CN101813466A - Device and method for measuring outer inclination angle of vehicle tyre - Google Patents
Device and method for measuring outer inclination angle of vehicle tyre Download PDFInfo
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Abstract
本发明涉及一种用于测量车辆轮胎外倾角的装置和方法,目的在于在行驶过程中确定车辆轮胎的外倾角,解决车辆轮胎外倾角动态变化监测困难的问题。该装置由上激光发射器、下激光发射器、激光接收器、步进电机、变速箱和控制器组成。该方法为:系统从初始位置启动,首次达到平衡位置获取初始轮胎外倾角。如果轮胎外倾角发生变化,激光接收器获取激光束落点位置变动,则系统程序会计算落点距离。程序根据评定规则决定电机的转向和步距角,进而改变激光接收器的角度。系统程序再返回到监测激光束的落点变化重新进行计算判定,直到判得激光接收器与轮胎平行,调节激光接收器程序终止,得出轮胎重新达到的外倾角。
The invention relates to a device and method for measuring the camber angle of vehicle tires, aiming at determining the camber angles of vehicle tires during driving and solving the problem of difficulty in monitoring dynamic changes of vehicle tire camber angles. The device consists of an upper laser transmitter, a lower laser transmitter, a laser receiver, a stepping motor, a gearbox and a controller. The method is as follows: the system starts from the initial position, and reaches the equilibrium position for the first time to obtain the initial tire camber angle. If the camber of the tire changes, the laser receiver acquires the change of the position of the laser beam landing, and the system program will calculate the distance of the landing. The program determines the steering and step angles of the motors according to the evaluation rules, thereby changing the angle of the laser receiver. The system program returns to the change of the landing point of the monitoring laser beam to recalculate and judge until the laser receiver is determined to be parallel to the tire, and the laser receiver adjustment program is terminated to obtain the camber angle that the tire reaches again.
Description
技术领域technical field
本发明涉及一种测量技术领域,特别涉及用于测量车辆轮胎外倾角的装置和方法。The invention relates to the technical field of measurement, in particular to a device and a method for measuring the camber angle of a vehicle tire.
背景技术Background technique
随着电子技术的发展,底盘集成控制技术成为研究的热点,而轮胎决定着整个系统的控制精度和整体性能。With the development of electronic technology, chassis integrated control technology has become a research hotspot, and tires determine the control accuracy and overall performance of the entire system.
车轮外倾角是指车轮中心平面与汽车垂直平面的夹角(如图1中所示γ)。当车轮顶部向汽车外部倾斜时角度为正,反之为负。车轮外倾角主要作用是使车轮与地面的动态承载中心得到合理的分配,对轮胎力学特性有显著影响,同时达到提高机械零件的使用寿命,减少轮胎的磨损等效果。若车轮外倾角不正确,轮胎会出现异常的磨损,汽车在行驶时也会发生偏驶的现象。Wheel camber refers to the angle between the center plane of the wheel and the vertical plane of the car (as shown in Figure 1). The angle is positive when the top of the wheel is tilted towards the outside of the car, and negative when it is not. The main function of the wheel camber is to make the dynamic bearing center of the wheel and the ground be reasonably distributed, which has a significant impact on the mechanical properties of the tire, and at the same time achieves the effects of improving the service life of mechanical parts and reducing tire wear. If the camber of the wheel is not correct, the tires will wear abnormally, and the car will also drift when driving.
到目前为止,由于轮胎在行驶过程中高速旋转,路面状况变化复杂,造成轮胎外倾角变化快,变化量微小等特点,对传感器和测量方法提出了较高要求。随着试验设备及测量传感器技术的不断进步,给满足高频、微变的轮胎外倾角动态特性的监测提供了可能。So far, due to the high-speed rotation of tires during driving and the complex changes in road conditions, resulting in rapid changes in tire camber and small changes, higher requirements have been put forward for sensors and measurement methods. With the continuous improvement of test equipment and measurement sensor technology, it is possible to monitor the dynamic characteristics of tire camber angle with high frequency and slight change.
发明内容Contents of the invention
本发明专利的主要目的在于提供一种装置和方法,通过该装置和方法能够很容易在行驶过程中确定车辆轮胎的外倾角,解决车辆轮胎外倾角动态变化监测困难的问题。The main purpose of the patent of the present invention is to provide a device and method, through which the camber angle of the vehicle tire can be easily determined during driving, and the problem of difficulty in monitoring the dynamic change of the vehicle tire camber angle can be solved.
