CN103926090A - Belt-type tire high speed experiment table with deviation correction function and control method - Google Patents
Belt-type tire high speed experiment table with deviation correction function and control method Download PDFInfo
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- CN103926090A CN103926090A CN201410155175.XA CN201410155175A CN103926090A CN 103926090 A CN103926090 A CN 103926090A CN 201410155175 A CN201410155175 A CN 201410155175A CN 103926090 A CN103926090 A CN 103926090A
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Abstract
The invention relates to a belt-type tire high speed experiment table with a deviation correction function and a control method. The belt-type tire high speed experiment table with the deviation correction function comprises a driving roller shaft, a driven roller shaft, a driving roller, a driven roller and a conveying belt, wherein the driving roller shaft and the driven roller shaft are arranged on an experiment table frame, the driving roller and the driven roller are arranged on the driving roller shaft and the driven roller shaft respectively through bearings, and the conveying belt is wound around the driving roller and the driven roller. The two ends of the driving roller shaft are in rigid connection with the experiment table frame. A roller driving motor fixedly arranged on the experiment table frame is in driving connection with the driving roller through a transmission mechanism. Two longitudinal guiding and tensioning adjusting mechanisms which can move along the conveying belt in the longitudinal direction are fixedly arranged on the two sides of the experiment table frame respectively. The two ends of the driven roller shaft are arranged on knuckle bearing supports of the longitudinal guiding and tensioning adjusting mechanisms respectively through knuckle ball bearings. The belt-type tire high speed experiment table can ensure online deviation correction and has the advantages of being simple in structure, small in occupied space, convenient to arrange, easy to control and the like.
Description
Technical field
The invention belongs to tire for vehicles experiment test equipment, be specifically related to a kind of belt tire high speed experiment table and control method with deviation-correcting function, can be used for solving belt tire high speed experiment table and cause the problem of travelling belt sideslip in the time being subject to side force, ensureing that it works reliable and stablely.
Background technology
Theoretical research and tire product development field at mechanics of tire all need a kind of high speed experimental assembly of tire to simulate the actual applying working condition of tire, the various mechanical properties of testing tire.Tire high speed experiment table in the past adopts rotary drum to carry out simulated roadway more, but because drum surface is curved surface, the road surface of simulating can exist deviation with actual road surface.Therefore people are more prone to use transmit and bring simulated roadway to realize tire high speed test.But a technical barrier of the required solution of belt tire high speed experiment table is exactly the sideslip correction of band.Tire often can be subject to side force (as the operating mode such as lateral deviation, inclination) in experiment test, and now tire also can be given counteractive side force of travelling belt, and this power can make band that the skew of side direction occurs.In the time that side force is enough large, can make band that unacceptable laterally offset occurs, even cause the damage of experiment table.Therefore, ensure the normal operation of Tire experiment platform, need the correcting device of a travelling belt sideslip.All more complicated of existing travelling belt deviation correcting device structure, cost is higher, takes up room larger, is difficult to arrange.
Summary of the invention
The object of the invention is to the deficiency in order to overcome existing belt tire high speed experiment table, a kind of belt tire high speed experiment table and control method with deviation-correcting function proposed, the online sideslip that can ensure tire high speed experiment table is corrected, and has simple in structure, little, the arrangement convenience of taking up room, the advantage such as easy to control.
