CN110239124B - Control method for automatic angle calibration and width leveling system of high-speed rotating device - Google Patents
Control method for automatic angle calibration and width leveling system of high-speed rotating device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
- B29D30/00—Producing pneumatic or solid tyres or parts thereof
- B29D30/0061—Accessories, details or auxiliary operations not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
- B29D30/00—Producing pneumatic or solid tyres or parts thereof
- B29D30/0061—Accessories, details or auxiliary operations not otherwise provided for
- B29D2030/0066—Tyre quality control during manufacturing
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Abstract
The invention provides a control method for an automatic angle calibration and width leveling system of a high-speed rotating device, which comprises the following steps: s1, acquiring a real-time angle AP of the rotating body during rotation, wherein AP is ActP + ActW/K1ActP is the angular encoder value, ActW is the outer width encoder value, K1The width variation of the servo motor rotating for one circle is obtained; s2, acquiring the real-time width AW of the rotating body when rotating, wherein AW ═ ActP +360 ×) K1X is a modulus of addition and subtraction when the rotation angle exceeds the limit of 0 degree and 360 degrees in the rotation process, wherein the current calculation period ActP<10 deg., the previous calculation period ActP<At 350 °, X ═ X + 1; current calculation period ActP>350 deg., the previous calculation period ActP<At 10 °, X ═ X-1; and S3, judging whether the angle deviation of the real-time angle AP meets a modal linear relation in a 360-degree modal, and whether the width deviation of the real-time width AW is in a real linear relation, if so, normally operating, otherwise, stopping the system operation.
Description
Technical Field
The invention relates to a control method for an automatic angle calibration and width leveling system of a high-speed rotating device.
Background
At present, when a circular device (such as a tire) rotates at a high speed, the width of two side surfaces on two sides or the circumference of the circumference changes, so that the risk of explosion, disassembly and the like exists, and a product defect phenomenon can occur in the product production process of the device. If the memory of the rotation angle is lost when the circular device changes on two side surfaces or the circumference of the circle, the angle distribution of the circular device is out of control, and the product quality is reduced. At present, the control algorithms of high-speed rotation and width & perimeter of the circular device are not calibrated mutually, and protection cannot be made in advance under the conditions of danger and product quality reduction. Therefore, the high-speed rotating device has the phenomenon that the width of the side surfaces on two sides is changed or the circumference of the circumference is changed, so that the rotating angle, the width and the circumference can be correlated, and a control method of accurate self-calibration is necessary.
Disclosure of Invention
The invention provides a control method for a high-speed rotating device to automatically calibrate an angle and a horizontal width system, which can effectively solve the problems.
The invention is realized by the following steps:
a control method of a high-speed rotating apparatus auto-calibration angle and yaw system including a case including a servo motor, a rotation shaft provided on the servo motor, a rotation body rotatable around the rotation shaft, and an external yaw encoder, the control method comprising the steps of:
s1, acquiring a real-time angle AP of the rotating body during rotation, wherein AP is ActP + ActW/K1ActP is the angular encoder value, ActW is the outer width encoder value, K1The width variation of the servo motor rotating for one circle is obtained;
s2, acquiring the real-time width AW of the rotating body when rotating, wherein AW ═ ActP +360 ×) K1X is a modulus of addition and subtraction when the rotation angle exceeds the limit of 0 degree and 360 degrees in the rotation process, wherein the current calculation period ActP<10 deg., the previous calculation period ActP<At 350 °, X ═ X + 1; current calculation period ActP>350 deg., the previous calculation period ActP<At 10 °, X ═ X-1;
and S3, judging whether the angle deviation of the real-time angle AP meets a modal linear relation in a 360-degree modal, and whether the width deviation of the real-time width AW is in a real linear relation, if so, normally operating, otherwise, stopping the system operation.
As a further improvement, in step S2, the step of determining whether the angular deviation of the real-time angle AP satisfies the linear relationship within the 360-degree mode includes:
and recording the ActP as a last calculation period parameter ActMark, and judging that the angle deviation of the real-time angle AP meets the linear relation in the 360-degree mode when the absolute value AP-ActMark is less than or equal to a first threshold value.
