 (simulated roadway translational speed) can roughly not change yet and forms to certain.In other words, set in the running in the rate of skidding, along with the change rate Sr (changing the driving force of tire drive motor 18) that skids, even in the simulated roadway 2 side effects of head roll 10 external force from tire one side, because the opplied moment suitable with this external force acted on the simulated roadway drive motor 11, the simulated roadway translational speed does not change yet.That is, the condition of simulated roadway translational speed is kept certain, and the mensuration of the relation of can skid rate Sr and any determination object amount, therefore can improve the mensuration precision of the relation of this skid rate Sr and this determination object amount.
And, the damping force of end effect tire drive motor 18 1 sides or the running of driving force, i.e. braking drive running, when tire T replys state before the running acted on damping force or driving force, suddenly disappear to the moment (external force) of the simulated roadway 2 side effects of head roll 10 from tire T one side (tire drive motor 18 1 sides).In the present embodiment, owing to added opplied moment FF, if the moment Tn vanishing of tire drive motor 18 1 sides then directly is attached to the opplied moment FF vanishing on the simulated roadway drive motor 11.That is, the end that drives running with the braking of tire drive motor 18 side by side, simulated roadway drive motor 11 switches to the certain control of rotating speed (simulated roadway translational speed) that is used to make head roll 10.Its result drives running even tire drive motor 18 finishes braking, does not also have the change of simulated roadway translational speed substantially.
Thus, drive running at once afterwards even make tire drive motor 18 finish braking, therefore the change of simulated roadway translational speed also seldom can be kept this state and tire drive motor 18 brake once more drive and turned round, and can carry out new tire test immediately.That is, after tire test finishes, also the speed of head roll 10 can be kept certain, therefore can carry out following tire test immediately.
[the 3rd embodiment]
In the 3rd embodiment, the foe and aft force test of carrying out calculating at the foe and aft force for simulated roadway (circumferential force) of change tire the test of the axial power of Xw of measuring the IS08855 coordinate system on one side on one side is described.In the test of carrying out tire on the drive wheels drive motor 18 and above-mentioned simulated roadway drive motor 11 both sides, the sliding test that in the 1st, 2 embodiments, illustrates, also has the foe and aft force test.
In foe and aft force test, at first, formerly with set load-carrying with tire T by under the state (making tire T and simulated roadway 2 state of contact) that is pressed on the head roll 10, become the drive rotary state by the mobile tire that makes of simulated roadway.Even tire is zero state rotation with the rate of skidding.
And, when to measure the rate of skidding be zero state by load cell, tire is for the foe and aft force Fx of simulated roadway
0And, by the foe and aft force Fx of this tire
0, and the rolling radius TH of tire, as the formula (10), calculate tire and drive output torque Tq with engine 18, by this output torque Tq tire drive motor 18 is driven, make the foe and aft force of tire become predefined desired value Fx.
Tq＝(Fx±Fx
0)×TH (10)
Wherein,
Tq: the output torque of tire drive motor
Fx: the foe and aft force of the tire of current (during change)
Fx
0: the foe and aft force of the tire of the rate of skidding 0
Like this, when tire drive motor 18 is driven, opplied moment calculating part 34 is when making tire T rotation with set moment Tq, the generation moment Tn (Tn=Tq) that use produces on this drive motor tries to achieve from tire one side and acts on the opplied moment Tdm of simulated roadway with motor one side.Moment appendix 35 will be suitable with the external force that calculates at opplied moment calculating part 34 opplied moment as the feedforward composition, be attached on the output torque of this simulated roadway drive motor 11.
In addition, tire is that the situation of TB (truck, big bus tire) is compared with PC tire (riding tire for vehicles) or LT tire (small card tire for vehicles), and the vertical load-carrying that acts on the tire is big, tests under high load-carrying condition sometimes.Under these circumstances, promptly use formula (10) to calculate the output torque Tq of tire drive motor 18, the possibility that also has moment to become not enough slightly.Therefore, according to the kind and the load load-carrying (vertical load-carrying) of tire, in the foe and aft force test, also can revise the output torque Tq of tire drive motor 18 by formula (11).
Tq′＝Tk×Tq＝Tk×(Fx±Fx
0)×TH (11)
Wherein,
Tq ': the output torque of revised tire drive motor
Tk: correction factor
Correction factor shown in the formula (11) can be obtained the value of eliminating the moment deficiency by experiment.
According to the present invention, obtain above when making the tire rotation for simulated roadway drive motor 11 as opplied moment from the external force effect of tire one side to tire drive motor 18 effect damping force or driving force, moment that will be suitable with this external force is attached on the output torque of this simulated roadway drive motor 11 as the feedforward composition, therefore, even also can changing substantially, the variation of the output torque of tire drive motor 18, the rotating speed of head roll 10 (simulated roadway translational speed) do not form to certain.In other words, in the foe and aft force test, even along with the output torque that changes tire drive motor 18, in the simulated roadway 2 one side effects of head roll 10 external force from tire one side, because the opplied moment suitable with its external force is attached on the simulated roadway drive motor 11, so also can suppress the change of simulated roadway translational speed.
In addition, should think the whole main points of this disclosed embodiment be example and and unrestriced content.For example, in the above-described embodiment, the surface itself that discloses swing roller is the tyre tester of simulated roadway, in the tyre tester of surface as simulated roadway but the present invention also goes for coiling flat rubber belting on swing roller and driven cylinder with flat rubber belting.