The present invention has the belt tire high speed experiment table of deviation-correcting function, comprise the drive roller shaft and the driven drum shaft that are arranged on experiment table framework, be separately positioned on head roll and the driven cylinder on drive roller shaft and driven drum shaft by bearing, be looped around the travelling belt on head roll and driven cylinder, the control system forming with upper and lower computer pattern;
Described drive roller shaft two ends are connected with experiment table frame rigidity, the drum drive motor being installed on experiment table framework is driven and is connected with head roll by gear train, set firmly respectively a set of longitudinally guiding that can vertically move along travelling belt and tensioning governor motion in experiment table framework both sides, the two ends of described driven drum shaft are arranged on the oscillating bearing bearing of longitudinally guiding and tensioning governor motion by joint ball bearing respectively;
On described experiment table framework, also set firmly a support baseboard that is placed in the upper circular layer bottom of described travelling belt, in the time that tested tire presses down travelling belt, make travelling belt and support baseboard be rubbing contact;
A side at experiment table framework is provided with travelling belt rolling speed sensor and light source by line speed sensor stand;
Line speed sensor is crossed communication data line with described control system slave computer computer expert and is connected, and realizes travelling belt longitudinally and the controlled of side velocity read; Drum drive motor controller is connected by communication data line with slave computer, realizes the driving control of drive motor and reading of motor speed; Drum drive motor controller is connected by power cable and communication data line with drum drive motor, realizes controller power and output to the passback of motor and motor speed signal; The described longitudinally guiding of two covers is crossed communication data line with slave computer computer expert respectively with the adjusting electric machine controller of tensioning governor motion and is connected, and realizes and regulates the speed of motor and electric current (moment) to control and regulate reading of motor speed; Regulate electric machine controller to be connected by power cable and communication data line with regulating motor, realize the feedback that regulates the output of electric machine controller power and regulate motor speed.
Joint ball bearing center hole tight fit connection on one end of described driven drum shaft and this end, and limit moving axially between joint ball bearing and driven drum shaft by the jump ring and the stop nut that are arranged on this end of driven drum shaft; The other end of driven drum shaft arranges a sliding bearing that is sliding fit with it, joint ball bearing center hole tight fit connection on this sliding bearing and this end, and limit moving axially between joint ball bearing and sliding bearing by the jump ring being arranged on sliding bearing two ends.
Described drum drive motor comprises with the gear train of head roll: be rigidly attached to respectively driving synchronizing wheel and driven synchronizing wheel on the output shaft of drive motor and on head roll, be connected by the tooth kneading on it Timing Belt of realizing transmission with this two synchronizing wheel.
The described longitudinally guiding that is installed in experiment table framework both sides and tensioning governor motion, comprising: regulate motor, be arranged on screw mandrel-feed screw nut pair on experiment table frame facet, be rigidly attached to two parallel line slideways on experiment table frame facet, two slide blocks, the oscillating bearing bearing of the line slideway sliding fit parallel with two respectively by screw by two screw mandrel bearing spiders; Described adjusting motor is connected with one end of screw mandrel-feed screw nut pair by shaft joint, and feed screw nut is connected on oscillating bearing bearing by feed screw nut's Connection Block, and described two slide blocks and oscillating bearing bearing are rigidly connected.
Control system of the present invention adopts upper and lower computer pattern.Wherein, line speed sensor is crossed communication data line with slave computer computer expert and is connected, and realizes travelling belt longitudinally and the controlled of side velocity read; Drum drive motor controller is connected by communication data line with slave computer, realizes the driving control of drive motor and reading of motor speed; Drum drive motor controller is connected by power cable and communication data line with drum drive motor, realizes controller power and output to the passback of motor and motor speed signal; Two regulate electric machine controller to cross communication data line with slave computer computer expert is connected, and realizes and regulates the speed of motor and electric current (moment) to control and regulate reading of motor speed; Regulate electric machine controller to be connected by power cable and communication data line with regulating motor, realize the feedback that regulates the output of electric machine controller power and regulate motor speed.
To sum up, the present invention can realize the correction of belt tire high speed experiment table, ensures the normal operation of experiment table, can make travelling belt keep rational pretightning force simultaneously.
The present invention has the control method of the belt tire high speed experiment table of deviation-correcting function, realizes according to the following steps:
Speed control:
A. set the rolling speed of the tire that needs simulation, draw the target drives motor speed needing through converting;
B. by host computer target setting drive motor rotating speed, host computer passes to slave computer by instruction through data line, and slave computer passes to drive motor controller by instruction again;
C. drive motor controller passes to drive motor by needed drive current through power cable, make motor reach certain rotating speed, the transient speed of motor feeds back to lower drive motor controller through its speed probe, and controller carries out FEEDBACK CONTROL adjusting to motor speed.
