A belt tension stabilization method, system and device for a dual-motor printer

Abstract

The present invention relates to the technical field of digital printers, and discloses a belt tension stabilization method, system and device for a dual-motor printer, the method comprising: setting the sampling time of the initial output torque and the actual output torque of the active roller servo motor; obtaining the actual output torque of the active roller servo motor at the sampling time; based on the sampling time, the initial output torque of the active roller servo motor and the actual output torque of the active roller servo motor at the sampling time, using a PID algorithm to control the power of an electronic load set on a driven roller generator, so that the output torque of the active roller servo motor is stabilized at the initial output torque. The present invention controls the power of the electronic load to offset the uneven force of the belt, thereby stabilizing the tension of the belt, ensuring the stability of the speed and torque of the servo motor of the active roller, and ensuring the stable progress of the printing process, and has the advantages of fast response and no loss.

Description

Technical Field

[0001] The invention relates to the technical field of digital printers, and in particular to a belt tension stabilization method, system and device for a dual-motor printer. Background Art

[0002] In order to ensure that the printed material is flat and wrinkle-free, the belt needs to have air holes, and the substrate needs to be tightly adsorbed on the belt with a suction structure. The suction force on the belt is positively correlated with the number of holes covered. When the substrate is a non-continuous roll but a single sheet structure, the total contact area between the substrate and the belt air holes will continue to change as the belt runs continuously. This change causes the suction force of the suction structure on the belt to continue to change, which ultimately manifests as 1. The change in belt tension causes the change in stretching, causing relative displacement of the substrate; 2. The speed and torque fluctuations of the active roller servo motor. The position pulse of the active roller servo is the reference signal for inkjet printing. Its speed fluctuations will affect the quality of the entire printing effect.

[0003] The existing structure based on magnetic powder brake has a slow response because of the magnetic powder itself, which takes about 0.5 seconds at the fastest, and the magnetic powder is a consumable part, which needs to be replaced about once a year, which means that the performance of the magnetic powder brake is constantly declining. Therefore, a method is needed to reduce or offset the force fluctuation on the belt, stabilize the overall tension of the belt, stabilize the active roller, and ensure the stability of the printing process. Summary of the invention

[0004] In view of this, the present invention provides a belt tension stabilization method, system and device for a dual-motor printer to solve the problem of how to quickly respond to and offset the change in belt tension caused by the change in the coverage area of ​​the substrate during the printing process to ensure the stability of the printing process.

[0005] In a first aspect, the present invention provides a belt tension stabilization method for a dual-motor printer, comprising:

[0006] Set the sampling time of the initial output torque and actual output torque of the active roller servo motor;

[0007] Get the actual output torque of the active roller servo motor at the sampling time;

[0008] Based on the sampling time, the initial output torque of the active roller servo motor and the actual output torque of the active roller servo motor at the sampling time, the power of the electronic load arranged on the driven roller generator is controlled by using a PID algorithm to stabilize the output torque of the active roller servo motor at the initial output torque.

[0009] The belt tension stabilization method for a dual-motor printer provided in an embodiment of the present invention stabilizes the output torque of the active roller servo motor at the initial output torque by setting the power of the electronic load on the driven roller generator and controlling the power of the electronic load based on a PID algorithm, thereby ensuring stable belt tension and thus ensuring stable printing process. Compared with the prior art, it has the advantages of fast response and no loss.

[0010] In an optional implementation, the power of the electronic load provided on the driven roller generator is controlled by using a PID algorithm, which is expressed by the following formula:

[0011] ;

[0012] ;

[0013] ;

[0014] in, is the power of the electronic load at sampling time n, is the proportional term of sampling time n, is the integral term of the sampling time, is the loop gain, is the initial output torque of the active roller servo motor when there is no substrate at sampling time n, is the actual output torque of the active roller servo motor at sampling time n; is the sampling time, is the integration time, is the integral term at sampling time n-1.

[0015] The embodiment of the present invention adopts the PID algorithm to control the power of the electronic load, which has the advantage of fast response. It can quickly respond when there is a difference between the actual output torque of the active roller servo motor and the initial output torque, and quickly adjust the power of the electronic load to restore the belt tension to a stable state, thereby avoiding affecting the printing process.

[0016] In an alternative embodiment, the loop gain and integration time , set different values ​​according to the obtained substrate width.

[0017] The embodiment of the present invention sets different loop gains and integration times according to different substrate widths, and can perform targeted control on substrates of different sizes, thereby achieving higher control accuracy.

