A control method and device of an electronic cam, a storage medium and an electronic device

Abstract

The control method, device, storage medium and electronic device of the electronic cam are provided, the control method comprises: performing first conversion operation on the acquired main shaft position, and determining a first main shaft phase; performing electronic cam interpolation based on the first main shaft phase and an electronic cam table, and determining a first slave shaft phase; performing second conversion operation on the first slave shaft phase, determining a first slave shaft position of the electronic cam, and controlling the slave shaft to reach the first slave shaft position. According to the method of introducing the phase, the main shaft position and the electronic cam interpolation are isolated, the precision of the determined slave shaft position is improved based on the phase interpolation operation, and the precision of the synchronous operation of the main shaft and the slave shaft of the electronic cam in the actual application is ensured.

Description

Technical Field

[0001] This disclosure relates to the technical field of electronic cam control, and more specifically to a control method, device, storage medium, and electronic device for an electronic cam. Background Technology

[0002] With the development of China's industrial control industry, the domestic demand for products with electronic cam controllers is increasing day by day, and the research and development of electronic cam control methods and control devices need to be improved and innovated.

[0003] Existing electronic cam control schemes generally obtain the slave axis position directly through electronic cam interpolation after obtaining the master axis position and then output it. However, the slave axis position obtained in this way has a large error, which affects the synchronization accuracy of the master and slave axes of the electronic cam. Summary of the Invention

[0004] The purpose of this disclosure is to provide a control method, device, storage medium, and electronic device for an electronic cam, in order to solve the technical problems in the prior art, such as the large error in the determined position of the slave axis, which affects the synchronous operation accuracy of the master and slave axes of the electronic cam.

[0005] To solve the above-mentioned technical problems, the embodiments of this disclosure adopt the following technical solutions:

[0006] A first aspect of this disclosure provides a control method for an electronic cam, comprising: performing a first conversion operation on a acquired master spindle position to determine a first master spindle phase; performing electronic cam interpolation based on the first master spindle phase and an electronic cam table to determine a first slave spindle phase; performing a second conversion operation on the first slave spindle phase to determine a first slave spindle position of the electronic cam, and controlling the slave spindle to reach the first slave spindle position.

[0007] In some embodiments, the method further includes: obtaining a position difference based on the first slave axis position and the actual slave axis position; if the position difference is greater than a preset threshold, performing a phase shift on the first master axis phase based on the position difference to determine a second master axis phase; performing electronic cam interpolation based on the second master axis phase and the electronic cam meter to determine a second slave axis phase; performing a second conversion operation on the second slave axis phase to determine the corrected second slave axis position of the electronic cam, and controlling the slave axis to reach the second slave axis position.

[0008] In some embodiments, the first transformation operation on the acquired spindle position to determine the first spindle phase includes: sequentially performing offset processing and scaling processing on the spindle position; transforming the processed spindle position according to the axis position mode to determine the first spindle phase.

[0009] In some embodiments, the step of performing a second conversion operation on the first slave axis phase to determine the first slave axis position of the electronic cam includes: performing a scaling and offset processing on the first slave axis phase in sequence; and converting the processed first slave axis phase according to the axis position mode to determine the first slave axis position.

[0010] In some embodiments, the method further includes: in response to an electronic cam meter update signal, determining a cam meter update mode, the cam meter update mode including at least a current update mode and a next cycle update mode; and updating the electronic cam meter based on the cam meter update mode.

[0011] In some embodiments, updating the electronic cam table based on the cam table update mode includes: when the current update mode is used, reducing the speed of the master and slave axes to zero and updating the first master axis phase to the starting phase; and updating the electronic cam table after updating the first master axis phase to the starting phase.

[0012] In some embodiments, updating the electronic cam table based on the cam table update mode includes: when the next cycle update mode is used, recording the current cycle number of the electronic cam; determining whether the electronic cam has moved to the next cycle based on the current cycle number; if the electronic cam has moved to the next cycle, reducing the speed of the master axis and the slave axis to zero, and updating the first master axis phase to the starting phase; after updating the first master axis phase to the starting phase, updating the electronic cam table.