实现本发明装置发明目的的技术方案是:一种用于测量车辆轮胎外倾角的装置,包括:The technical scheme that realizes the inventive object of the device of the present invention is: a kind of device for measuring the camber angle of vehicle tires, comprising:
上激光发射器,安装在轮毂上侧边缘处靠近轮胎,用于发射定位信号;The upper laser transmitter is installed on the upper edge of the wheel hub close to the tire, and is used to emit positioning signals;
下激光发射器,安装在上激光发射器垂直下方距离D处,位于上激光发射器和轮胎旋转中心的连线上,用于发射定位信号;The lower laser emitter is installed at a distance D vertically below the upper laser emitter, on the connection line between the upper laser emitter and the tire rotation center, and is used to emit positioning signals;
激光接受器,狭长条板状CMOS安装在轮胎旋转轴线所在平面与翼子板相交处,一端与变速箱输出轴相连,可随同变速箱输出轴360度旋转,另一端悬置,用于捕捉上激光发射器和下激光发射器的激光信号;The laser receiver is a narrow strip-shaped CMOS installed at the intersection of the plane where the tire rotation axis is located and the fender. One end is connected to the output shaft of the gearbox and can rotate 360 degrees with the output shaft of the gearbox. The other end is suspended to capture the upper The laser signal of the laser transmitter and the lower laser transmitter;
步进电机,安装在翼子板顶部,输出旋转力矩,用于对激光接受器位置进行调节;Stepper motor, installed on the top of the fender, outputs rotational torque for adjusting the position of the laser receiver;
变速箱,安装在轮胎旋转轴线所在平面与翼子板相交处,输入轴与步进电机相连,输出轴与激光感受器相连,用于对步进电机减速增扭,驱动激光感受器的旋转运动;The gearbox is installed at the intersection of the plane of the tire rotation axis and the fender, the input shaft is connected to the stepping motor, and the output shaft is connected to the laser sensor, which is used to decelerate the stepping motor and increase the torque to drive the laser sensor to rotate;
控制器,安装在车身内,用于根据激光接受器的信号对步进电机实施控制。The controller, installed in the vehicle body, is used to control the stepping motor according to the signal of the laser receiver.
实现本发明方法发明目的的技术方案是:一种用于测量车辆轮胎外倾角的方法,包括下述步骤:The technical scheme that realizes the purpose of the invention of the method of the present invention is: a kind of method for measuring vehicle tire camber, comprises the steps:
步骤1)系统从初始位置启动,在首次达到平衡位置时获取初始轮胎外倾角;Step 1) The system starts from the initial position, and obtains the initial tire camber angle when reaching the equilibrium position for the first time;
步骤2)如果轮胎外倾角发生变化,激光接收器获取激光束落点位置变动,则系统计算落点距离,根据评定规则决定电机的转向和步距角,进而改变激光接收器的角度;Step 2) If the camber angle of the tire changes, the laser receiver obtains the change of the landing point of the laser beam, then the system calculates the distance of the landing point, determines the steering and step angle of the motor according to the evaluation rules, and then changes the angle of the laser receiver;
步骤3)系统再对监测激光束的落点变化重新进行计算判定,直到判得激光接收器与轮胎平行,调节激光接收器程序终止,得出轮胎重新达到的外倾角。轮胎外倾角外倾正向变大,激光束在激光接收器上照射点的位置上移,L1,L2变小,但两个激光照射点的距离差Δ变大,步进电机逆时针旋转,则缩小Δ的变化。当再次达到Δ=D时,步进电机停止工作。激光感受器再次与轮胎平行,由原有的外倾角减去步进电机旋转过的角度计算出此时轮胎外倾角。Step 3) The system recalculates and judges the change of the landing point of the monitored laser beam until it is determined that the laser receiver is parallel to the tire, and the procedure of adjusting the laser receiver is terminated to obtain the new camber angle of the tire. The camber angle of the tire becomes larger in the positive direction, the position of the laser beam on the laser receiver moves up, L1 and L2 become smaller, but the distance difference Δ between the two laser irradiation points becomes larger, and the stepper motor rotates counterclockwise, Then the change of Δ is reduced. When Δ=D is reached again, the stepper motor stops working. The laser receptor is parallel to the tire again, and the camber angle of the tire at this time is calculated by subtracting the angle rotated by the stepper motor from the original camber angle.
