PET transverse cutting machine synchronous cutting control method based on real-time speed correction

Abstract

The invention relates to the technical field of automatic control, in particular to a PET transverse cutting machine synchronous cutting control method based on real-time speed correction, which comprises the following steps: S1, acquiring rotating speed data in real time when a main motor and an auxiliary motor operate; s2, acquiring a load change rate; s3, calculating a speed difference value of the main motor and the auxiliary motor based on the rotating speed data to determine a speed error; s4, on the basis of the load change rate and the speed error, a self-adaptive PID control algorithm is adopted to adjust control signals of the main motor and the auxiliary motor so as to compensate speed change caused by load fluctuation; and S5, adjusting the control input of the main motor and the auxiliary motor according to the control signal corrected in the step S4 so as to correct the motor speed in real time. According to the invention, the speed difference between the main motor and the auxiliary motor is dynamically corrected by collecting the speed and load data of the motor in real time and combining the self-adaptive PID control algorithm, so that the influence of load fluctuation and signal delay on the motor synchronization precision is effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic control, and in particular to a synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction. Background Art

[0002] With the continuous improvement of industrial automation level, PET cross-cutting machines are widely used in many production lines. PET cross-cutting machines are mainly used for the cutting process of plastic films, and have high requirements on motor drive and control. Traditional PET cross-cutting machines mostly adopt the method of joint drive of main motor and auxiliary motor. In the scenario with high precision requirements, the synchronization between the main motor and the auxiliary motor is crucial. However, due to factors such as load fluctuation, equipment wear and control signal transmission delay, it is difficult for the main motor and the auxiliary motor to maintain precise synchronization during operation, resulting in reduced cross-cutting accuracy and affecting product quality. In addition, traditional synchronous control methods usually rely on external sensors to obtain the actual speed of the motor, but due to delays and noise interference in the sensor signal transmission process, these systems cannot provide real-time, high-precision synchronous control, resulting in a reduction in the overall efficiency of the equipment.

[0003] The existing technology faces several challenges in synchronous control. First, the traditional speed sensor method is often affected by environmental interference, and there are problems of signal delay or inaccuracy, which makes it difficult to correct the speed difference in real time. Secondly, the impact of load fluctuations on the motor has not been fully considered. Load changes may cause motor speed fluctuations, which in turn affects the synchronization accuracy. However, most existing technologies only use static control methods and fail to effectively deal with speed changes caused by load fluctuations. Finally, the existing control system often fails to achieve real-time correction and adjustment, so that the synchronization error between motors cannot be compensated in time. Therefore, there is an urgent need for a PET cross-cutting machine synchronous cutting control method based on real-time speed correction to solve the above problems. Summary of the invention

[0004] Based on the above purpose, the present invention provides a synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction.

[0005] The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction comprises the following steps:

[0006] S1: In the PET cross-cutting machine, multiple speed sensors are installed to collect the speed data of the main motor and the auxiliary motor in real time;

[0007] S2: Install a load sensor to monitor the load conditions of the main motor and the auxiliary motor in real time; the load sensor obtains the load change rate by measuring the load change of the motor drive system;

[0008] S3: Based on the speed data collected by S1, the speed difference between the main motor and the auxiliary motor is calculated to determine the speed error;

[0009] S4: Based on the load change rate obtained by S2 and the speed error calculated by S3, the control signals of the main motor and the auxiliary motor are adjusted using an adaptive PID control algorithm to compensate for the speed change caused by load fluctuations;

[0010] S5: According to the control signal corrected by S4, the control input of the main motor and the auxiliary motor is adjusted to correct the motor speed in real time to ensure the synchronization between the two.

[0011] Optionally, the S1 specifically includes:

[0012] S11: In the PET cross-cutting machine, multiple speed sensors are installed, specifically on the bearings, driving components or motor housings of the main motor and the auxiliary motor, for directly measuring the rotation speed of the motor, wherein the speed sensors include fiber grating sensors and laser interferometer sensors;

[0013] S12: The speed data measured by each speed sensor is transmitted to the data processing end in real time. During the transmission process, the high-speed transmission line is used to ensure the real-time performance of the data during the operation of the motor.

[0014] S13: Processing the collected speed data within a preset time interval to calculate the real-time speed of each motor for subsequent speed error calculation.

[0015] Optionally, the S13 specifically includes:

[0016] S131: within a preset time interval, filtering and denoising the collected speed data of each motor to remove abnormal data caused by sensor error or external interference; and recording the processed speed data as ω(t), where t is time and ω(t) represents the motor speed at time t;

[0017] S132: Calculate the real-time speed of each motor in each time interval for the processed speed data ω(t); define the real-time speed as the speed value in the time interval, and the specific calculation formula is: Where N is the number of sampling points in the time interval, ω(t i ) is the speed data of the i-th time interval, ω avg (t) is the real-time speed in the corresponding time period.

