Electronic cam curve generation method, system, and abnormal motion adjustment method

Abstract

The invention relates to an electronic cam curve generation method, system and abnormal action adjustment method in the field of industrial control and automation technology, comprising the following steps: obtaining the film length of a packaging film, the length of an asynchronous zone of an electronic cam and the length of a synchronous zone of the electronic cam; establishing an initial model of a speed curve of the electronic cam, wherein the initial model of the speed curve is a sine function or a cosine function; obtaining an actual model of the speed curve based on a mapping relationship between the film length, the length of the asynchronous zone and the length of the synchronous zone and the initial model of the speed curve; generating a displacement curve, an acceleration curve, a jerk curve and a runout curve of the electronic cam based on the actual model of the speed curve, thereby solving the problem of weak mechanical stability of the electronic cam curve in the flying shear process of an existing packaging machine.

Description

Technical Field

[0001] The present invention relates to the field of industrial control and automation technology, and in particular to an electronic cam curve generation method, system, and abnormal action adjustment method. Background Art

[0002] Electronic cam is a software system that uses a constructed cam curve to simulate a mechanical cam to achieve the same relative motion between the camshaft and the main shaft as the mechanical cam system. Electronic cam is equivalent to a collection of countless mechanical cams of various types. It can be applied to various solutions by simply configuring parameters.

[0003] like Figure 1 The figure shows the working process of the flying shear of the packaging machine. The working process is as follows: the cutter of the head of the packaging machine moves in a circular motion and moves in the same direction as the film of the object being sheared. It is actually a flying shearing process, so the speed of the cutter of the shearing mechanism needs to be changed so that the shearing length corresponds to the length of the film. After the staff sets the movement speed for the packaging machine, the film is fed at a uniform speed at the set speed. At this time, the cutter needs to adjust its speed to correspond to the length of the film. In the actual shearing process, because the cutter has a certain thickness, it will form a contact area with the film when cutting, and the film and the knife will have close contact. If the speeds of the two are not equal at this time, the film will be blocked or torn off by the knife. Therefore, in the contact area, the two need to maintain a suitable speed and pass at a uniform speed; in the non-contact area, the two do not contact, so there is no requirement for speed, and the cutter can adjust the speed in this area.

[0004] The mainstream solution used in the existing installation industry is generally to plan the motion curve of the speed change zone cutter by a trapezoidal curve or a quintic equation curve. However, after multiple derivations of the trapezoidal curve or the quintic equation curve, the continuity and smoothness of the curve cannot be guaranteed. The continuity and smoothness of the derived curve affect the mechanical stability and service life of the packaging machine. Therefore, the electronic cam curve of the packaging machine needs to be further optimized. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides an electronic cam curve generation method, system and abnormal action adjustment method, which solves the problem of weak mechanical stability of the electronic cam curve in the flying shear process of the existing packaging machine.

[0006] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0007] A method for generating an electronic cam curve comprises the following steps:

[0008] Obtaining the film length of the packaging film, the length of the asynchronous zone of the electronic cam, and the length of the synchronous zone of the electronic cam;

[0009] Establishing an initial model of the speed curve of the electronic cam, wherein the initial model of the speed curve is a sine function or a cosine function;

[0010] Based on the mapping relationship between the film length, the length of the non-synchronous zone, the length of the synchronous zone and the initial model of the speed curve, an actual model of the speed curve is obtained;

[0011] The displacement curve, acceleration curve, jerk curve and runout curve of the electronic cam are generated based on the actual model of the speed curve.

[0012] Optionally, when the initial model of the speed curve is a sine function, obtaining the actual model of the speed curve includes the following steps:

[0013] Establish an initial model of the speed curve expressed as a sine function, wherein the initial model expression of the speed curve is: S′(t)=Asin(Bt+C)+D, wherein A represents the peak value, B represents the period value, C represents the initial phase value, D represents the constant, S′ represents the speed, and t represents the spindle displacement;

[0014] The film length is used as the reference axis of the initial model of the speed curve to establish the speed mapping relationship between the packaging film and the cutter.