轮胎外倾角内倾负向变大,激光照射点的激光感受器上的位置下移,L1,L2变大,两个激光照射点的距离差Δ变大,步进电机瞬时针旋转,则缩小Δ的变化。当再次达到Δ=D时,步进电机停止工作。激光感受器再次与轮胎平行,由原有的外倾角加上步进电机旋转过的角度计算出此时轮胎外倾角。The camber angle of the tire becomes larger in the negative direction, the position on the laser sensor of the laser irradiation point moves down, L1 and L2 become larger, the distance difference Δ between the two laser irradiation points becomes larger, and the stepper motor rotates instantaneously, then the Δ is reduced Variety. When Δ=D is reached again, the stepper motor stops working. The laser receptor is parallel to the tire again, and the camber angle of the tire at this time is calculated from the original camber angle plus the angle rotated by the stepping motor.
附图说明Description of drawings
图1是测量车辆轮胎外倾角的装置的结构和原理示意图,用来说明测量车辆轮胎外倾角的装置组成和工作原理。Fig. 1 is a schematic diagram of the structure and principle of the device for measuring the camber angle of the vehicle tire, which is used to illustrate the composition and working principle of the device for measuring the camber angle of the vehicle tire.
图2是驱动器SH-3F075M的接线图,用于说明三相反应式步进电机、驱动器以及控制器的连接方式。Figure 2 is the wiring diagram of the driver SH-3F075M, which is used to illustrate the connection method of the three-phase reactive stepper motor, driver and controller.
图3是激光接收芯片电路框图。Figure 3 is a block diagram of the laser receiving chip circuit.
图4是互阻放大器RGC结构图。Figure 4 is a structural diagram of the transimpedance amplifier RGC.
图5是有源电感作负载的差分放大器结构图,用于说明DA的内部结构。Figure 5 is a structural diagram of a differential amplifier with an active inductance as a load, which is used to illustrate the internal structure of the DA.
图6是S3C44B0X芯片的连接方式图,用来说明控制器在系统中的连接方式。Figure 6 is a connection diagram of the S3C44B0X chip, which is used to illustrate the connection method of the controller in the system.
图7是直流电压变换器连接图。Figure 7 is a connection diagram of a DC voltage converter.
图8是测量系统程序流程图,用来说明测量系统的工作原理。Figure 8 is a flow chart of the measurement system program, used to illustrate the working principle of the measurement system.
具体实施方式Detailed ways
下面结合相应附图对本发明的具体实施方式进行详细描述。Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
如图1所示,一种用于测量车辆轮胎外倾角的装置,包括:As shown in Figure 1, a kind of device for measuring vehicle tire camber, comprises:
上激光发射器5,安装在轮毂上侧边缘处靠近轮胎,用于发射定位信号;采用美国邦纳工程国际有限公司生产的QS186LE14型激光发射器,干电池供电。The upper laser transmitter 5 is installed on the upper side edge of the wheel hub and is close to the tire, and is used for transmitting positioning signals; the QS186LE14 laser transmitter produced by the U.S. Banner Engineering International Co., Ltd. is adopted, powered by a dry battery.
下激光发射器6,安装在上激光发射器垂直下方距离D处,保证上激光发射器和下激光发射器连线的延长线经过轮胎旋转中心,用于发射定位信号;同样采用美国邦纳工程国际有限公司生产的QS186LE14型激光发射器,干电池供电。The lower laser transmitter 6 is installed at a distance D vertically below the upper laser transmitter to ensure that the extension line of the connection between the upper laser transmitter and the lower laser transmitter passes through the tire rotation center for transmitting positioning signals; QS186LE14 laser transmitter produced by International Co., Ltd., powered by dry batteries.