[0013] In some embodiments, after performing a second conversion operation on the first slave axis phase to determine the first slave axis position of the electronic cam, the method further includes: performing a tappet operation based on the first master axis phase or the master axis position.

[0014] In some embodiments, the tappet operation based on the first spindle phase or the spindle position includes: when using an electronic camshaft, performing the tappet operation based on the first spindle phase; when using a non-electronic camshaft, performing the tappet operation based on the spindle position.

[0015] In some embodiments, when an electronic camshaft is used, performing tappet operation based on the first spindle phase includes: when the first spindle phase reaches a preset phase position, outputting the tappet state based on preset tappet parameters.

[0016] A second aspect of this disclosure provides a control device for an electronic cam, comprising: a master spindle phase determination module, configured to perform a first conversion operation on the acquired master spindle position to determine a first master spindle phase; a slave spindle phase determination module, configured to perform electronic cam interpolation based on the first master spindle phase and an electronic cam table to determine a first slave spindle phase; and a slave spindle control module, configured to perform a second conversion operation on the first slave spindle phase to determine a first slave spindle position of the electronic cam, and control the slave spindle to reach the first slave spindle position.

[0017] A third aspect of this disclosure provides a storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of any of the methods described above.

[0018] A fourth aspect of this disclosure provides an electronic device, including at least a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program in the memory, implements the steps of any of the methods described above.

[0019] This embodiment of the disclosure introduces a phase method to isolate the master-slave axis position from the electronic cam interpolation. The phase-based interpolation operation improves the accuracy of the determined slave axis position, thereby ensuring the accuracy of the synchronous operation of the master and slave axes of the electronic cam in practical applications. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is one of the schematic diagrams illustrating the steps of the electronic cam control method according to an embodiment of the present disclosure;

[0022] Figure 2 This is a second schematic diagram illustrating the steps of the electronic cam control method according to an embodiment of the present disclosure;

[0023] Figure 3 This is the third schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure;

[0024] Figure 4 This is the fourth schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure;

[0025] Figure 5 This is the fifth schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure;

[0026] Figure 6 This is a schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure;

[0027] Figure 7 This is the seventh schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure;

[0028] Figure 8 This is the eighth schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure. Detailed Implementation

[0029] Various embodiments and features of this disclosure are described herein with reference to the accompanying drawings.

[0030] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this disclosure will be apparent to those skilled in the art.

[0031] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.

[0032] These and other features of this disclosure will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0033] It should also be understood that although this disclosure has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this disclosure, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0034] The above and other aspects, features and advantages of this disclosure will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0035] Specific embodiments of this disclosure are described thereafter with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of this disclosure, which may be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that could obscure this disclosure. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely to serve as the basis and representative basis for the claims to teach those skilled in the art to use this disclosure in a variety of substantially any suitable detailed structures.

[0036] The first embodiment of this disclosure provides a control method for an electronic cam. The electronic cam is developed based on a mechanical cam and belongs to multi-axis synchronous motion. This multi-axis synchronous motion is based on a master shaft with one or more slave axes to achieve periodic curvilinear motion, such as... Figure 1 As shown, Figure 1 This is a schematic diagram of one step of the electronic cam control method according to an embodiment of the present disclosure. The control method includes:

[0037] S101, perform a first transformation operation on the obtained spindle position to determine the first spindle phase.

[0038] After obtaining the spindle position of the electronic cam through the above step S101, in this step, a first conversion operation is performed on the obtained spindle position to determine the first spindle phase.

[0039] In this step, the first step is to obtain the spindle position of the electronic cam. Specifically, taking an electronic cam that includes a main shaft and a slave shaft as an example, the spindle position of the electronic cam can be obtained using a shaft position acquisition device. Specifically, the spindle position can be obtained in the electronic cam using various methods based on the shaft position acquisition device. For example, a virtual shaft method can be used, which is simple and accurate in position calculation; it can also be obtained through a spindle encoder, that is, by processing the signal collected by the spindle encoder to obtain the spindle position; it can also be obtained by measuring the encoder, etc. The specific acquisition method is not limited in this embodiment.