Also can control and realize the speed change degree stepless control function of specifying in order to upper method.
Tensioning control:
Realize as shown in Figure 1 and Figure 4 the control of the tensioning degree of travelling belt, step is as follows:
A. set and make cylinder reach formulation speed by host computer;
B. now between travelling belt and cylinder in slightly lax state, two adjusting motors are synchronously rotated, promote driven cylinder tensioning travelling belt;
C. read longitudinal rolling wire speed of travelling belt by line speed sensor, the speed (being scaled the linear velocity of cylinder cylindrical) simultaneously this speed and drive motor speed probe being recorded compares, and the difference of the two is fed back to slave computer;
D. cycle criterion travelling belt rolling linear speed and head roll external circe speed is poor, continues, by the driven cylinder of the synchronous promotion of two adjusting motors, in the time that difference is less than setting deviation, to stop promoting driven cylinder in the time that difference is greater than setting deviation;
E. in previous step, monitored the working current of motor by adjusting electric machine controller simultaneously, in the time that the momentary current of two drive motor is greater than setting maximal value, should stop promoting cylinder, and suitably increase travelling belt rolling linear speed and head roll external circe speed setting deviation, repeat d step.
Correction is controlled:
Realize as shown in Figure 1 and Figure 5 the correction control of travelling belt laterally offset, concrete steps are as follows:
A. set and make cylinder reach command speed by host computer;
B. now cylinder and travelling belt are in suitable tensioning state, and when after the side force having between tire and travelling belt, travelling belt can produce laterally offset, and this skew is read by line speed light stream sensor, and feeds back to slave computer;
C. slave computer is judged after the direction and size of travelling belt skew, realizes the correction of travelling belt laterally offset by the differential input of two adjusting motors.Be specially: in the time that travelling belt offsets downward (as Fig. 1 and Fig. 5 position), drive top to regulate motor that top screw mandrel-pair of nut is moved right, and drive cylinder top to be offset to the right, the working current of while and drive motor, after getting back to initial lateral position by correction, reads by travelling belt the vertical line speed of travelling belt, if its longitudinal velocity decreases, drive top to regulate motor that cylinder top is moved to the left, until travelling belt vertical line speed is recovered.In the time that travelling belt is upwards offset, take the same method to drive corresponding adjusting motor to realize bias correcting.
The present invention has following outstanding advantages:
1) the present invention has the belt tire high speed experiment table of deviation-correcting function, is realized tensioning and the correction of cylinder by two adjusting motors through screw mandrel guiding mechanism simultaneously, and it is simple in structure, is easy to arrange, cost is low, and efficiency is high, good control.
2) deviation-rectifying system of belt Tire experiment platform is in the past all hydraulic actuation, all starts of deviation correcting device of the present invention and control and all realized electrification, and system debug and safeguard all more conveniently, control performance is more guaranteed, and system reliability is higher.
4) the present invention applies the laterally offset of non-contacting optical sensor measurement travelling belt, has better reliability compared with touch sensor.
5) the deviation correction mechanism start direction of belt Tire experiment platform is in the past vertical with simulated roadway, and in the time that side force changes, simulated roadway can twist, and cannot ensure simulated roadway level; Deviation correcting device of the present invention, the start direction of its deviation correction mechanism is parallel with simulated roadway, has ensured the level on experiment tire rolling road surface.
Brief description of the drawings
Fig. 1 is the belt tire high speed experiment table vertical view with deviation-correcting function;
Fig. 2 is the belt tire high speed experiment table axonometric drawing with deviation-correcting function;
Fig. 3 is the belt tire high speed experiment table side view with deviation-correcting function;
Fig. 4 is that the belt tire high speed experiment table cylinder tensioning with deviation-correcting function regulates schematic diagram;
Fig. 5 is that the belt tire high speed experiment table correction with deviation-correcting function regulates schematic diagram;
Fig. 6 is the belt tire high speed Control testing bench process flow diagram with deviation-correcting function.