[0015] Acquire the film feeding speed and speed adjustment parameter of the packaging film, wherein the speed adjustment parameter is the ratio of the cutter speed in the synchronization zone of the electronic cam to the film feeding speed;

[0016] Calculating the synchronization zone angle based on the speed mapping relationship, the synchronization zone length, the speed adjustment parameter and the film length;

[0017] Based on the speed mapping relationship and the synchronous zone angle, the peak value, period value, initial phase value and constant of the initial model of the speed curve are calculated to obtain the actual model of the speed curve.

[0018] Optionally, calculating the synchronization zone angle based on the speed mapping relationship, the synchronization zone length, the speed adjustment parameter and the film length comprises the following steps:

[0019] Based on the speed mapping relationship, the film length of a packaging film is quantified as a period of a sine function, and the current position of the main axis is represented by an angle from 0 to 2π;

[0020] The synchronization zone angle is calculated using the following formula: Among them, τ represents the synchronization zone angle; V represents the synchronization zone length; M represents the film length; r represents the speed adjustment parameter.

[0021] Optionally, based on the speed mapping relationship and the synchronization zone angle, the peak value, period value, initial phase value and constant of the initial model of the speed curve are calculated to obtain the actual model of the speed curve, including the following steps:

[0022] Based on the velocity mapping relationship, D=A is obtained, and the period value and initial phase value of the initial model of the velocity curve are calculated at the same time, where: The compensation displacement of the cutter of the electronic cam relative to the length of the packaging film after one rotation is obtained, and based on the relationship between the compensation displacement and the initial model of the speed curve, the following simultaneous formula is obtained:

[0023] The peak value A and the constant D are calculated, where S(t) represents the displacement relationship of the electronic cam; L represents the compensation displacement; the initial model of the speed curve is the first-order derivative of the displacement curve;

[0024] The peak value, period value, initial phase value and constant are substituted into the initial model of the speed curve, and the synchronous speed of the cutter is segmented and superimposed onto the initial model of the speed to obtain the actual model of the speed curve.

[0025] Optionally, when the initial model of the speed curve is a cosine function, obtaining the actual model of the speed curve includes the following steps:

[0026] The actual model of the speed curve when the initial model of the speed curve is a sine function is obtained, and the expression when the actual model of the speed curve is a sine function is converted into the actual model of the speed curve represented by a cosine function, and the actual model expression of the speed curve when the initial model of the speed curve is a cosine function is obtained as follows:

[0027]

[0028] Optionally, generating a displacement curve, an acceleration curve, a jerk curve and a runout curve of the electronic cam based on the velocity curve comprises the following steps:

[0029] Integrating the actual model of the velocity curve to obtain a displacement curve;

[0030] Taking the first-order derivative of the actual model of the velocity curve, an acceleration curve is obtained;

[0031] Taking the actual model of the velocity curve as a second-order derivative, a jerk curve is obtained;

[0032] The actual model of the speed curve is derived by third order to obtain the runout curve.

[0033] An abnormal action adjustment method for an electronic cam, the abnormal action adjustment method for an electronic cam is used to handle the abnormal action problem caused by an electronic cam curve generated by using any of the electronic cam curve generation methods described above, comprising the following steps:

[0034] Calculating the peak speed of the actual model of the speed curve in the electronic cam, and determining whether the peak speed is positive or negative;

[0035] When the peak speed is a negative value, the abnormal problem in the speed curve is the electronic cam reverse rotation, and anti-reverse processing is performed;

[0036] When the peak speed is a positive value and the peak speed is greater than the maximum speed threshold, the abnormal problem of the speed curve is that the electronic cam is overspeeding, and the maximum speed limit processing is performed.