Scope of the present invention is not to be that above-mentioned explanation is illustrated by claims and is not to have above-mentioned explanation to illustrate, and comprises and the equal meaning of claims and the whole change in the scope.
Claims (6)
1. the drive controlling method of a tyre tester, this tyre tester possesses: the tire drive motor makes the tire rotation via the tire axle; The simulated roadway drive motor moves simulated roadway; And controller, rotate instruction is provided and changes the rotational speed of above-mentioned tire to above-mentioned tire drive motor, make tire become predefined value with respect to the rate of skidding that moves of above-mentioned simulated roadway,
The drive controlling method of this tyre tester is characterised in that,
The rate of skidding of the tire when above-mentioned rotate instruction is provided, infer the foe and aft force that acts on the tire, obtain moment limits value based on the foe and aft force presumed value of inferring, and above-mentioned moment limits value is applied to above-mentioned rotate instruction is provided and the moment restriction of tire drive motor when changing the rotational speed of above-mentioned tire for the tire drive motor.
2. the drive controlling method of tyre tester as claimed in claim 1 is characterized in that, above-mentioned moment limits value is obtained by formula (1),
(moment limits value)=(foe and aft force presumed value) * (tire rolling radius) (1)
Wherein,
(foe and aft force presumed value)=(inner coefficient) * (load load-carrying) * (rate of skidding)
Tire rolling radius: the distance of the core wheel from the simulated roadway to the tire
Inner coefficient: according to test condition and different coefficients
The load load-carrying: tire is for the vertical load-carrying of simulated roadway.
3. the drive controlling method of tyre tester as claimed in claim 1, it is characterized in that, obtain above-mentioned rotate instruction is provided and to above-mentioned tire drive motor apply damping force or driving force and when making above-mentioned tire rotation as the moment that acts on from the external force of this tire one side on the above-mentioned simulated roadway drive motor, the moment suitable with this external force is attached on the output torque of this simulated roadway drive motor.
4. the drive controlling method of tyre tester as claimed in claim 3, it is characterized in that, above-mentioned simulated roadway is set to move by the head roll that is driven by above-mentioned simulated roadway drive motor, the moment that is attached on the above-mentioned simulated roadway drive motor is obtained by formula (2)～formula (4)
FF＝α×Tdm (4)
Wherein,
Td: because the damping force of tire drive motor or driving force and act on moment on the turning axle of head roll as external force
Tn: the generation moment of tire drive motor
TH: the rolling radius of tire
DR: adding the distance that obtains behind the thickness of simulated roadway on the radius of turn of head roll
Tdm: because the damping force of tire drive motor or driving force and act on moment on the turning axle of simulated roadway drive motor as external force
Gr: the reduction gear ratio of the reductor that is connected with the simulated roadway drive motor
FF: be attached to the moment on the simulated roadway drive motor
α: correction factor.
5. tyre tester comprises:
The tire drive motor makes the rotation of tire axle;
Simulated roadway;
The simulated roadway drive motor moves above-mentioned simulated roadway;
Controller provides rotate instruction and changes the rotational speed of above-mentioned tire to above-mentioned tire drive motor, makes tire become predefined desired value with respect to the rate of skidding that moves of above-mentioned simulated roadway,
Here, above-mentioned controller comprises:
The rotate instruction calculating part in order to change the rotational speed of tire according to the above-mentioned rate of skidding, determines to send to the rotate instruction of described tire drive motor;
Foe and aft force is inferred portion, infers the foe and aft force on the tire of acting on when above-mentioned rotate instruction is provided;
The moment limits value for above-mentioned tire drive motor based on the above-mentioned foe and aft force of inferring, is set in moment limits value configuration part;
The moment restrictions uses above-mentioned moment limits value to come the tire drive motor is carried out the moment restriction when changing above-mentioned tire with the rotating speed of driving motor in that above-mentioned rotate instruction is provided.
6. tyre tester as claimed in claim 5 is characterized in that, above-mentioned controller also possesses:
The opplied moment calculating part, obtain in that above-mentioned rotate instruction is provided to above-mentioned tire drive motor apply damping force or driving force and when making above-mentioned tire rotation as the moment that acts on from the external force of tire one side on the above-mentioned simulated roadway drive motor;
The moment appendix is attached to the moment suitable with the above-mentioned external force of calculating at this opplied moment calculating part on the output torque of this simulated roadway drive motor.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008208164 | 2008-08-12 | ||
| JP2008-208165 | 2008-08-12 | ||
| JP2008208164A JP5179999B2 (en) | 2008-08-12 | 2008-08-12 | Tire tester drive control method and tire tester |
| JP2008208165 | 2008-08-12 | ||
| JP2008-208164 | 2008-08-12 | ||
| JP2008208165A JP5180000B2 (en) | 2008-08-12 | 2008-08-12 | Tire tester drive control method and tire tester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101650267A true CN101650267A (en) | 2010-02-17 |
| CN101650267B CN101650267B (en) | 2011-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101670245A Expired - Fee Related CN101650267B (en) | 2008-08-12 | 2009-08-12 | Driving control method of tire testing machine and tire testing machine |
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| Country | Link |
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| JP (1) | JP5179999B2 (en) |
| CN (1) | CN101650267B (en) |
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| CN103076191A (en) * | 2013-01-10 | 2013-05-01 | 中国矿业大学 | Shock excitation abrasion tester for tyre in complex environment |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2010043947A (en) | 2010-02-25 |
| CN101650267B (en) | 2011-06-08 |
| JP5179999B2 (en) | 2013-04-10 |
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