[0040] Specifically, the principal axis position is converted into a first principal axis phase. There is a correspondence between the principal axis position and the first principal axis phase, and this correspondence allows for the conversion of axis position to phase.

[0041] like Figure 2 As shown, Figure 2 This is a second schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure. The step of performing a first conversion operation on the acquired spindle position to determine the first spindle phase further includes:

[0042] S201, the spindle position is sequentially subjected to offset processing and scaling processing.

[0043] S202, the processed spindle position is converted according to the axis position mode to determine the first spindle phase.

[0044] In the above steps, during the specific position-to-phase conversion process, the acquired spindle position is sequentially subjected to offset processing and scaling processing, and finally converted into the first spindle phase according to requirements such as the axis position mode. Through scaling and offset processing functions, it is unnecessary to set up the electronic cam gauge separately when processing the same product of different sizes, greatly improving the efficiency of the electronic cam gauge.

[0045] S102, perform electronic cam interpolation based on the first master axis phase and the electronic cam meter to determine the first slave axis phase.

[0046] After performing a first conversion operation on the spindle position in step S101 to determine the first spindle phase, in this step, electronic cam interpolation is performed based on the first spindle phase and the electronic cam table to determine the first slave axis phase. Further, the relationship between the first spindle phase and the first slave axis phase can be obtained through the electronic cam table. The first slave axis phase can be determined through electronic cam interpolation based on the first spindle phase and the electronic cam table. The motion data of the spindle and the slave axis corresponding to the electronic cam table are based on phase rather than position, thus allowing the phase of the slave axis to be determined through phase conversion.

[0047] The electronic cam table mentioned here can be implemented using an electronic cam curve. Specifically, the electronic cam table includes a correspondence between a first master axis phase and a first slave axis phase, and this correspondence is determined based on at least one of the following: a polynomial curve, a sine / cosine curve, a Bézier curve, and a B-spline curve.

[0048] S103, perform a second phase conversion operation on the first slave axis to determine the first slave axis position of the electronic cam, and control the slave axis to reach the first slave axis position.

[0049] After determining the first slave axis phase through electronic cam interpolation based on the first master axis phase and the electronic cam table in step S102, this step performs a second conversion operation on the first slave axis phase to determine the first slave axis position of the electronic cam and controls the slave axis to reach the first slave axis position. Specifically, similar to the correspondence between the master axis position and the first master axis phase, there is a correspondence between the first slave axis phase and the first slave axis position. Based on this correspondence, the phase to position conversion of the axis can be performed to control the slave axis to reach the converted slave axis position.

[0050] Here, phase-based interpolation can isolate the master and slave positions from the electronic cam interpolation. Phase-based interpolation improves the accuracy of the determined slave position, thereby ensuring the accuracy of synchronous operation of the master and slave axes in practical applications.

[0051] like Figure 3 As shown, Figure 3 This is a third schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure. The step of performing a second phase conversion operation on the first slave axis to determine the position of the first slave axis of the electronic cam further includes:

[0052] S301, the phase of the first slave axis is sequentially scaled and biased.

[0053] S302, the processed first slave axis phase is converted according to the axis position mode to determine the position of the first slave axis.

[0054] Specifically, after determining the phase of the first slave axis, the phase of the first slave axis is sequentially scaled and offset, and finally converted into the position of the first slave axis according to the axis position mode and other requirements. Through scaling and offset processing, it is not necessary to set the electronic cam gauge separately when processing the same product of different sizes, which greatly improves the efficiency of the electronic cam gauge.

[0055] Through the above steps S101-S103, by introducing the master axis phase and slave axis phase, the positions of the master axis and slave axis can be isolated from the interpolation operation of the electronic cam. It also facilitates phase offset and compensation operations for the phase of the master axis and the phase of the slave axis, thereby ensuring the accuracy of the electronic cam in practical applications.