[0037] Optionally, the anti-reversal process comprises the following steps:

[0038] Reduce the period of the curve part to speed up the deceleration process. Assume that the reduced period is 2θ. Divide the model curve part into the acceleration part and the deceleration part in half. Insert a stop interval in the middle. The size of the stop interval is 2π-τ-2θ. The corrected model is:

[0039]

[0040] Optionally, the maximum speed limit processing includes the following steps:

[0041] Reduce the period of the curve part to speed up its acceleration process. Assume that the reduced period is 2θ. Divide the model curve part into the acceleration part and the deceleration part in half. Insert a maximum speed interval in the middle. The interval size is 2π-τ-2θ. The corrected model is:

[0042]

[0043] An electronic cam curve generation system, the electronic cam curve generation system executes any one of the above electronic cam curve generation methods, including a data acquisition unit, a model construction unit, a model generation unit and a curve generation unit;

[0044] The acquisition unit is used to acquire the film length of the packaging film, the length of the asynchronous area of ​​the electronic cam, and the length of the synchronous area of ​​the electronic cam;

[0045] The model building unit is used to establish an initial model of the speed curve of the electronic cam, wherein the initial model of the speed curve is a sine function or a cosine function;

[0046] The model generation unit is used to obtain the actual model of the speed curve based on the mapping relationship between the film length, the length of the asynchronous zone, the length of the synchronous zone and the initial model of the speed curve;

[0047] The curve generating unit is used to generate a displacement curve, an acceleration curve, a jerk curve and a runout curve of the electronic cam based on the actual model of the speed curve.

[0048] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0049] By setting the actual model of the speed curve in the electronic cam curve to the expression of the sine function curve or the cosine function curve, it is ensured that the electronic cam curve remains continuous and smooth after multiple derivations, thereby ensuring the stability of the mechanical operation, making the mechanical impact generated by the machine smaller than that of the quintic curve, and the noise is also smaller than that of the quintic curve, and making it have a longer service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0051] Figure 1 This is the operating principle diagram of the flying shear of the packaging machine;

[0052] Figure 2 This is an initial model diagram of the speed curve in the electronic cam proposed in the first embodiment;

[0053] Figure 3 A comparison diagram of the displacement curve, velocity curve, acceleration curve, jerk curve and runout curve of the unit model generated by the sine cam and the quintic curve cam generated in the first embodiment;

[0054] Figure 4 This is a schematic diagram of an initial model of a speed curve of an electronic cam without inversion processing proposed in the fourth embodiment;

[0055] Figure 5 This is a schematic diagram of an initial model of a speed curve of an electronic cam after inversion processing proposed in the fourth embodiment;

[0056] Figure 6 This is a schematic diagram of an initial model of the speed curve of the electronic cam after the maximum speed limit processing proposed in the fourth embodiment. DETAILED DESCRIPTION

[0057] The present invention is further described in detail below in conjunction with embodiments. The following embodiments are for explanation of the present invention but the present invention is not limited to the following embodiments.

[0058] Embodiment 1

[0059] A method for generating an electronic cam curve comprises the following steps: obtaining the film length of a packaging film, the length of an asynchronous zone of an electronic cam and the length of a synchronous zone of the electronic cam; establishing an initial model of a speed curve of the electronic cam, wherein the initial model of the speed curve is a sine function or a cosine function; obtaining an actual model of the speed curve based on a mapping relationship between the film length, the length of the asynchronous zone and the length of the synchronous zone and the initial model of the speed curve; and generating a displacement curve, an acceleration curve, a jerk curve and a runout curve of the electronic cam based on the actual model of the speed curve.

[0060] Specifically, obtain the film length M of the packaging film, the length the cutter needs to travel for the next cut, marked as the asynchronous area length N, and the length of the area where the cutter and the film are in contact when cutting, marked as the synchronous area knife length V. At the same time, obtain the film feeding speed u and speed adjustment parameter r, where the speed adjustment parameter is the ratio of the cutter speed in the synchronous area of ​​the electronic cam to the film feeding speed.

[0061] Then, an initial model of the velocity curve is established with the expression S′(t)=Asin(Bt+C)+D, where A is the peak value, B is the period value, C represents the initial phase, D represents the constant, S′ represents the velocity, t represents the spindle displacement, and S′(t) represents the velocity that changes with the spindle displacement.