Embodiment
The embodiment providing below in conjunction with accompanying drawing is described in further detail the present invention.
Example 1
With reference to Fig. 1～3, a kind of belt tire high speed experiment table with deviation-correcting function, comprise: head roll 1, drive roller shaft 2, head roll bearing 3, drum drive motor 4, drive synchronizing wheel 5, Timing Belt 6, driven synchronizing wheel 7, driven cylinder 8, driven drum shaft 9, driven roller bearings 10, joint ball bearing 11, sliding bearing 12, jump ring 13, stop nut 14, oscillating bearing bearing 15, line slideway 16, slide block 17, screw mandrel-feed screw nut pair 18, feed screw nut's connection seat 19, screw mandrel bearing spider 20, shaft joint 21, with the adjusting motor 22 of speed reduction unit, travelling belt 23, travelling belt rolling speed sensor 24, light source 25, line speed sensor stand 26, experiment table framework 27, runners 28, support baseboard 29.
As shown in Figure 1, head roll 1 is connected with drive roller shaft 2 by two head roll bearings 3, drive roller shaft 2 two ends and experiment table framework 27 are rigidly connected, drive synchronizing wheel 5 and driven synchronizing wheel 7 to be rigidly attached to respectively on the output shaft of drive motor 4 and on head roll 1, Timing Belt 6 and this two synchronizing wheel are mediated and are connected and realize transmission by the tooth on it, the torque of drive motor 4 is by driving synchronizing wheel 5, Timing Belt 6, driven synchronizing wheel 7 to pass to head roll 1, and drive motor 4 is rigidly connected by bolt with experiment table framework 27;
As shown in Figure 2, travelling belt 23 is propped up by head roll 1 and driven cylinder 8, and and two cylinders between rubbing contact, the rotating torque of head roll 1 passes to travelling belt 23 by friction, then passes to driven cylinder 8 by travelling belt.Support baseboard 29 is rigidly connected with experiment table framework 27, and being positioned at the bottom of circular layer on travelling belt 23, when test, tire is subject to vertical load to press down travelling belt 23, and travelling belt 23 is contacted with support baseboard 29, and the vertical load of being born tire by support baseboard, travelling belt will with support baseboard rubbing contact.
Referring to figs. 1 through 3, driven cylinder 8 is connected with driven drum shaft 9 by two driven roller bearings 10, joint ball bearing 11 center pit tight fit connections on one end of driven drum shaft 9 and this end, and limit moving axially between joint ball bearing and driven drum shaft by the jump ring 13 and the stop nut 14 that are arranged on driven drum shaft 9 these ends; The other end of driven drum shaft 9 arranges a sliding bearing 12 that is sliding fit with it, joint ball bearing 11 center pit tight fit connections on this sliding bearing 12 and this end, and limit moving axially between joint ball bearing 11 and sliding bearing 12 by the jump ring 13 being arranged on sliding bearing 12 two ends.
Set firmly respectively a set of longitudinally guiding that can vertically move along travelling belt 23 and tensioning governor motion in experiment table framework 27 both sides, the two ends of driven drum shaft 9 are arranged on the oscillating bearing bearing 15 of longitudinally guiding and tensioning governor motion by joint ball bearing 11 respectively.
Described longitudinally guiding and tensioning governor motion, comprising: regulate motor 22, be arranged on screw mandrel-feed screw nut pair 18 on experiment table framework 27 sides, be rigidly attached to two parallel line slideways 16 on experiment table framework 27 sides, two slide blocks 17, the oscillating bearing bearing 15 of line slideway 16 sliding fits parallel with two respectively by screw by two screw mandrel bearing spiders 20; Described adjusting motor 22 is connected with one end of screw mandrel-feed screw nut pair 18 by shaft joint 21, and feed screw nut is connected on oscillating bearing bearing 15 by feed screw nut's Connection Block 19, and two described slide blocks 17 are rigidly connected with oscillating bearing bearing 15.Realize thus the longitudinally guiding motion of driven cylinder.