[0056] Furthermore, in some embodiments, since the operation of the shaft in real-world processes utilizing electronic cam algorithms can be affected by factors such as signal transmission delays and complex environmental interference, leading to errors in the shaft's movement and thus impacting the synchronization accuracy of the master and slave axes of the electronic cam, this embodiment further includes the ability to correct the position of the slave axis. Specifically, this correction primarily considers the deviation between the slave axis position determined by conversion based on the master axis position and the actual position, thereby adjusting the phase of the first master axis to correct the slave axis position. This adjustment of the first master axis phase mainly involves phase shifting, compensating for errors in the shaft's movement caused by signal transmission delays and complex environmental interference, thus ensuring the machining accuracy of the electronic cam's motion.

[0057] like Figure 4 As shown, Figure 4 This is a schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure. The process of correcting the first follower shaft position based on the first follower shaft position and the actual follower shaft position includes:

[0058] S401, the position difference is obtained based on the first slave axis position and the actual slave axis position.

[0059] S402, if the position difference is greater than a preset threshold, the first spindle phase is phase-shifted based on the position difference to determine the second spindle phase.

[0060] S403, perform electronic cam interpolation based on the second master axis phase and the electronic cam meter to determine the second slave axis phase.

[0061] S404, perform a second phase conversion operation on the second slave axis to determine the corrected second slave axis position of the electronic cam, and control the slave axis to reach the second slave axis position.

[0062] In the above steps, the phase offset of the master axis is adjusted by determining the deviation between the slave axis position and the actual slave axis position based on the conversion from the first master axis phase to the first slave axis phase, thereby performing phase offset processing on the first master axis phase and determining the corrected second master axis phase. Further, synchronous interpolation motion is performed again based on the corrected second master axis phase, allowing subsequent processing such as synchronous interpolation to be performed using the corrected master axis phase. Thus, by performing phase offset compensation on the first master axis phase, the position of the slave axis is adjusted and corrected, improving the operating accuracy of the electronic cam.

[0063] During electronic cam interpolation, the electronic cam corresponds to different states, including interpolation start state, phase offset state, synchronous motion state, disengagement state, deceleration state, and end state. Specifically, after the engagement signal of the electronic cam is triggered, it enters the interpolation start state. If a phase offset operation is triggered, it enters the phase offset state, and then the synchronous motion state, where synchronous motion occurs between the main shaft and the slave shaft. If no phase offset operation occurs, it directly enters the synchronous motion state.

[0064] After the disengagement signal of the electronic cam is triggered, it enters the disengagement state. While still in motion, the corresponding camshaft cannot perform single-axis motion or other types of interpolation. During the movement of the electronic cam, if a deceleration signal is received, the electronic cam switches to the deceleration state. After deceleration stops, it automatically switches to the end state. If an emergency stop signal is received, it immediately switches to the end state. Therefore, the phase of the slave shaft can be determined through the electronic cam interpolation operation between the master shaft and the slave shaft.

[0065] like Figure 5 As shown, Figure 5This is the fifth schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure. In other embodiments of the present disclosure, it further includes:

[0066] S501, in response to the electronic cam meter update signal, determine the cam meter update mode, wherein the cam meter update mode includes at least the current update mode and the next cycle update mode.

[0067] Since the phases of the master and slave axes are correlated via an electronic cam table, some applications require online updates to the electronic cam table, followed by electronic cam interpolation using the updated table. Upon monitoring and receiving the electronic cam table update signal, the update mode must first be determined. This includes both the mode for updating in the current cycle and the mode for updating in the next cycle.

[0068] S502, Update the electronic cam table based on the cam table update mode.

[0069] After determining the cam meter update mode in response to the electronic cam meter update signal in step S501, in this step, the electronic cam meter is updated based on the cam meter update mode. Here, the update of the electronic cam meter corresponds to the update of the correspondence between the phase of the master axis and the phase of the slave axis.