[0062] Furthermore, the actual model of the velocity curve is obtained based on the corresponding relationship between the obtained film length, the length of the asynchronous area, the length of the synchronous area and the initial model of the velocity curve.

[0063] Specifically, Figure 2 As shown in the figure, the speed relationship between the packaging film and the cutter is established with the packaging film as the reference spindle of the initial model of the speed curve. The length of a packaging film is quantified as a period of the sine function. The current position of the spindle is represented by an angle from 0 to 2π. The corresponding synchronization zone angle corresponding to the synchronization zone length is: Among them, because V is the length of the cutter in contact with the film in the synchronous zone, it needs to be converted into the corresponding length on the spindle film, and the speed of the cutter in the synchronous zone is r times the film, so the calculation It can be converted into the film length of the knife-film contact in the synchronization zone, and then divided by the total film length to obtain the proportion of the synchronization zone length in the film length, and finally multiplied by the size of a cycle to obtain the synchronization zone angle.

[0064] In the curve diagram of the initial model of the speed curve, the horizontal coordinate x is the angle traveled by the packaging film, and the vertical coordinate s′ is the speed, so s=∫s′, which is expressed as the distance traveled by the curve.

[0065] Through the above relationship, we can get:

[0066]

[0067] D=A.

[0068] Because the initial model of the speed curve is to compensate for the displacement difference between the cutter and the film length, the compensation displacement L is calculated, and the calculation formula is: L = NM*r.

[0069] Furthermore, we get the simultaneous formula:

[0070] The peak value is calculated Among them, S(t) represents the displacement relationship of the electronic cam; L represents the compensation displacement; the initial model of the speed curve is the first-order derivative of the displacement curve.

[0071] Finally, by combining the model with the relevant operating parameters of the actual packaging machine, the specific actual model of the speed curve in the asynchronous zone can be obtained. At the same time, the cutter synchronous speed is added to obtain a complete actual model of the speed curve, where the cutter synchronous speed is u*r. The formula of the complete actual model of the speed curve is:

[0072] Among them, further substituting A, B, C, and D into the above formula, the actual model formula of the speed curve is obtained as follows:

[0073]

[0074] After obtaining the actual model of the velocity curve, the displacement curve, acceleration curve, jerk curve and runout curve of the electronic cam can be generated based on the velocity curve, which specifically includes the following steps: integrating the actual model of the velocity curve to obtain the displacement curve; taking the first-order derivative of the actual model of the velocity curve to obtain the acceleration curve; taking the second-order derivative of the actual model of the velocity curve to obtain the jerk curve; taking the third-order derivative of the actual model of the velocity curve to obtain the runout curve, so that the mechanical stability of the electronic cam curve can be reflected through the displacement curve, acceleration curve, jerk curve and runout curve.

[0075] Specifically, in this embodiment, the compensation displacement L is set to 1, the period is scaled to 1, and the unit cam model of the quintic curve and the sine curve of this example is obtained. The control performance of the two is compared, and the following is obtained: Figure 3 (a) shows the displacement curve comparison, Figure 3 (b) shows the actual model comparison diagram of the speed curve (i.e., the speed curve comparison diagram), Figure 3 (c) shows the acceleration curve comparison diagram, Figure 3 (d) shows the jerk curve comparison diagram, Figure 3 (e) is a comparison chart of the runout curves shown.

[0076] It can be seen from the figure that the image of the sine function curve and the image of the quintic curve are significantly different after the jerk curve. After the jerk curve, the quintic curve begins to become no longer smooth and continuous, and the quintic curve can be derived at most five times. However, no matter how the sine function curve is derived, a continuous and smooth curve can be obtained after differentiation. This shows that the sine function curve has a smoother movement than the quintic curve, and it produces less mechanical impact and noise on the machine, that is, it has higher mechanical stability, which can extend the service life of the machine.