Regulate the rotation of motor 22 to pass to screw mandrel-feed screw nut pair 18 by shaft joint 21, the rotation of screw mandrel becomes rectilinear movement by screw mandrel-feed screw nut pair, feed screw nut's movement passes to cylinder through intermediate link and realizes it and vertically move, two regulate the synchronous rotating in same direction of motor that the parallel of realizing driven cylinder 8 relative head rolls 1 is regulated, it is the adjusting of tensioning degree, two regulate asynchronous (asynchronous in the same way, or oppositely) of motors to rotate the angular adjustment that can realize driven cylinder.
Four runners 28 connect firmly by screw with experiment table framework 27, support the main quality of experiment table, and the horizontal attitude of adjustable experiment table.
As shown in Figure 6, control system of the present invention adopts upper and lower computer pattern.Wherein, line speed sensor 24 is crossed communication data line with slave computer computer expert and is connected, and realizes travelling belt longitudinally and the controlled of side velocity read; Drum drive motor controller is connected by communication data line with slave computer, realizes the driving control of drive motor and reading of motor speed; Drum drive motor controller is connected by power cable and communication data line with drum drive motor 4, realizes controller power and output to the passback of motor and motor speed signal; Two regulate electric machine controller to cross communication data line with slave computer computer expert is connected, and realizes and regulates the speed of motor and electric current (moment) to control and regulate reading of motor speed; Regulate electric machine controller to be connected by power cable and communication data line with regulating motor 22, realize the feedback that regulates the output of electric machine controller power and regulate motor speed.
As can be seen here, invention can realize the correction of belt tire high speed experiment table, ensures the normal operation of experiment table, can make travelling belt keep rational pretightning force simultaneously.
The control method of belt tire high speed experiment table that the present invention has deviation-correcting function is as follows:
Speed control:
A. set the rolling speed of the tire that needs simulation, draw the target drives motor speed needing through converting;
B. by host computer target setting drive motor rotating speed, host computer passes to slave computer by instruction through data line, and slave computer passes to drive motor controller by instruction again;
C. drive motor controller passes to drive motor by needed drive current through power cable, make motor reach certain rotating speed, the transient speed of motor feeds back to lower drive motor controller through its speed probe, and controller carries out FEEDBACK CONTROL adjusting to motor speed.
Also can control and realize the speed change degree stepless control function of specifying in order to upper method.
Tensioning control:
Realize as shown in Figure 1 and Figure 4 the control of the tensioning degree of travelling belt, step is as follows:
A. set and make cylinder reach formulation speed by host computer;
B. now between travelling belt and cylinder in slightly lax state, two adjusting motors are synchronously rotated, promote driven cylinder tensioning travelling belt;
C. read longitudinal rolling wire speed of travelling belt by line speed light stream sensor, the speed (being scaled the linear velocity of cylinder cylindrical) simultaneously this speed and drive motor speed probe being recorded compares, and the difference of the two is fed back to slave computer;
D. cycle criterion travelling belt rolling linear speed and head roll external circe speed is poor, continues, by the driven cylinder of the synchronous promotion of two adjusting motors, in the time that difference is less than setting deviation, to stop promoting driven cylinder in the time that difference is greater than setting deviation;
E. in previous step, monitored the working current of motor by adjusting electric machine controller simultaneously, in the time that the momentary current of two drive motor is greater than setting maximal value, should stop promoting cylinder, and suitably increase travelling belt rolling linear speed and head roll external circe speed setting deviation, repeat d step.