[0070] like Figure 6 As shown, Figure 6 This is a schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure. The step of updating the electronic cam table based on the cam table update mode further includes:

[0071] S601, when the current update mode is used, the speeds of the master and slave axes are reduced to zero, and the phase of the first master axis is updated to the starting phase. Here, the starting phase refers to a phase of zero.

[0072] S602, after updating the first spindle phase to the starting phase, update the electronic cam table.

[0073] The above steps enable the electronic cam meter to be updated within the current cycle. This mainly involves controlling the speed of the master axis and the slave axis to zero within the current cycle and setting the phase of the master axis to the initial phase before updating the electronic cam meter within the current cycle.

[0074] like Figure 7 As shown, Figure 7 This is a schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure. The step of updating the electronic cam table based on the cam table update mode further includes:

[0075] S701, when the next cycle update mode is adopted, determine the current cycle number of the electronic cam.

[0076] S702, determine whether the electronic cam has moved to the next cycle based on the current cycle number.

[0077] S703, if the electronic cam moves to the next cycle, the speed of the main shaft and the slave shaft is reduced to zero, and the phase of the first main shaft is updated to the starting phase.

[0078] S704, after updating the first spindle phase to the starting phase, update the electronic cam table.

[0079] The above steps enable the electronic cam meter to be updated in the next cycle. Upon receiving the electronic cam meter update signal, the current cycle number of the electronic cam is first determined. When the electronic cam moves into the next cycle, the speeds of the master and slave axes are set to zero, and the phase of the master axis is set to the initial phase before updating the electronic cam meter. Here, the initial phase refers to a phase of zero. If the electronic cam has not moved into the next cycle, no electronic cam interpolation operation is performed.

[0080] This embodiment, by adding the function of online dynamic updating of the electronic cam meter, can avoid the operation of static switching of the electronic cam meter, such as restarting the electronic cam meter movement, which greatly improves the utilization efficiency of the electronic cam meter and improves the running accuracy of the electronic cam.

[0081] In other embodiments of this disclosure, functions such as tappet output are added according to the actual application requirements of electronic cams. Therefore, after performing a second phase conversion operation on the first slave shaft to determine the position of the first slave shaft of the electronic cam, the method further includes:

[0082] The tappet operation is performed based on the first spindle phase or the spindle position.

[0083] Specifically, in practical applications, engineering equipment often needs to perform specific functional operations based on the shaft reaching a designated position. This is no exception in the application of the synchronous motion function of the electronic cam. The corresponding function is achieved by a push rod corresponding to the output shaft. Specifically, the position of the slave shaft is sent to the driver to drive the motor to move.

[0084] like Figure 8 As shown, Figure 8 This is the eighth schematic diagram of the steps of the electronic cam control method according to an embodiment of the present disclosure. The step of performing tappet operation based on the first spindle phase or the spindle position further includes:

[0085] S801, when an electronic camshaft is used, the tappet operation is performed based on the phase of the first spindle.

[0086] S802, when a non-electronic camshaft is used, the tappet operation is performed based on the spindle position.

[0087] The corresponding tappet objects here are divided into two types: one is a non-electronic camshaft, and the other is an electronic camshaft. If the tappet object is a non-electronic camshaft, the input axis data is the main spindle position obtained directly. If the tappet object is an electronic camshaft, the main spindle phase is used as the input axis data for the tappet function. Then, relevant processing is performed based on the input axis data, and relevant operations of the I / O device are performed based on the processed data to finally achieve the required specific function operation.

[0088] Furthermore, when an electronic camshaft is used, the tappet operation based on the first spindle phase includes:

[0089] When the first spindle phase reaches the preset phase position, the push rod state is output based on the preset push rod parameters.

[0090] When using an electronic camshaft, the tappet function is achieved through the spindle phase, resulting in more accurate control compared to non-electronic camshafts. In the above embodiment, by adding a tappet function—specifically, by triggering the tappet output through the spindle position or spindle phase—not only is synchronous motion of the electronic cam achieved, but other required functions can also be performed according to the designed synchronous motion law of the electronic cam.