[0077] Embodiment 2

[0078] The difference between this embodiment and the first embodiment is that when the initial model of the speed curve is a cosine function, obtaining the actual model of the speed curve includes the following steps: obtaining the actual model of the speed curve when the initial model of the speed curve is a sine function, and converting the expression when the actual model of the speed curve is a sine function into the actual model of the speed curve represented by the cosine function, and obtaining the actual model expression of the speed curve when the initial model of the speed curve is a cosine function:

[0079]

[0080] On the other hand, when the initial model of the speed curve is a cosine function, the acquisition of the actual model of the speed curve can also be obtained by referring to the deduction process of the first embodiment, which will not be described in detail in this embodiment.

[0081] Since the cosine function has the same characteristics as the sine function, similarly, when the speed curve expressed as a cosine function in this embodiment is used on a packaging machine, it can ensure that the mechanical impact on the machine is smaller and the noise is smaller, that is, the mechanical stability is higher, thereby extending the service life of the machine.

[0082] Embodiment 3

[0083] The present embodiment further proposes an abnormal action adjustment method for an electronic cam, which is used to handle the abnormal action problem caused by an electronic cam curve generated by an electronic cam curve generation method as in any one of the first to second embodiments, and comprises the following steps: calculating the peak speed of the actual model of the speed curve in the electronic cam, and determining whether the peak speed is positive or negative; when the peak speed is a negative value, the abnormal problem of the speed curve is the reversal of the electronic cam, and anti-reversal processing is performed; when the peak speed is a positive value, and the peak speed is greater than the maximum speed threshold, the abnormal problem of the speed curve is the overspeed of the electronic cam, and maximum speed limit processing is performed.

[0084] The anti-reversal process includes the following steps:

[0085] Reduce the period of the curve part to speed up the deceleration process. Assume that the reduced period is 2θ. Divide the model curve part into the acceleration part and the deceleration part in half. Insert a stop interval in the middle. The size of the stop interval is 2π-τ-2θ. The corrected model is:

[0086]

[0087] The process of obtaining the modified model is as follows:

[0088] References Figure 5 From the deceleration part graph shown, we can see that:

[0089] The difference between the highest and lowest points of the cosine curve is twice the peak value A, and it can be seen from the model diagram that 2A = u*r;

[0090] The cosine period is scaled to 2θ;

[0091]

[0092] Scaled by the standard cosine and shifted right get.

[0093] Assume that the diameter of the circumscribed circle of the cutting knife is Z, and the length of the knife is ( Figure 1 The length of the knife end that the knife cuts once is the circumference of the circumscribed circle: Z*π, thus obtaining

[0094] Depend on Figure 5 From the acceleration part of the figure, we can see that:

[0095] Finally, the general expression of the modified model with the numerical value is (θ is not included):

[0096]

[0097] On the other hand, the maximum speed limit processing includes the following steps:

[0098] Reduce the period of the curve part to speed up its acceleration process. Assume that the reduced period is 2θ. Divide the model curve part into the acceleration part and the deceleration part in half. Insert a maximum speed interval in the middle. The interval size is 2π-τ-2θ. The corrected model is:

[0099]

[0100] The process of obtaining the correction model for maximum speed limit processing is as follows:

[0101] References Figure 6 The acceleration portion of the graph shown can:

[0102] The difference between the highest and lowest points of the cosine curve is twice the peak value A, and from the model diagram, it can be seen that the distance between the highest and lowest points of the cosine curve is equal to U max -u*r;

[0103] The cosine period is scaled to 2θ;

[0104]

[0105] Assume that the diameter of the circumscribed circle of the cutting knife is Z, and the length of the knife is ( Figure 1 The length of the knife end that the knife cuts once is the circumference of the circumscribed circle Z*π, so we get

[0106] Depend on Figure 6 From the middle deceleration part diagram, we can see that:

[0107] Finally, the general expression of the modified model with the numerical value is (θ is not included):

[0108]

[0109] like Figure 4 As shown, in the sine function and the cosine function, the speed is allowed to be less than 0, and the maximum speed can be unlimited (determined by the peak speed of the sine function or the cosine function), however, when the speed curve expressed as the cosine function or the sine is actually applied to the electronic cam curve, when the speed decreases to a negative value, the electronic cam will reverse, causing the actual packaging machine to operate abnormally when flying shearing the film; on the other hand, the electronic cam has a maximum speed limit, and there is a situation where the positive peak value is higher than the maximum speed limit, causing the actual packaging machine to operate abnormally when flying shearing the film.

