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<p>Rail grinding technology based on open-type abrasive belt grinding enables high-efficiency material removal, improves grinding efficiency, and mitigates rail corrugation. In the open-type abrasive belt grinding unit, the belt velocity and tension (defined as V–T) are strongly coupled, making coordinated control challenging under disturbances induced by rail irregularities and corrugation. Therefore, a Linear Quadratic Regulator (LQR)–Luenberger-based V–T coordinated control algorithm is proposed for the open-type abrasive belt grinding robot to regulate belt renewal velocity and tension under bidirectional belt renewal. The algorithm addresses the velocity–tension coupling problem in the winding system during belt renewal. Moreover, under unknown disturbances in the grinding process, the proposed algorithm achieves accurate belt renewal velocity control and stable tension regulation. Simulation and experimental results validate the accuracy of the dynamic model of the open-type abrasive belt grinding unit and the effectiveness of the proposed V–T coordinated control algorithm.</p>

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Research on coordinated control of velocity and tension of open-type abrasive belt for high-speed rail grinding robot

  • 期刊论文

  • 发表日期：

    2026年7月9日

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  • Kang Xu,
  • Quang Li,
  • Jianyong Li,
  • Wengang Fan,
  • Chaoyue Zhao,
  • Lei Hao,
  • Yanhua Liu

摘要

Rail grinding technology based on open-type abrasive belt grinding enables high-efficiency material removal, improves grinding efficiency, and mitigates rail corrugation. In the open-type abrasive belt grinding unit, the belt velocity and tension (defined as V–T) are strongly coupled, making coordinated control challenging under disturbances induced by rail irregularities and corrugation. Therefore, a Linear Quadratic Regulator (LQR)–Luenberger-based V–T coordinated control algorithm is proposed for the open-type abrasive belt grinding robot to regulate belt renewal velocity and tension under bidirectional belt renewal. The algorithm addresses the velocity–tension coupling problem in the winding system during belt renewal. Moreover, under unknown disturbances in the grinding process, the proposed algorithm achieves accurate belt renewal velocity control and stable tension regulation. Simulation and experimental results validate the accuracy of the dynamic model of the open-type abrasive belt grinding unit and the effectiveness of the proposed V–T coordinated control algorithm.