[0091] This embodiment of the disclosure isolates the master-slave axis position from the electronic cam interpolation by introducing a phase method, facilitating the implementation of operations such as phase offset compensation. By adding a phase offset correction function, the accuracy of the master-slave axis synchronous operation is improved. In addition, based on the actual application requirements of electronic cams, functions such as updating the cam table and tappet output are added, thereby ensuring the accuracy and stability of the electronic cam in practical applications and meeting the usage needs of a wide range of market users for electronic cam-related functions.

[0092] Based on the same inventive concept, a second embodiment of this disclosure provides a control device for an electronic cam, which includes a master axis phase determination module, a slave axis phase determination module, and a slave axis control module coupled together, wherein:

[0093] The spindle phase determination module is used to perform a first transformation operation on the acquired spindle position to determine the first spindle phase.

[0094] The slave axis phase determination module is used to determine the first slave axis phase by performing electronic cam interpolation based on the first master axis phase and the electronic cam meter.

[0095] The slave axis control module is used to perform a second phase conversion operation on the first slave axis to determine the position of the first slave axis of the electronic cam.

[0096] Furthermore, the control device also includes a correction module, which includes:

[0097] A difference determination unit is used to obtain a position difference based on the first slave axis position and the actual slave axis position;

[0098] The correction unit is used to perform a phase shift on the first principal axis phase based on the difference when the difference is greater than a preset threshold, so as to determine the second principal axis phase.

[0099] The slave axis phase determination unit is used to determine the second slave axis phase based on the second master axis phase and the electronic cam table for electronic cam interpolation.

[0100] The slave axis control unit performs a second phase conversion operation on the second slave axis to determine the corrected second slave axis position of the electronic cam and controls the slave axis to reach the second slave axis position.

[0101] Furthermore, the spindle phase determination module includes:

[0102] A position processing unit is used to sequentially perform offset processing and scaling processing on the spindle position;

[0103] The spindle phase determination unit is used to convert the processed spindle position based on the axis position mode to determine the first spindle phase.

[0104] Furthermore, the slave axis position determination module includes:

[0105] A phase processing unit is used to perform scaling and offset processing on the first slave axis phase in sequence.

[0106] The slave axis position determination unit is used to convert the processed first slave axis phase based on the axis position mode to determine the first slave axis position.

[0107] Furthermore, it also includes an electronic cam meter update module, which is used to determine the cam meter update mode in response to the electronic cam meter update signal, wherein the cam meter update mode includes at least the current update mode and the next cycle update mode; and to update the electronic cam meter based on the cam meter update mode.

[0108] The electronic cam table update module includes:

[0109] The first reset unit is used to reduce the speed of the master axis and slave axis to zero and update the first master axis phase to the starting phase when the current update mode is adopted;

[0110] The first update unit is used to update the electronic cam table after updating the first spindle phase to the starting phase.

[0111] The electronic cam table update module includes:

[0112] A recording unit is used to record the current cycle number of the electronic cam when the next cycle update mode is adopted;

[0113] The judgment unit is used to determine whether the electronic cam has moved to the next cycle based on the current cycle number;

[0114] The second reset unit is used to reduce the speed of the main shaft and the slave shaft to zero and update the phase of the first main shaft to the starting phase if the electronic cam moves to the next cycle.

[0115] The second update unit is used to update the electronic cam table after updating the first spindle phase to the starting phase.

[0116] Furthermore, the control device also includes:

[0117] The tappet control module is used to perform tappet operation based on the first spindle phase or the spindle position.

[0118] Furthermore, the tappet control module is specifically used to perform tappet operation based on the first spindle phase when an electronic camshaft is used; and to perform tappet operation based on the spindle position when a non-electronic camshaft is used.

[0119] Furthermore, when using an electronic camshaft, the stepper operation based on the first spindle phase includes: when the first spindle phase reaches a preset phase position, outputting the stepper state based on preset pushrod parameters.