[0018] In an optional implementation, the loop gain It is expressed by the following formula:

[0019] ;

[0020] The integration time It is expressed by the following formula:

[0021] ;

[0022] in, Indicates the substrate width.

[0023] The embodiment of the present invention obtains the relationship between the loop gain and the integration time with respect to the substrate width through multiple tests, which has good guiding significance.

[0024] In an optional implementation, the process of obtaining the substrate width includes:

[0025] The substrate coverage area is obtained by monitoring the output torque change value of the active roller servo motor and combining it with the mapping relationship between the output torque change value T of the active roller and the substrate coverage area S. The mapping relationship between the output torque change value T of the active roller and the substrate coverage area S is:

[0026] ;

[0027] in, Represents the proportional coefficient related to the change value T of the active roller torque, It represents a constant term, reflecting a fixed offset in the relationship between the substrate coverage area S and the change value T of the active roller torque;

[0028] The substrate width is obtained by the substrate coverage area and the length of the substrate just passing through the feed transition zone; the substrate coverage area S is expressed as:

[0029] ；

[0030] in, It means that when the substrate has just completed the length of the feed transition zone, Indicates the substrate width.

[0031] In the embodiment of the present invention, based on the fact that the output torque value of the servo motor is caused by the substrate coverage area and the change is linearly proportional, the substrate width is estimated by monitoring the mapping relationship between the output torque value and the substrate coverage area.

[0032] In a second aspect, the present invention provides a belt tension stabilization system for a dual-motor printer, comprising: a setting module for setting a sampling time of an initial output torque and an actual output torque of an active roller servo motor;

[0033] An active roller torque acquisition module is used to acquire the actual output torque of the active roller servo motor at the sampling time;

[0034] The electronic load power control module is used to control the power of the electronic load set on the driven roller generator by using a PID algorithm based on the sampling time, the initial output torque of the active roller servo and the actual output torque of the active roller at the sampling time, so that the output torque of the active roller servo motor is stabilized at the initial output torque.

[0035] In a third aspect, the present invention provides a computer, comprising:

[0036] A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the belt tension stabilization method for a dual-motor printer as described in any one of the first aspects by executing the computer instructions.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are used to enable a computer to execute the belt tension stabilization method for a dual-motor printer as described in any one of the first aspects.

[0038] In a fifth aspect, the present invention provides a belt tension stabilization device for a dual-motor printer, comprising: a controller and an electronic load installed on a driven roller generator, wherein the controller stabilizes the output torque of the active roller servo motor at an initial output torque based on the belt tension stabilization method for a dual-motor printer described in any one of the first aspects.

[0039] The belt tension stabilizing device for a dual-motor printer provided by an embodiment of the present invention has the advantages of fast response and no loss through a driven roller generator and an electronic load driven roller damping unit.

[0040] In a sixth aspect, the present invention provides a dual-motor printer, comprising: the belt tension stabilizing device of the dual-motor printer described in the fifth aspect.

[0041] The printer provided by the embodiment of the present invention can ensure that the print head always maintains a stable and precise track during movement by means of a stabilizing device to stabilize the belt tension, so that the printed content is clearer and sharper, and the details are more outstanding. The belt tension stabilizing device can make the belt work within a suitable tension range, reduce the friction and impact between the belt and components such as gears and rollers, thereby reducing the wear rate of the equipment and extending the overall service life of the printer. Since the wear of the equipment and the probability of failure are reduced, the maintenance cost of the printer with the belt tension stabilizing device will also be reduced accordingly. Users do not need to frequently perform repairs and replace parts, saving time and money. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 2 is a schematic diagram of the structure of a printer with a belt tension stabilizing device for a dual-motor printer according to an embodiment of the present invention;

[0044] Figure 2 is a schematic diagram of the relative relationship between a printer belt and a printing substrate according to an embodiment of the present invention;

[0045] Figure 3 is a schematic flow chart of a belt tension stabilization method for a dual-motor printer according to an embodiment of the present invention;

[0046] Figure 4 Schematic diagram of the module composition of the belt tension stabilization system of the dual-motor printer according to an embodiment of the present invention;

[0047] Figure 5 is a schematic diagram of a computer device according to an embodiment of the present invention.

[0048] Reference numerals:

[0049] 1-belt; 2-driven roller generator; 3-electronic load; 4-active roller generator; 5-printing unit;

[0050] 6- printing material; 7- triggering photoelectric. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0052] In practice, the belt of the printer is subjected to force fluctuations due to the changing area of ​​the air holes covered by the printed material, which affects the overall printing quality. A method is needed to reduce or offset the force fluctuations on the belt, stabilize the output torque of the active roller, and thus stabilize the overall tension of the belt to ensure the stability of the printing process.