As a further improvement, the first threshold value is 1 ° to 5 °.
As a further improvement, in step S2, the step of determining whether the width deviation of the real-time width AW is a real linear relationship includes:
and recording ActW as a last calculation period parameter ActWMark, and judging that the width deviation of the real-time width AW is a linear relation of real numbers when | AW-ActWMark | is less than or equal to a second threshold value.
As a further improvement, the second threshold value is 1 cm-3 cm.
The present invention still further provides a control method of an automatic angle and circumference calibration system of a high-speed rotating apparatus, the automatic angle and circumference calibration system of a high-speed rotating apparatus including a case including a servo motor, a rotating shaft provided on the servo motor, a rotating body rotatable around the rotating shaft, and an external circumference encoder, the control method including the steps of:
s1, acquiring a real-time angle AP of the rotating body during rotation, wherein AP is ActP + ActC/K2ActP is the angular encoder value, ActC is the outer perimeter encoder value, K2The perimeter variation of the servo motor rotating for one circle;
s2, acquiring the real-time perimeter AC of the rotating body when the rotating body rotates, wherein AC ═ K (ActP +360 ×)2X is a modulus of addition and subtraction when the rotation angle exceeds the limit of 0 degree and 360 degrees in the rotation process, wherein the current calculation period ActP<10 deg., the previous calculation period ActP<At 350 °, X ═ X + 1; current calculation period ActP>350 deg., the previous calculation period ActP<At 10 °, X ═ X-1;
and S3, judging whether the angle deviation of the real-time angle AP meets a modal linear relation in a 360-degree modal, and whether the perimeter deviation of the real-time perimeter AC is in a real linear relation, if so, normally operating, otherwise, stopping the system operation.
As a further improvement, in step S2, the step of determining whether the angular deviation of the real-time angle AP satisfies the linear relationship within the 360-degree mode includes:
and recording the ActP as a last calculation period parameter ActMark, and judging that the angle deviation of the real-time angle AP meets the linear relation in the 360-degree mode when the absolute value AP-ActMark is less than or equal to a first threshold value.
As a further improvement, the first threshold value is 1 ° to 5 °.
As a further improvement, in step S2, the step of determining whether the perimeter deviation of the real-time perimeter AC is a real linear relationship includes:
and recording ActC as a last calculation period parameter ActCMark, and judging that the width deviation of the real-time perimeter AC is a linear relation of real numbers when | AC-ActCMark | is less than or equal to a third threshold value.
As a further improvement, the third threshold value is 2 cm-4 cm.
The invention has the beneficial effects that: according to the invention, whether the angle deviation of the real-time angle AP meets the modal linear relation in the 360-degree mode and whether the perimeter deviation of the real-time perimeter AC is in the real linear relation are judged, so that the faults in the aspects of explosion, disintegration and the like possibly caused by the detection and the stop can be found in advance, and the safety performance is improved. In addition, the present invention can improve the stability of the production process of the rotating body (e.g., tire), improve the stability of the rotating body in the high-speed rotation process, and make the rotation parameters controllable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an automatic angle calibration and width adjustment system of a high-speed rotating device according to an embodiment of the present invention.
Fig. 2 is a flowchart of a control method for automatically calibrating an angle and a horizontal width system of a high-speed rotating device according to an embodiment of the present invention.