[0110] Therefore, in order to avoid the above-mentioned abnormalities, the present embodiment proposes a reversal process and a maximum speed limit process to solve the problem. Specifically, the peak speed is calculated using the formula: A+D+u*r. First, it is determined whether the peak speed value is less than 0 to determine whether the speed curve will reverse. Then, it is determined whether the peak speed value is greater than the maximum speed limit to determine whether the speed curve is overspeeding without the need for additional calculations.

[0111] like Figure 5As shown in the figure, it is a schematic diagram of the actual model of the speed curve of the electronic cam after the inversion processing. The speed curve after the inversion processing goes through a running process of synchronization area - electronic cam deceleration - electronic cam stop - electronic cam acceleration - synchronization area in one cycle, so as to ensure the normal operation of the electronic cam, and finally obtain the actual model of the speed curve of the electronic cam operation in a complete cycle; as shown in the figure Figure 6 As shown, it is a schematic diagram of the actual model of the speed curve of the electronic cam after the maximum speed limit processing. The speed curve after the maximum speed limit processing goes through a process of synchronization area-electronic cam acceleration-electronic cam uniform speed-electronic cam deceleration-synchronization area in one cycle, thereby ensuring the normal operation of the electronic cam, and finally obtaining an actual model of the speed curve of the electronic cam operation in a complete cycle.

[0112] Among them, τ represents the angle of the synchronization zone, θ represents the proportion of the cam acceleration or deceleration part. In this embodiment, the mold line speed in the synchronization zone is set to u, and the cutter line speed in the synchronization zone is set to r times the mold line speed, that is, the speed is set to u*r.

[0113] On the other hand, Figure 5 As shown, in this embodiment, the running speed of the electronic cam and the packaging film in the synchronization zone is set so that the electronic cam speed is close to the film feeding speed of the packaging film. This is because theoretically, the packaging film and the cutter should maintain the same linear speed in the contact area (equivalent to the synchronization zone) to ensure that the packaging film is not pulled by the cutter. However, in actual application, due to problems such as mechanical precision and cutter structure (the cutter works in a rotary manner, and the linear speed direction in this area changes), the effect of the cutter speed being completely consistent with the film speed is not as good as the theoretical cutting effect. Therefore, in the synchronization zone, the cutter speed needs to be set to be adjustable. In this embodiment, the cutter linear speed is set to r times the film linear speed. When r is actually used in the range of 0.8 to 0.9, the packaging effect is best.

[0114] Embodiment 4

[0115] An electronic cam curve generation system comprises a data acquisition unit, a model construction unit, a model generation unit and a curve generation unit; the acquisition unit is used to acquire the film length of a packaging film, the length of an asynchronous zone of an electronic cam and the length of a synchronous zone of the electronic cam; the model construction unit is used to establish an initial model of a speed curve of the electronic cam, wherein the initial model of the speed curve is a sine function or a cosine function; the model generation unit is used to obtain an actual model of the speed curve based on a mapping relationship between the film length, the length of the asynchronous zone and the length of the synchronous zone and the initial model of the speed curve; the curve generation unit is used to generate a displacement curve, an acceleration curve, a jerk curve and a runout curve of the electronic cam based on the actual model of the speed curve.

[0116] Since the electronic cam curve generating system executes the electronic cam curve generating method of any one of the first embodiment to the second embodiment, it will not be described repeatedly in this embodiment.