[0053] The embodiment of the present invention provides a belt tension stabilizing device for a dual-motor printer, comprising: a controller and an electronic load installed on a driven roller generator, wherein the controller stabilizes the output torque of the active roller servo motor at an initial output torque through the power of the electronic load.

[0054] like Figure 1 As shown, in the embodiment of the present invention, an electronic load 3 is added to the driven roller generator 2 of the belt 1 of the printer to make it an adjustable load generator. The driven roller generator 2 and the electronic load 3 form a driven roller damping unit.

[0055] In the embodiment of the present invention, an initial braking torque (torque that hinders movement) is given to the driven roller damping unit, which is generally set to about 40% to 60% of the active roller torque of the active roller generator 4, and the torque is adjusted according to the active roller torque value (for example, the active roller is a 70N·m servo motor, then the initial torque of the driven roller is set to about 28 to 42N·m, 0 to 28N·m is the range in which the driven roller can be smaller, and 42 to 70N·m is the range in which the driven roller can be larger), so as to ensure the belt tension stability (the belt tension stability area is the area covering the printing unit 5) and ensure the printing quality. When the output of the active roller torque value increases, that is, the current belt force increases, it is considered that the total area of ​​the belt 1 covered by the substrate 6 is increasing at this time, so the driven roller is controlled to reduce the braking force. When the output of the active roller torque decreases, that is, the current belt force decreases, it is considered that the total area of ​​the belt 1 covered by the substrate 6 is decreasing at this time, and the driven roller is controlled to increase the braking force.

[0056] like Figure 1 As shown, the entire belt 1 is roughly divided into five areas, namely A, B, C, D, and E. Area A (feed transition area) and area E (discharge transition area) are non-printing areas, and areas B to D are printing areas. Figure 2 The figure shows the relative position of the printer belt and the substrate. For substrates of different widths, when they move the same distance on the belt, the total coverage area is different, and the tension exerted on the belt is also different.

[0057] Electronic load is an electronic device whose power can be adjusted. The braking force of the driven roller is positively correlated with the power of the electronic load. The present invention implements the control of the braking force by controlling the power of the electronic load. Specifically, the resistance received by the generator rotor is positively correlated with the power at its load end. By adjusting the power of the electronic load, the pre-tensioning control of the belt is realized. When the printing material presses the belt due to suction, so that the output torque of the active roller increases, the driven roller appropriately relaxes the pre-tensioning force according to the torque feedback of the active roller, offsets the uneven force on the belt, stabilizes the tension of the belt, ensures the stability of the servo speed and torque of the active roller, and ensures the stability of the printing process. It has the advantages of fast response and no loss.

[0058] An embodiment of the present invention also provides a dual-motor printer, including the above-mentioned belt tension stabilizing device. The stable belt tension can ensure that the print head always maintains a smooth and precise track during movement, making the printed content clearer and sharper, and the details more outstanding. Unstable belt tension will cause additional wear and stress on the transmission components of the printer. The belt tension stabilizing device can enable the belt to operate within a suitable tension range, reduce friction and impact between the belt and components such as gears and rollers, thereby reducing the wear rate of the equipment and extending the overall service life of the printer. Since the wear of the equipment and the probability of failure are reduced, the maintenance cost of the printer with the belt tension stabilizing device will also be reduced accordingly. Users do not need to frequently perform repairs and replace parts, saving time and money.

[0059] In order to ensure the stability and efficiency of the control method, the embodiment of the present invention provides a belt tension stabilization method for a dual-motor printer for power control of an electronic load, which is applied to the above-mentioned controller, such as Figure 3 As shown, the method includes:

[0060] Step S301: setting the sampling time of the initial output torque and the actual output torque of the active roller servo motor;

[0061] Step S302: Acquire the actual output torque of the active roller servo motor at the sampling time.

[0062] Step S303: Based on the sampling time, the initial output torque of the active roller servo motor and the actual output torque of the active roller servo motor at the sampling time, the PID algorithm is used to control the power of the electronic load set on the driven roller generator to stabilize the output torque of the active roller servo motor at the initial output torque.