Correction is controlled:
Realize as shown in Figure 1 and Figure 5 the correction control of travelling belt laterally offset, concrete steps are as follows:
A. set and make cylinder reach formulation speed by host computer;
B. now cylinder and travelling belt are in suitable tensioning state, and when after the side force having between tire and travelling belt, travelling belt can produce laterally offset, and this skew is read by line speed light stream sensor, and feeds back to slave computer;
C. slave computer is judged after the direction and size of travelling belt skew, realizes the correction of travelling belt laterally offset by the differential input of two adjusting motors.Be specially: in the time that travelling belt offsets downward (as Fig. 1 and Fig. 5 position), drive top to regulate motor that top screw mandrel-pair of nut is moved right, and drive cylinder top to be offset to the right, the working current of while and drive motor, after getting back to initial lateral position by correction, reads by travelling belt the vertical line speed of travelling belt, if its longitudinal velocity decreases, drive top to regulate motor that cylinder top is moved to the left, until travelling belt vertical line speed is recovered.In the time that travelling belt is upwards offset, take the same method to drive corresponding adjusting motor to realize bias correcting.
Claims (7)
1. one kind has the belt tire high speed experiment table of deviation-correcting function, comprise the drive roller shaft (2) and the driven drum shaft (9) that are arranged on experiment table framework (27), be separately positioned on head roll (1) and the driven cylinder (8) on drive roller shaft (2) and driven drum shaft (9) by head roll bearing (3) and driven roller bearings (10), be looped around the travelling belt (23) on head roll (1) and driven cylinder (8), the control system forming with upper and lower computer pattern, is characterized in that:
Described drive roller shaft (2) two ends and experiment table framework (27) are rigidly connected, the drum drive motor (4) being installed on experiment table framework (27) is driven and is connected with head roll (1) by gear train, set firmly respectively a set of longitudinally guiding and tensioning governor motion that can vertically move along travelling belt (23) in experiment table framework (27) both sides, the two ends of described driven drum shaft (9) are arranged on the oscillating bearing bearing (15) of longitudinally guiding and tensioning governor motion by joint ball bearing (11) respectively;
On described experiment table framework (27), also set firmly a support baseboard (29) that is placed in the upper circular layer bottom of described travelling belt (23), in the time that tested tire presses down travelling belt (23), make travelling belt (23) and support baseboard (29) be rubbing contact;
A side at experiment table framework (27) is provided with travelling belt rolling speed sensor (24) and light source (25) by line speed sensor stand (26);
Line speed sensor (24) is crossed communication data line with described control system slave computer computer expert and is connected, and realizes travelling belt longitudinally and the controlled of side velocity read; Drum drive motor controller is connected by communication data line with slave computer, realizes the driving control of drive motor and reading of motor speed; Drum drive motor controller is connected by power cable and communication data line with drum drive motor (4), realizes controller power and output to the passback of motor and motor speed signal; The described longitudinally guiding of two covers is crossed communication data line with slave computer computer expert respectively with the adjusting electric machine controller of tensioning governor motion and is connected, and realizes and regulates the speed of motor and electric current (moment) to control and regulate reading of motor speed; Regulate electric machine controller to be connected by power cable and communication data line with regulating motor, realize the feedback that regulates the output of electric machine controller power and regulate motor speed.
2. the belt tire high speed experiment table with deviation-correcting function according to claim 1, it is characterized in that, joint ball bearing (11) center pit tight fit connection on one end and this end of described driven drum shaft (9), and limit moving axially between joint ball bearing and driven drum shaft by the jump ring (13) and the stop nut (14) that are arranged on this end of driven drum shaft (9); The other end of driven drum shaft (9) arranges a sliding bearing (12) that is sliding fit with it, joint ball bearing (11) center pit tight fit connection on this sliding bearing (12) and this end, and limit moving axially between joint ball bearing (11) and sliding bearing (12) by the jump ring (13) being arranged on sliding bearing (12) two ends.
3. the belt tire high speed experiment table with deviation-correcting function according to claim 1, it is characterized in that, described drum drive motor (4) comprising with the gear train of head roll (1): be rigidly attached to respectively driving synchronizing wheel (5) and driven synchronizing wheel (7) on the output shaft of drive motor (4) and on head roll (1), mediated and be connected the Timing Belt (6) of realizing transmission by the tooth on it with this two synchronizing wheel.