[0117] The above is only a preferred embodiment of the present invention, and is not any formal or substantial limitation of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the method of the present invention, and these improvements and supplements should also be regarded as the protection scope of the present invention. Any technician familiar with this profession, without departing from the spirit and scope of the present invention, can make some changes, modifications and evolutions of the technical content disclosed above, which are equivalent embodiments of the present invention; at the same time, any changes, modifications and evolutions of any equivalent changes made to the above embodiments based on the essential technology of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for generating an electronic cam curve, characterized in that: The following steps are involved: Obtaining the film length of the packaging film, the length of the asynchronous zone of the electronic cam, and the length of the synchronous zone of the electronic cam; Establishing an initial model of the speed curve of the electronic cam, wherein the initial model of the speed curve is a sine function or a cosine function; Based on the mapping relationship between the film length, the asynchronous zone length, and the synchronous zone length and the initial model of the speed curve, the actual model of the speed curve is obtained. Specifically, the speed relationship between the packaging film and the cutter is established with the packaging film as the reference spindle of the initial model of the speed curve, the film length of a packaging film is quantified as a period of a sine function or a cosine function, the current position of the spindle is represented by an angle from 0 to 2π, and the synchronous zone angle corresponding to the corresponding synchronous zone length is calculated; the spindle is used as the abscissa of the curve graph of the initial model of the speed curve, and the speed is used as the ordinate, and the curve displacement relationship is obtained by integrating it; the compensation displacement calculation formula 1 is obtained according to the asynchronous zone length, the film length, and the speed adjustment parameter, wherein the compensation displacement calculation formula 1 is: L=NM*r, N represents the asynchronous zone length, M represents the film length, and r represents the speed adjustment parameter. At the same time, the compensation displacement calculation formula 2 is obtained according to the curve displacement relationship, wherein the compensation displacement calculation formula 2 is: Wherein, A is the peak value, B is the period value, C is the initial phase, D is a constant, and τ is the synchronization zone angle; the compensation displacement calculation formula 1 and the compensation displacement calculation formula 2 are combined to obtain the actual model of the speed curve; on the other hand, when the initial model of the speed curve is a cosine function, the actual model of the speed curve is also obtained by the following steps: the actual model of the speed curve when the initial model of the speed curve is a sine function is obtained, and the expression when the actual model of the speed curve is a sine function is converted into the actual model of the speed curve represented by the cosine function, and the actual model expression of the speed curve when the initial model of the speed curve is a cosine function is obtained; The displacement curve, acceleration curve, jerk curve and runout curve of the electronic cam are generated based on the actual model of the velocity curve.

2. The method for generating an electronic cam curve according to claim 1, characterized in that: When the initial model of the speed curve is a sine function, obtaining the actual model of the speed curve includes the following steps: Establish an initial model of the speed curve expressed as a sine function, wherein the initial model expression of the speed curve is: S′(t)=Asin(Bt+C)+D, wherein A represents the peak value, B represents the period value, C represents the initial phase value, D represents the constant, S′ represents the speed, and t represents the spindle displacement; The film length is used as the reference axis of the initial model of the speed curve to establish the speed mapping relationship between the packaging film and the cutter. Acquire the film feeding speed and speed adjustment parameter of the packaging film, wherein the speed adjustment parameter is the ratio of the cutter speed in the synchronization zone of the electronic cam to the film feeding speed; Calculating the synchronization zone angle based on the speed mapping relationship, the synchronization zone length, the speed adjustment parameter and the film length; Based on the speed mapping relationship and the synchronous zone angle, the peak value, period value, initial phase value and constant of the initial model of the speed curve are calculated to obtain the actual model of the speed curve.

3. The method for generating an electronic cam curve according to claim 2, characterized in that: Calculating the synchronization zone angle based on the speed mapping relationship, the synchronization zone length, the speed adjustment parameter and the film length includes the following steps: Based on the speed mapping relationship, the film length of a packaging film is quantified as a period of a sine function, and the current position of the main axis is represented by an angle from 0 to 2π; The synchronization zone angle is calculated using the following formula: Among them, τ represents the angle of the synchronization zone; V represents the blade length of the synchronization zone; M represents the film length; and r represents the speed adjustment parameter.