激光接受器4,狭长条板状CMOS安装在轮胎旋转轴线所在平面与翼子板相交处,一端与变速箱输出轴相连,可随同变速箱输出轴360度旋转,另一端悬置,用于捕捉上激光发射器和下激光发射器的激光信号;Laser receiver 4, the narrow strip CMOS is installed at the intersection of the plane where the tire rotation axis is located and the fender, one end is connected to the output shaft of the gearbox, and can rotate 360 degrees with the output shaft of the gearbox, and the other end is suspended to capture Laser signals from the upper and lower laser emitters;
步进电机,安装在翼子板顶部,输出旋转力矩,用于对激光接受器4位置进行调节;The stepper motor is installed on the top of the fender, and outputs the rotational torque, which is used to adjust the position of the laser receiver 4;
变速箱,安装在轮胎7旋转轴线所在平面与翼子板相交处,输入轴与步进电机相连,输出轴与激光感受器相连,用于对步进电机减速增扭,驱动激光感受器的旋转运动;The gearbox is installed at the intersection of the plane where the rotation axis of the tire 7 is located and the fender, the input shaft is connected with the stepper motor, and the output shaft is connected with the laser receptor, which is used to decelerate and increase the torque of the stepper motor to drive the rotation of the laser receptor;
控制器,安装在车身内,用于根据激光接受器4的信号对步进电机实施控制。The controller is installed in the vehicle body and is used to control the stepper motor according to the signal from the laser receiver 4 .
步进电机采用北京斯达特公司的三相反应式步进电机以及与之配套的驱动器SH-3F075M,图2所示为其接线图。The stepper motor adopts the three-phase reactive stepper motor of Beijing Start Company and the matching driver SH-3F075M. Figure 2 shows its wiring diagram.
SH-3F075M驱动器的输入信号共有三路,它们是:步进脉冲信号CP、方向电平信号DIR、脱机信号FREE,它们在驱动器内部分别通过限流电阻接入光耦的负输入端。There are three input signals of the SH-3F075M driver, they are: step pulse signal CP, direction level signal DIR, and offline signal FREE, which are respectively connected to the negative input terminal of the optocoupler through the current limiting resistor inside the driver.
1)步进脉冲信号CP1) Step pulse signal CP
步进脉冲信号CP用于控制步进电机的位置和速度。驱动器每接受一个CP脉冲就驱动步进电机旋转一个步距角,CP脉冲的频率与步进电机的转速成正比,控制CP脉冲的个数,就可以使步进电机精确定位。因此,用微控制器PORTA口控制步进脉冲信号输入以驱动步进电机。The stepping pulse signal CP is used to control the position and speed of the stepping motor. Every time the driver receives a CP pulse, it drives the stepper motor to rotate a step angle. The frequency of the CP pulse is proportional to the speed of the stepper motor. Controlling the number of CP pulses can make the stepper motor precisely positioned. Therefore, use the microcontroller PORTA port to control the stepping pulse signal input to drive the stepping motor.
2)方向电平信号DIR2) Direction level signal DIR
方向电平信号DIR用于控制步进电机的旋转方向。高电平时,步进电机顺时针旋转,低电平时,步进电机逆时针旋转。以微控制器PORTA口控制步进电机的旋转方向。The direction level signal DIR is used to control the rotation direction of the stepper motor. When the level is high, the stepper motor rotates clockwise, and when the level is low, the stepper motor rotates counterclockwise. The direction of rotation of the stepper motor is controlled by the PORTA port of the microcontroller.
3)脱机信号FREE3) Offline signal FREE
此信号为选用信号,低电平有效。当此信号为低电平时,电机处于自由无力矩状态,当此信号为高电平或悬空不接时,取消脱机状态。OPTO端为三路信号的公共正端,即三路光耦的正输入端。OPTO端用+5V电源通过稳压电路供电。This signal is an optional signal, active at low level. When this signal is low level, the motor is in a free torque-free state, and when this signal is high level or unconnected, the off-line state is cancelled. The OPTO end is the common positive end of the three-way signals, that is, the positive input end of the three-way optocoupler. The OPTO end is powered by a +5V power supply through a voltage regulator circuit.
SH-3F075M型步进电机驱动器可用于驱动三相步进电机,采用三相六根线步进电机,步进电机直接与驱动器相连(图2中A、A、B、B、C、C)。SH-3F075M型驱动器需外部提供直流电源(图2中DC),电源电压范围为+24V。The SH-3F075M stepper motor driver can be used to drive a three-phase stepper motor, using a three-phase six-wire stepper motor, and the stepper motor is directly connected to the driver (A, A, B, B, C, C in Figure 2). The SH-3F075M driver needs an external DC power supply (DC in Figure 2), and the power supply voltage range is +24V.