4. the belt tire high speed experiment table with deviation-correcting function according to claim 1, it is characterized in that, the described longitudinally guiding and the tensioning governor motion that are installed in experiment table framework (27) both sides, comprise: regulate motor (22), be arranged on the screw mandrel-feed screw nut pair (18) on experiment table framework (27) side by two screw mandrel bearing spiders (20), be rigidly attached to two parallel line slideways (16) on experiment table framework (27) side by screw, two slide blocks (17) of the line slideway parallel with two (16) sliding fit respectively, oscillating bearing bearing (15), described adjusting motor (22) is connected with one end of screw mandrel-feed screw nut pair (18) by shaft joint (21), it is upper that feed screw nut is connected in oscillating bearing bearing (15) by feed screw nut's Connection Block (19), and described two slide blocks (17) are rigidly connected with oscillating bearing bearing (15).
5. the method for control speed of the belt tire high speed experiment table with deviation-correcting function claimed in claim 1, is characterized in that comprising the following steps:
A. set the rolling speed of the tire that needs simulation, draw the target drives motor speed needing through converting;
B. by host computer target setting drive motor rotating speed, host computer passes to slave computer by instruction through data line, and slave computer passes to drive motor controller by instruction again;
C. drive motor controller passes to drive motor by needed drive current through power cable, make motor reach certain rotating speed, the transient speed of motor feeds back to lower drive motor controller through its speed probe, and controller carries out FEEDBACK CONTROL adjusting to motor speed.
6. the tensioning control method of the belt tire high speed experiment table with deviation-correcting function claimed in claim 1, is characterized in that comprising the following steps:
A. set and make cylinder reach formulation speed by host computer;
B. now between travelling belt and cylinder in slightly lax state, two adjusting motors are synchronously rotated, promote driven cylinder tensioning travelling belt;
C. read longitudinal rolling wire speed of travelling belt by line speed sensor, the speed (being scaled the linear velocity of cylinder cylindrical) simultaneously this speed and drive motor speed probe being recorded compares, and the difference of the two is fed back to slave computer;
D. cycle criterion travelling belt rolling linear speed and head roll external circe speed is poor, continues, by the driven cylinder of the synchronous promotion of two adjusting motors, in the time that difference is less than setting deviation, to stop promoting driven cylinder in the time that difference is greater than setting deviation;
E. in previous step, monitored the working current of motor by adjusting electric machine controller simultaneously, in the time that the momentary current of two drive motor is greater than setting maximal value, cylinder be should stop promoting, and travelling belt rolling linear speed and head roll external circe speed setting deviation, repeating step (d) suitably increased.
7. the correction control method of the belt tire high speed experiment table with deviation-correcting function claimed in claim 1, is characterized in that comprising the following steps:
A. set and make cylinder reach command speed by host computer;
B. now cylinder and travelling belt are in suitable tensioning state, and when after the side force having between tire and travelling belt, travelling belt can produce laterally offset, and this skew is read by line speed light stream sensor, and feeds back to slave computer;
C. slave computer is judged after the direction and size of travelling belt skew, realizes the correction of travelling belt laterally offset by the differential input of two adjusting motors.Be specially: in the time that travelling belt offsets downward, drive top to regulate motor that top screw mandrel-pair of nut is moved right, and drive cylinder top to be offset to the right, the working current of while and drive motor, after getting back to initial lateral position by correction, reads by travelling belt the vertical line speed of travelling belt, if its longitudinal velocity decreases, drive top to regulate motor that cylinder top is moved to the left, until travelling belt vertical line speed is recovered.In the time that travelling belt is upwards offset, take the same method to drive corresponding adjusting motor to realize bias correcting.
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| CN111572006B (en) * | 2020-06-17 | 2022-03-15 | 常州市新创智能科技有限公司 | Crawler-type simulation demolding pattern distributing device for pultruded plates |
| WO2022174538A1 (en) * | 2021-02-21 | 2022-08-25 | 浙江立镖机器人有限公司 | Dual power driving-based parallel movable shelf and unloading apparatus thereof |
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