4. The method for generating an electronic cam curve according to claim 2, characterized in that: Based on the speed mapping relationship and the synchronous zone angle, the peak value, period value, initial phase value and constant of the initial model of the speed curve are calculated to obtain the actual model of the speed curve, including the following steps: Based on the velocity mapping relationship, D=A is obtained, and the period value and initial phase value of the initial model of the velocity curve are calculated at the same time, where: The compensation displacement of the cutter of the electronic cam relative to the length of the packaging film after one rotation is obtained, and based on the relationship between the compensation displacement and the initial model of the speed curve, the following simultaneous formula is obtained: Calculate the peak value Among them, S(t) represents the displacement relationship of the electronic cam; L represents the compensation displacement; the initial model of the speed curve is the first-order derivative of the displacement curve; Substitute the peak value, period value, initial phase value and constant into the initial model of the speed curve, and superimpose the cutter synchronous speed into the initial model of the speed to obtain the actual model of the speed curve:

5. The method for generating an electronic cam curve according to claim 4, characterized in that: When the initial model of the speed curve is a cosine function, obtaining the actual model of the speed curve includes the following steps: The actual model of the speed curve when the initial model of the speed curve is a sine function is obtained, and the expression when the actual model of the speed curve is a sine function is converted into the actual model of the speed curve represented by a cosine function, and the actual model expression of the speed curve when the initial model of the speed curve is a cosine function is obtained as follows:

6. The method for generating an electronic cam curve according to any one of claims 1 to 5, characterized in that: Generating a displacement curve, an acceleration curve, a jerk curve and a runout curve of an electronic cam based on the speed curve comprises the following steps: Integrating the actual model of the velocity curve to obtain a displacement curve; Taking the first-order derivative of the actual model of the velocity curve, an acceleration curve is obtained; Taking the actual model of the velocity curve as a second-order derivative, a jerk curve is obtained; The actual model of the speed curve is derived by third order to obtain the runout curve.

7. A method for adjusting abnormal operation of an electronic cam, characterized in that: The method for adjusting the abnormal operation of the electronic cam is used to handle the abnormal operation problem caused by the electronic cam curve generated by the electronic cam curve generation method according to any one of claims 1 to 6, and comprises the following steps: Calculating the peak speed of the actual model of the speed curve in the electronic cam, and determining whether the peak speed is positive or negative; When the peak speed is a negative value, the abnormal problem in the speed curve is the electronic cam reverse rotation, and anti-reverse processing is performed; When the peak speed is a positive value and the peak speed is greater than the maximum speed threshold, the abnormal problem in the speed curve is that the electronic cam is overspeeding, and maximum speed limit processing is performed.

8. The method for adjusting the abnormal operation of an electronic cam according to claim 7, characterized in that: The anti-reversal process comprises the following steps: Reduce the period of the curve part to speed up the deceleration process. Assume that the reduced period is 2θ. Divide the model curve part into the acceleration part and the deceleration part in half. Insert a stop interval in the middle. The size of the stop interval is 2π-τ-2θ. The corrected model is:

9. The method for adjusting the abnormal operation of an electronic cam according to claim 7, characterized in that: The maximum speed limit processing includes the following steps: Reduce the period of the curve part to speed up its acceleration process. Assume that the reduced period is 2θ. Divide the model curve part into the acceleration part and the deceleration part in half. Insert a maximum speed interval in the middle. The interval size is 2π-τ-2θ. The corrected model is:

10. An electronic cam curve generation system, characterized in that: The electronic cam curve generation system executes the electronic cam curve generation method according to any one of claims 1 to 6, comprising a data acquisition unit, a model building unit, a model generation unit and a curve generation unit; The acquisition unit is used to acquire the film length of the packaging film, the length of the asynchronous area of ​​the electronic cam, and the length of the synchronous area of ​​the electronic cam; The model building unit is used to establish an initial model of the speed curve of the electronic cam, wherein the initial model of the speed curve is a sine function or a cosine function; The model generation unit is used to obtain the actual model of the speed curve based on the mapping relationship between the film length, the length of the asynchronous zone, the length of the synchronous zone and the initial model of the speed curve; The curve generating unit is used to generate a displacement curve, an acceleration curve, a jerk curve and a runout curve of the electronic cam based on the actual model of the speed curve.

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