[0063] Specifically, the principle of the PID algorithm is relatively simple and intuitive. Based on the combination of the three basic control functions of proportion, integration and differentiation, a control program based on the PID algorithm can be quickly written. The embodiment of the present invention uses the PID algorithm to control the power of the electronic load set on the driven roller generator, which is expressed by the following formula:

[0064] ;

[0065] ;

[0066] ;

[0067] in, is the power of the electronic load at sampling time n, is the proportional term of sampling time n, is the integral term of the sampling time, is the loop gain, is the initial output torque of the active roller servo motor when there is no substrate at sampling time n, is the actual output torque of the active roller servo motor at sampling time n; is the sampling time, is the integration time, is the integral term at sampling time n-1.

[0068] The embodiment of the present invention adopts the PID algorithm to control the power of the electronic load, which has the advantage of fast response. It can quickly respond when there is a difference between the actual output torque of the active roller servo motor and the initial output torque, and quickly adjust the power of the electronic load to restore the belt tension to a stable state, thereby avoiding affecting the printing process.

[0069] In one embodiment, the controller may be a PCL. The PLC's normal cycle time is 4 ms (this is just an example and is not intended to be limiting). and integration time , according to the width of the substrate, it will be adjusted to achieve the most stable control effect. The embodiment of the present invention has been tested many times and the loop gain is adjusted. It is expressed by the following formula:

[0070] ;

[0071] Integration time It is expressed by the following formula:

[0072] ;

[0073] in, Indicates the substrate width.

[0074] In the embodiment of the present invention, the width w of the substrate is automatically calculated by the controller, such as Figure 1 As shown in the figure, after the trigger photoelectric 7 is triggered, the controller records the current servo motor encoder position as the incoming material buffer position. The current position minus the incoming material buffer position is the position of the substrate on the belt. Now the position of the substrate can be calculated and monitored. When the substrate just passes through the feed transition zone of area A, the length of the substrate on the belt is a fixed value, which is the designated length of area A. , the substrate width is w, and the substrate coverage area S is expressed as:

[0075] ；

[0076] When the substrate moves in area A, the electronic load does not change in value. At this time, the output torque value of the servo motor is only caused by the substrate coverage area, and this change is linearly proportional. Through experiments, the mapping relationship between the output torque change value T of the active roller servo motor and the substrate coverage area S can be established. T and S It is in direct proportion, and the operation relationship can be expressed by the following formula:

[0077] ;

[0078] in, Represents the proportional coefficient related to the change value T of the active roller torque, It represents a constant term, reflecting a fixed offset in the relationship between the substrate coverage area S and the change value T of the active roller torque; and The values ​​are derived from multiple sets of data from experimental tests.

[0079] By monitoring the output torque change of the active roller servo motor and combining it with the mapping relationship between the substrate coverage area, the substrate coverage area is obtained, and then the substrate coverage area and the length of the substrate when it just passes through the feed transition zone are used to calculate the substrate coverage area. , get the substrate width .

[0080] In this embodiment, a belt tension stabilization system for a dual-motor printer is also provided, which is used to implement the above-mentioned embodiments and preferred implementations, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0081] This embodiment provides a belt tension stabilization system for a dual-motor printer, such as Figure 4 As shown, including:

[0082] A setting module 401 is used to set the initial output torque and the sampling time of the actual output torque of the active roller servo motor;

[0083] An active roller torque acquisition module 402 is used to acquire the actual output torque of the active roller servo motor at the sampling time;

[0084] The electronic load power control module 403 is used to control the power of the electronic load set on the driven roller generator using a PID algorithm based on the sampling time, the initial output torque of the active roller servo and the actual output torque of the active roller at the sampling time, so that the output torque of the active roller servo motor is stabilized at the initial output torque.

[0085] In some optional embodiments, the power of the electronic load provided on the driven roller generator is controlled by using the PID algorithm, which is expressed by the following formula:

[0086] ;

[0087] ;

[0088] ;

[0089] in, is the power of the electronic load at sampling time n, is the proportional term of sampling time n, is the integral term of the sampling time, is the loop gain, is the initial output torque of the active roller servo motor when there is no substrate at sampling time n, is the actual output torque of the active roller servo motor at sampling time n; is the sampling time, is the integration time, is the integral term at sampling time n-1.

[0090] In some optional embodiments, the loop gain and integration time , set different values ​​according to the obtained substrate width.

[0091] In some optional embodiments, the loop gain It is expressed by the following formula:

[0092] ;

[0093] The integration time It is expressed by the following formula:

[0094] ;

[0095] in, Indicates the substrate width.