[0120] This embodiment of the disclosure isolates the master-slave axis position from the electronic cam interpolation by introducing a phase method, facilitating the implementation of operations such as phase offset compensation. By adding a phase offset correction function, the accuracy of the master-slave axis synchronous operation is improved. In addition, based on the actual application requirements of electronic cams, functions such as updating the cam table and tappet output are added, thereby ensuring the accuracy and stability of the electronic cam in practical applications and meeting the usage needs of a wide range of market users for electronic cam-related functions.

[0121] The third embodiment of this disclosure provides a storage medium, which is a computer-readable medium storing a computer program. When executed by a processor, the computer program implements the method provided in the first embodiment of this disclosure, including the following steps S11 to S13:

[0122] S11, Perform a first transformation operation on the obtained spindle position to determine the first spindle phase;

[0123] S12, perform electronic cam interpolation based on the first master axis phase and the electronic cam meter to determine the first slave axis phase;

[0124] S13, perform a second phase conversion operation on the first slave axis to determine the first slave axis position of the electronic cam, and control the slave axis to reach the first slave axis position.

[0125] Furthermore, when the computer program is executed by the processor, it implements other methods provided in the first embodiment of this disclosure.

[0126] This embodiment of the disclosure isolates the master-slave axis position from the electronic cam interpolation by introducing a phase method, facilitating the implementation of operations such as phase offset compensation. By adding a phase offset correction function, the accuracy of the master-slave axis synchronous operation is improved. In addition, based on the actual application requirements of electronic cams, functions such as updating the cam table and tappet output are added, thereby ensuring the accuracy and stability of the electronic cam in practical applications and meeting the usage needs of a wide range of market users for electronic cam-related functions.

[0127] A fourth embodiment of this disclosure provides an electronic device, which includes at least a memory and a processor. The memory stores a computer program, and the processor, when executing the computer program in the memory, implements the method provided in any embodiment of this disclosure. Exemplarily, the computer program steps of the electronic device are as follows: S21 to S23:

[0128] S21, Perform a first transformation operation on the obtained spindle position to determine the first spindle phase;

[0129] S22, perform electronic cam interpolation based on the first master axis phase and the electronic cam meter to determine the first slave axis phase;

[0130] S23, perform a second phase conversion operation on the first slave axis to determine the first slave axis position of the electronic cam, and control the slave axis to reach the first slave axis position.

[0131] Furthermore, the processor also executes the computer program described in the third embodiment above.

[0132] This embodiment of the disclosure isolates the master-slave axis position from the electronic cam interpolation by introducing a phase method, facilitating the implementation of operations such as phase offset compensation. By adding a phase offset correction function, the accuracy of the master-slave axis synchronous operation is improved. In addition, based on the actual application requirements of electronic cams, functions such as updating the cam table and tappet output are added, thereby ensuring the accuracy and stability of the electronic cam in practical applications and meeting the usage needs of a wide range of market users for electronic cam-related functions.

[0133] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0134] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0135] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0136] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0137] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0138] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0139] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0140] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling an electronic cam, characterized in that, include: Perform a first transformation operation on the obtained spindle position to determine the first spindle phase; Electronic cam interpolation is performed based on the first master axis phase and the electronic cam table to determine the first slave axis phase; wherein, the electronic cam table includes the correspondence between the first master axis phase and the first slave axis phase; A second phase conversion operation is performed on the first slave axis to determine the first slave axis position of the electronic cam, and the slave axis is controlled to reach the first slave axis position; The position difference is obtained based on the first slave axis position and the actual slave axis position; If the position difference is greater than a preset threshold, the first principal axis phase is phase-shifted based on the position difference to determine the second principal axis phase; Electronic cam interpolation is performed based on the second master axis phase and the electronic cam meter to determine the second slave axis phase; A second phase conversion operation is performed on the second slave axis to determine the corrected second slave axis position of the electronic cam, and the slave axis is controlled to reach the second slave axis position; In response to the electronic cam meter update signal, a cam meter update mode is determined, wherein the cam meter update mode includes at least the current update mode and the next cycle update mode; When the current update mode is used, the speeds of the master and slave axes are reduced to zero, and the first master axis phase is updated to the starting phase; After updating the first spindle phase to the starting phase, update the electronic cam table; When the next cycle update mode is used, the current cycle number of the electronic cam is recorded; Based on the current cycle number, determine whether the electronic cam has moved to the next cycle; If the electronic cam moves to the next cycle, the speed of the main shaft and the slave shaft will be reduced to zero, and the phase of the first main shaft will be updated to the starting phase; After updating the first spindle phase to the starting phase, the electronic cam table is updated.