Fig. 3 is a flowchart of a control method for automatically calibrating an angle and a horizontal width system of a high-speed rotating apparatus according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1-2, an embodiment of the present invention provides a control method for an automatic angle and width calibration system of a high-speed rotating device, where the automatic angle and width calibration system of the high-speed rotating device includes a box 10 including a servo motor, a rotating shaft 11 disposed on the servo motor, a rotating body 12 rotatable around the rotating shaft, and an external width encoder, and the control method includes the following steps:
s1, obtaining a real-time angle AP of the rotating body 12 during rotation, where AP ═ ActP + ActW/K1ActP is the angular encoder value, ActW is the outer width encoder value, K1The width variation of the servo motor rotating for one circle is obtained;
s2, obtaining a real-time width AW of the rotating body 12 during rotation, where AW is (ActP +360 × X) K1X is a modulus of addition and subtraction when the rotation angle exceeds the limit of 0 degree and 360 degrees in the rotation process, wherein the current calculation period ActP<10 deg., the previous calculation period ActP<At 350 °, X ═ X + 1; current calculation period ActP>350 deg., the previous calculation period ActP<At 10 °, X ═ X-1;
and S3, judging whether the angle deviation of the real-time angle AP meets a modal linear relation in a 360-degree modal, and whether the width deviation of the real-time width AW is in a real linear relation, if so, normally operating, otherwise, stopping the system operation.
As a further improvement, in step S2, the step of determining whether the angular deviation of the real-time angle AP satisfies the linear relationship within the 360-degree mode includes:
and recording the ActP as a last calculation period parameter ActMark, and judging that the angle deviation of the real-time angle AP meets the linear relation in the 360-degree mode when the absolute value AP-ActMark is less than or equal to a first threshold value. It is understood that whether the cyclic linear change has a sudden change in the range of 0 to 360 degrees can be confirmed by judgment.
As a further improvement, the first threshold value is 1 ° to 5 °. In one embodiment, the first threshold is 2 °.
As a further improvement, in step S2, the step of determining whether the width deviation of the real-time width AW is a real linear relationship includes:
and recording ActW as a last calculation period parameter ActWMark, and judging that the width deviation of the real-time width AW is a linear relation of real numbers when | AW-ActWMark | is less than or equal to a second threshold value.
Preferably, the second threshold value is 1cm to 3 cm. In one embodiment, the first threshold is 2 cm.
Referring to fig. 1 and 3, an embodiment of the present invention further provides a method for controlling an automatic angle and circumference calibration system of a high-speed rotating device, where the automatic angle and circumference calibration system of the high-speed rotating device includes a box 10 including a servo motor, a rotating shaft 11 disposed on the servo motor, a rotating body 12 rotatable around the rotating shaft, and an external circumference encoder, and the method includes the following steps:
s4, obtaining a real-time angle AP of the rotating body 12 during rotation, where AP ═ ActP + ActC/K2ActP is the angular encoder value, ActC is the outer perimeter encoder value, K2The perimeter variation of the servo motor rotating for one circle;
s5, obtaining the real-time circumference AC of the rotator 12 during rotation, wherein AC ═ ActP +360*X)*K2X is a modulus of addition and subtraction when the rotation angle exceeds the limit of 0 degree and 360 degrees in the rotation process, wherein the current calculation period ActP<10 deg., the previous calculation period ActP<At 350 °, X ═ X + 1; current calculation period ActP>350 deg., the previous calculation period ActP<At 10 °, X ═ X-1;
and S6, judging whether the angle deviation of the real-time angle AP meets a modal linear relation in a 360-degree modal, and whether the perimeter deviation of the real-time perimeter AC is in a real linear relation, if so, normally operating, otherwise, stopping the system operation.
As a further improvement, in step S6, the step of determining whether the angular deviation of the real-time angle AP satisfies the linear relationship within the 360-degree mode includes:
and recording the ActP as a last calculation period parameter ActMark, and judging that the angle deviation of the real-time angle AP meets the linear relation in the 360-degree mode when the absolute value AP-ActMark is less than or equal to a first threshold value.
As a further improvement, the first threshold value is 1 ° to 5 °. In one embodiment, the first threshold is 2 °.
As a further improvement, in step S6, the step of determining whether the perimeter deviation of the real-time perimeter AC is a real linear relationship includes:
and recording ActC as a last calculation period parameter ActCMark, and judging that the width deviation of the real-time perimeter AC is a linear relation of real numbers when | AC-ActCMark | is less than or equal to a third threshold value.