[0096] In some optional implementations, the substrate width acquisition process includes:

[0097] The substrate coverage area is obtained by monitoring the output torque change value of the active roller servo motor and combining it with the mapping relationship between the output torque change value T of the active roller and the substrate coverage area S. The mapping relationship between the output torque change value T of the active roller and the substrate coverage area S is: ;

[0098] in, Represents the proportional coefficient related to the change value T of the active roller torque, It represents a constant term, reflecting a fixed offset in the relationship between the substrate coverage area S and the change value T of the active roller torque;

[0099] The substrate width is obtained by the substrate coverage area and the length of the substrate just passing through the feed transition zone; the substrate coverage area S is expressed as:

[0100] ;

[0101] in, It means that when the substrate has just completed the length of the feed transition zone, Indicates the substrate width.

[0102] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0103] The belt tension stabilization system of the dual-motor printer in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0104] The embodiment of the present invention also provides a computer device having the above Figure 4 Belt tension stabilization system for dual motor printer shown.

[0105] See also Figure 5 , Figure 5 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0106] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0107] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0108] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0109] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0110] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0111] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0112] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0113] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A belt tension stabilization method for a dual-motor printer, characterized in that: include: Set the sampling time of the initial output torque and actual output torque of the active roller servo motor; Get the actual output torque of the active roller servo motor at the sampling time; Based on the sampling time, the initial output torque of the active roller servo motor and the actual output torque of the active roller servo motor at the sampling time, the power of the electronic load provided on the driven roller generator is controlled by using a PID algorithm to stabilize the output torque of the active roller servo motor at the initial output torque; The power of the electronic load provided on the driven roller generator is controlled by the PID algorithm, which is expressed by the following formula: ； ； ； in, is the power of the electronic load at sampling time n, is the proportional term of sampling time n, is the integral term of the sampling time, is the loop gain, is the initial output torque of the active roller servo motor when there is no substrate at sampling time n, is the actual output torque of the active roller servo motor at sampling time n; is the sampling time, is the integration time, is the integral term at sampling time n-1.

2. The method according to claim 1, characterized in that: The loop gain and integration time , set different values ​​according to the obtained substrate width.

3. The method according to claim 2, characterized in that The loop gain It is expressed by the following formula: ； The integration time It is expressed by the following formula: ； in, Indicates the substrate width.

4. The method according to claim 2, characterized in that: The substrate width acquisition process includes: The substrate coverage area is obtained by monitoring the output torque change value of the active roller servo motor and combining it with the mapping relationship between the output torque change value T of the active roller and the substrate coverage area S. The mapping relationship between the output torque change value T of the active roller and the substrate coverage area S is: ； in, Represents the proportional coefficient related to the change value T of the active roller torque, It represents a constant term, reflecting a fixed offset in the relationship between the substrate coverage area S and the change value T of the active roller torque; The substrate width is obtained by the substrate coverage area and the length of the substrate just passing through the feed transition zone; the substrate coverage area S is expressed as: ； in ， It means that when the substrate has just completed the length of the feed transition zone, Indicates the substrate width.

5. A belt tension stabilization system for a dual-motor printer, characterized in that: include: A setting module, used to set the initial output torque of the active roller servo motor and the sampling time of the actual output torque; An active roller torque acquisition module is used to acquire the actual output torque of the active roller servo motor at the sampling time; An electronic load power control module is used to control the power of the electronic load provided on the driven roller generator by using a PID algorithm based on the sampling time, the initial output torque of the active roller servo and the actual output torque of the active roller at the sampling time, so that the output torque of the active roller servo motor is stabilized at the initial output torque; The power of the electronic load provided on the driven roller generator is controlled by the PID algorithm, which is expressed by the following formula: ； ； ； in, is the power of the electronic load at sampling time n, is the proportional term of sampling time n, is the integral term of the sampling time, is the loop gain, is the initial output torque of the active roller servo motor when there is no substrate at sampling time n, is the actual output torque of the active roller servo motor at sampling time n; is the sampling time, is the integration time, is the integral term at sampling time n-1.

6. A computer, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the belt tension stabilization method of a dual-motor printer according to any one of claims 1 to 4 by executing the computer instructions.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the belt tension stabilization method for a dual-motor printer as described in any one of claims 1-4.

8. A belt tension stabilizing device for a dual-motor printer, characterized in that: include: A controller and an electronic load installed on a driven roller generator, wherein the controller stabilizes the output torque of the active roller servo motor at an initial output torque based on the method described in any one of claims 1 to 4.

9. A dual-motor printer, characterized in that: include: The belt tension stabilizing device for a dual-motor printer as claimed in claim 8.

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