激光发射器通过镜头将可见红色激光射向激光接受器,被内部的CMOS线性相机接收,CMOS线性相机可以测得不同的激光落点位置。根据这个位置的预先标定数字信号处理器就能计算出落点和激光接收器旋转中心之间的距离。光束在接收元件的位置通过模拟和数字电路处理,并通过微处理器分析,计算出相应的输出值,并在用户设定的模拟量窗口内,按比例输出标准数据信号给ECU。The laser transmitter emits visible red laser light to the laser receiver through the lens, and is received by the internal CMOS linear camera. The CMOS linear camera can measure different laser landing positions. From this position a pre-calibrated digital signal processor can calculate the distance between the landing point and the center of rotation of the laser receiver. The light beam is processed by analog and digital circuits at the position of the receiving element, and analyzed by the microprocessor to calculate the corresponding output value, and within the analog window set by the user, the standard data signal is output to the ECU in proportion.
图3为激光接收芯片电路框图,I接触端和D接触端分别连接一个互阻放大器TIA(Tran-Impedance Amplifier),并连接三级差分放大器DA(Differential Amplier),以及输出缓冲OB(OutputBuffer)来实现阻抗匹配,电路中4个电阻R与外加电容C组成了直流负反馈网络,以稳定直流点和交流增益。由于光接收芯片电路采用了差分输出,而且响应度较小,因此后续的放大器应当采用差分形式,并提供足够大的增益以克服噪声的影响。Figure 3 is a block diagram of the laser receiving chip circuit. The I contact terminal and the D contact terminal are respectively connected to a transimpedance amplifier TIA (Tran-Impedance Amplifier), and connected to a three-stage differential amplifier DA (Differential Amplifier), and an output buffer OB (OutputBuffer) to To achieve impedance matching, the 4 resistors R and the external capacitor C in the circuit form a DC negative feedback network to stabilize the DC point and AC gain. Since the light receiving chip circuit uses a differential output, and the responsivity is small, the subsequent amplifier should adopt a differential form and provide a large enough gain to overcome the influence of noise.
如图4所示,互阻放大器采用了RGC(Regulated Gascade)结构,其中R1,RS,M1,Mb,Rb构成RGC结构,它具有稳定的直流偏置及非常小的输入阻抗。电源电压为5V。DA采用了有源电感作负载的差分放大器结构(如图5),利用并联峰化技术来拓宽带宽。As shown in Figure 4, the transimpedance amplifier adopts the RGC (Regulated Gascade) structure, in which R1, RS, M1, Mb, Rb constitute the RGC structure, which has a stable DC bias and very small input impedance. The supply voltage is 5V. DA adopts the differential amplifier structure with active inductance as load (as shown in Figure 5), and uses parallel peaking technology to widen the bandwidth.
控制器采用S3C44BOX,目前,以32位处理器作为高性能嵌入式系统开发的核心已是嵌入式技术发展的必然趋势。ARM处理器因其突出的优点在32位微控制器领域里得到非常广泛的应用,因此,ARM处理器在汽车电子领域有着良好的应用前景。S3C44BOX微处理器片内集成ARM7TDMI核,采用0.25umCMOS工艺制造,并在ARM7TDMI核基本功能的基础上集成了丰富的外围功能模块,便于低成本设计应用系统。The controller adopts S3C44BOX. At present, it is an inevitable trend in the development of embedded technology to use 32-bit processor as the core of high-performance embedded system development. Because of its outstanding advantages, ARM processors are widely used in the field of 32-bit microcontrollers. Therefore, ARM processors have good application prospects in the field of automotive electronics. The S3C44BOX microprocessor integrates the ARM7TDMI core on-chip, which is manufactured by 0.25um CMOS technology, and integrates rich peripheral function modules on the basis of the basic functions of the ARM7TDMI core, which is convenient for low-cost design of application systems.
S3C44BOX芯片的连接方式如图6所示,输入端AIN0、AIN1分别接CMOS的高电平Vout+和低电平Vout-。输出端GPF0、GPF0、GPF0、GPF0分别接步进电机驱动器的CP、DIR、FREE、OPTO端。The connection mode of the S3C44BOX chip is shown in Figure 6. The input terminals AIN0 and AIN1 are respectively connected to the high level Vout+ and low level Vout- of the CMOS. The output terminals GPF0, GPF0, GPF0 and GPF0 are respectively connected to the CP, DIR, FREE and OPTO terminals of the stepper motor driver.
