ROLLER RUNNING SYSTEM, CONTROL METHOD AND CONTROL DEVICE THEREOF, AND ROLLER

摘要

A control method of a roller running system comprises: acquiring a set speed of a front steel wheel (40); determining, according to the set speed and a condition for forming pure rolling by the front steel wheel (40) and at least a pair of rear driving wheels (50, 60), a set speed of a first rear driving wheel (50) and a set speed of a second rear driving wheel (60) in the at least a pair of rear driving wheels (50, 60); acquiring a detection speed of the front steel wheel (40), a detection speed of the first rear driving wheel (50), and a detection speed of the second rear driving wheel (60); and respectively adjusting, according to a difference between the set speed of the front steel wheel (40) and the detection speed thereof, a difference between the set speed of the first rear driving wheel (50) and the detection speed thereof, and a difference between the set speed of the second rear driving wheel (60) and the detection speed thereof, the speed of the front steel wheel (40), the speed of the first rear driving wheel (50), and the speed of the second rear driving wheel (60) to the set speed of the front steel wheel (40), the set speed of the first rear driving wheel (50), and the set speed of the second rear driving wheel (60).