As a further improvement, the third threshold value is 1 cm-3 cm. In one embodiment, the third threshold is 2cm to 4 cm.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A control method of an automatic angle and width calibration system of a high-speed rotating apparatus, the automatic angle and width calibration system including a housing (10) including a servo motor, a rotating shaft (11) provided on the servo motor, a rotating body (12) rotatable around the rotating shaft, and an external width encoder, the control method comprising the steps of:
s1, acquiring a real-time angle AP of the rotating body during rotation, wherein AP is ActP + ActW/K1ActP is the angular encoder value, ActW is the outer width encoder value, K1The width variation of the servo motor rotating for one circle is obtained;
s2, acquiring the real-time width AW of the rotating body when rotating, wherein AW ═ ActP +360 ×) K1X is a modulus of addition and subtraction when the rotation angle exceeds the limit of 0 degree and 360 degrees in the rotation process, wherein the current calculation period ActP<10 deg., the previous calculation period ActP<At 350 °, X ═ X + 1; current calculation period ActP>350 deg., the previous calculation period ActP<At 10 °, X ═ X-1;
s3, judging whether the angle deviation of the real-time angle AP meets a modal linear relation in a 360-degree modal, and whether the width deviation of the real-time width AW is in a real linear relation, if so, normally operating, otherwise, stopping the system operation;
the step of judging whether the angle deviation of the real-time angle AP meets the linear relation in the 360-degree mode comprises the following steps: recording ActP as a last calculation period parameter ActMark, and judging that the angular deviation of the real-time angle AP meets the linear relation in a 360-degree mode when | AP-ActMark | is less than or equal to a first threshold value, wherein the first threshold value is 1-5 degrees;
the step of determining whether the width deviation of the real-time width AW is a real linear relationship includes: and recording ActW as a last calculation period parameter ActWMark, and judging that the width deviation of the real-time width AW is a linear relation of real numbers when | AW-ActWMark | is less than or equal to a second threshold value, wherein the second threshold value is 1 cm-3 cm.
2. A control method of an automatic angle and circumference calibration system of a high-speed rotating apparatus, the automatic angle and circumference calibration system of the high-speed rotating apparatus comprising a housing (10) including a servo motor, a rotating shaft (11) provided on the servo motor, a rotating body (12) rotatable around the rotating shaft, and an external circumference encoder, the control method comprising the steps of:
s1, acquiring a real-time angle AP of the rotating body during rotation, wherein AP is ActP + ActC/K2ActP is the angular encoder value, ActC is the outer perimeter encoder value, K2The perimeter variation of the servo motor rotating for one circle;
s2, acquiring the real-time perimeter AC of the rotating body when the rotating body rotates, wherein AC ═ K (ActP +360 ×)2X is a modulus of addition and subtraction when the rotation angle exceeds the limit of 0 degree and 360 degrees in the rotation process, wherein the current calculation period ActP<10 deg., the previous calculation period ActP<At 350 °, X ═ X + 1; current calculation period ActP>350 deg., the previous calculation period ActP<At 10 °, X ═ X-1;
s3, judging whether the angle deviation of the real-time angle AP meets a modal linear relation in a 360-degree modal, and whether the perimeter deviation of the real-time perimeter AC is in a real linear relation, if so, normally operating, otherwise, stopping the system operation;
the step of judging whether the angle deviation of the real-time angle AP meets the linear relation in the 360-degree mode comprises the following steps: recording ActP as a last calculation period parameter ActMark, and judging that the angular deviation of the real-time angle AP meets the linear relation in a 360-degree mode when | AP-ActMark | is less than or equal to a first threshold value, wherein the first threshold value is 1-5 degrees;
the step of determining whether the perimeter deviation of the real-time perimeter AC is a real linear relationship includes: and recording ActC as a last calculation period parameter ActCMark, and judging that the width deviation of the real-time perimeter AC is a linear relation of real numbers when | AC-ActCMark | is less than or equal to a third threshold value, wherein the third threshold value is 2 cm-4 cm.
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