如图7所示,电源采用直流电压变换器,将汽车蓄电池电压12伏转换为5伏供控制器S3C44BOX和COMS使用,同时提供24伏给驱动器SH-3F075M。As shown in Figure 7, the power supply uses a DC voltage converter to convert the 12 volts of the car battery to 5 volts for the controller S3C44BOX and COMS, and at the same time provide 24 volts for the driver SH-3F075M.
一种用于测量车辆轮胎外倾角的方法,包括下列步骤:A method for measuring the camber angle of a vehicle tire, comprising the steps of:
初始化获得起始角,狭长条状激光感受器4与车身3的夹角α从0度开始绕变速箱1输出轴轴线顺时针旋转。上激光点5发射的激光照射在激光感受器上点距离变速箱输出轴旋转轴线的的位置记为L1,下激光点6发射的激光照射在激光感受器上点距离变速箱输出轴旋转轴线的的位置记为L2。两个激光照射点的距离差为Δ=L2-L1。激光发射器5、6与轮胎7垂直安装,由平行四边形原理可知,如果激光感受器4位置与轮胎位置平行,可得上下激光照射点在激光感受器上的距离Δ与上下激光发射器在轮胎上的距离D相等。由控制程序记录下电机旋转过的角度,此时激光感受器与车身之间的夹角α与轮胎外倾角γ互补,即α=90°-γ。The initial angle is obtained by initialization, and the angle α between the narrow strip-shaped laser receptor 4 and the
轮胎外倾角外倾正向变大,激光束在激光接收器上照射点的位置上移,L1,L2变小,但两个激光照射点的距离差Δ变大,步进电机逆时针旋转,则缩小Δ的变化。当再次达到Δ=D时,步进电机停止工作。激光感受器再次与轮胎平行,由原有的外倾角减去步进电机旋转过的角度计算出此时轮胎外倾角。The camber angle of the tire becomes larger in the positive direction, the position of the laser beam on the laser receiver moves up, L1 and L2 become smaller, but the distance difference Δ between the two laser irradiation points becomes larger, and the stepper motor rotates counterclockwise, Then the change of Δ is reduced. When Δ=D is reached again, the stepper motor stops working. The laser receptor is parallel to the tire again, and the camber angle of the tire at this time is calculated by subtracting the angle rotated by the stepper motor from the original camber angle.
轮胎外倾角内倾负向变大,激光照射点的激光感受器上的位置下移,L1,L2变大,两个激光照射点的距离差Δ变大,步进电机瞬时针旋转,则缩小Δ的变化。当再次达到Δ=D时,步进电机停止工作。激光感受器再次与轮胎平行,由原有的外倾角加上步进电机旋转过的角度计算出此时轮胎外倾角。The camber angle of the tire becomes larger in the negative direction, the position on the laser sensor of the laser irradiation point moves down, L1 and L2 become larger, the distance difference Δ between the two laser irradiation points becomes larger, and the stepper motor rotates instantaneously, then the Δ is reduced Variety. When Δ=D is reached again, the stepper motor stops working. The laser receptor is parallel to the tire again, and the camber angle of the tire at this time is calculated from the original camber angle plus the angle rotated by the stepping motor.
程序流程如图8所示,系统从初始位置启动,首次达到平衡位置获取初始轮胎外倾角。如果轮胎外倾角发生变化,激光接收器获取激光束落点位置变动,则系统程序会计算落点距离。程序根据评定规则决定电机的转向和步距角,进而改变激光接收器的角度。系统程序再返回到监测激光束的落点变化重新进行计算判定,直到判得激光接收器与轮胎平行,调节激光接收器程序终止,得出轮胎重新达到的外倾角。The program flow is shown in Figure 8. The system starts from the initial position and reaches the equilibrium position for the first time to obtain the initial tire camber. If the camber of the tire changes, the laser receiver acquires the change of the position of the laser beam landing, and the system program will calculate the distance of the landing. The program determines the steering and step angles of the motors according to the evaluation rules, thereby changing the angle of the laser receiver. The system program returns to the change of the landing point of the monitoring laser beam to recalculate and judge until the laser receiver is judged to be parallel to the tire, and the adjustment laser receiver program is terminated to obtain the camber angle that the tire reaches again.
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