2. The control method according to claim 1, characterized in that, The first transformation operation on the acquired spindle position to determine the first spindle phase includes: The spindle position is sequentially subjected to offset processing and scaling processing; The processed spindle position is converted according to the axis position mode to determine the first spindle phase.

3. The control method according to claim 1, characterized in that, The step of performing a second phase conversion operation on the first slave axis to determine the position of the first slave axis of the electronic cam includes: The first slave axis phase is sequentially scaled and offset. The phase of the processed first slave axis is converted according to the axis position mode to determine the position of the first slave axis.

4. The control method according to claim 1, characterized in that, After performing the second phase conversion operation on the first slave axis to determine the first slave axis position of the electronic cam, the method further includes: The tappet operation is performed based on the first spindle phase or the spindle position.

5. The control method according to claim 4, characterized in that, The tappet operation based on the first spindle phase or the spindle position includes: When an electronic camshaft is used, the tappet operation is performed based on the phase of the first spindle. When a non-electronic camshaft is used, the tappet operation is performed based on the spindle position.

6. The control method according to claim 5, characterized in that, When an electronic camshaft is used, the tappet operation based on the first spindle phase includes: When the first spindle phase reaches the preset phase position, the push rod state is output based on the preset push rod parameters.

7. A control device for an electronic cam, characterized in that, include: The spindle phase determination module is used to perform a first transformation operation on the acquired spindle position to determine the first spindle phase. The slave axis phase determination module is used to perform electronic cam interpolation based on the first master axis phase and the electronic cam table to determine the first slave axis phase; wherein, the electronic cam table includes the correspondence between the first master axis phase and the first slave axis phase; The slave axis control module is used to perform a second phase conversion operation on the first slave axis, determine the first slave axis position of the electronic cam, and control the slave axis to reach the first slave axis position; A difference determination unit is used to obtain a position difference based on the first slave axis position and the actual slave axis position; The correction unit is used to perform a phase shift on the first principal axis phase based on the difference when the difference is greater than a preset threshold, so as to determine the second principal axis phase. The slave axis phase determination unit is used to determine the second slave axis phase based on the second master axis phase and the electronic cam table for electronic cam interpolation. The slave axis control unit performs a second phase conversion operation on the second slave axis to determine the corrected second slave axis position of the electronic cam and controls the slave axis to reach the second slave axis position; An electronic cam meter update module is used to determine a cam meter update mode in response to an electronic cam meter update signal. The cam meter update mode includes at least a current update mode and a next cycle update mode. The electronic cam meter update module includes: The first reset unit is used to reduce the speed of the master axis and slave axis to zero and update the first master axis phase to the starting phase when the current update mode is adopted; The first update unit is used to update the electronic cam table after updating the first spindle phase to the starting phase; A recording unit is used to record the current cycle number of the electronic cam when the next cycle update mode is adopted; The judgment unit is used to determine whether the electronic cam has moved to the next cycle based on the current cycle number; The second reset unit is used to reduce the speed of the main shaft and the slave shaft to zero and update the phase of the first main shaft to the starting phase if the electronic cam moves to the next cycle. The second update unit is used to update the electronic cam table after updating the first spindle phase to the starting phase.

8. A storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-6.

9. An electronic device, comprising at least a memory and a processor, wherein the memory stores a computer program, characterized in that, The processor implements the steps of the method according to any one of claims 1-6 when executing a computer program on the memory.

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