[0018] Optionally, the S2 specifically includes:

[0019] S21: In the driving systems of the main motor and the auxiliary motor of the PET cross-cutting machine, load sensors are respectively installed to monitor the load conditions of the motors in real time; the load sensors are strain gauge sensors or force sensors;

[0020] S22: The load sensor is used to collect the load change signal in the motor drive system in real time and convert it into an electrical signal for output; the signal collection frequency of the load sensor is set to be synchronized with the motor speed;

[0021] S23: in the process of transmitting the load change signal, removing the interference caused by the mechanical vibration of the motor or environmental factors, and obtaining a net load signal, which reflects the real-time working load of the motor, and the net load signal is recorded as L(t), where t is time;

[0022] S24: Based on the processed load signal L(t), the load change rate ΔL(t) is calculated to monitor the dynamic fluctuation of the motor load. The load change rate represents the rate of change of the load data per unit time. The specific calculation formula is: Wherein, Δt is the sampling time interval, L(t) and L(t+Δt) are the load data at time t and t+Δt respectively.

[0023] Optionally, the S3 specifically includes:

[0024] S31: The speed data collected in S1 are respectively ω1(t) and ω2(t), where ω1(t) represents the speed of the main motor at time t, and ω2(t) represents the speed of the auxiliary motor at time t;

[0025] S32: Based on the collected speed data, the speed difference Δω(t) between the main motor and the auxiliary motor is calculated. The speed difference reflects the speed error of the two motors at the same time. The calculation formula is: Δω(t)=ω1(t)-ω2(t), where Δω(t) is the speed difference at time t, and the difference between the main motor speed ω1(t) and the auxiliary motor speed ω2(t) is the speed error.

[0026] S33: According to the speed difference Δω(t) calculated in S32, the real-time speed error between the main motor and the auxiliary motor is obtained; if Δω(t) exceeds the preset error threshold ε threshold , it is considered that there is an unexpected speed deviation and adjustment is required.

[0027] Optionally, the S4 specifically includes:

[0028] S41: Based on the speed error between the main motor and the auxiliary motor calculated by S3 and the load change rate obtained by S2, the load change rate and the speed error are combined in a weighted manner to generate a comprehensive error signal;

[0029] S42: by using an adaptive PID control algorithm, according to the comprehensive error signal obtained in S42, the speed difference between the main motor and the auxiliary motor is corrected in real time to generate a correction increment;

[0030] S43: According to the correction increment generated by S42, the control signals of the main motor and the auxiliary motor are adjusted in real time to compensate for the speed change caused by the load fluctuation, so as to ensure the synchronization accuracy between the two motors.

[0031] Optionally, the S41 specifically includes:

[0032] S411: Assume that the weighting factors of the speed error and the load change rate are w1 and w2, wherein w1 represents the weighting factor of the speed error, w2 represents the weighting factor of the load change rate, and the weighting factors w1 and w2 satisfy the following condition: w1+w2=1;

[0033] S412: Generate a comprehensive error signal e(t) by weighted combination of speed error and load change rate, the formula is: e(t) = w1·Δω(t)+w2·ΔL(t), where e(t) is the comprehensive error signal at time t, w1 and w2 are weighting factors, corresponding to speed error and load change rate, respectively.

[0034] Optionally, the S42 specifically includes:

[0035] S421: Obtaining a comprehensive error signal e(t);

[0036] S422: According to the comprehensive error signal e(t), the adaptive PID control algorithm is used to correct the speed difference between the main motor and the auxiliary motor, and a correction increment Δω is generated. corr (t); The formula for the PID control algorithm output correction increment is: Among them, Δω corr (t) is the correction increment; K p is the proportional gain; K i is the integral gain; K d is the differential gain; e(t) is the comprehensive error signal; represents the integral of the error signal from time 0 to t; is the derivative of the error signal.

[0037] Optionally, the S43 specifically includes:

[0038] S431: Correction increment Δω calculated according to step S42 corr (t), use the following formula to calculate the adjustment amount of the control signal: Δu corr (t) = K eff ·Δω corr (t), where Δu corr(t) is the adjustment amount of the control signal; K eff is the effective gain coefficient;

[0039] S432: The control signal adjustment amount Δu calculated in S431 is corr (t) is applied to the control signals of the main motor and the auxiliary motor to correct the main motor control signal and the auxiliary motor control signal respectively. The expression of the corrected control signal is: main (t) = u main,base +Δu corr (t) and u aux (t) = u aux,base +Δu corr (t), where u main (t) is the main motor control signal after adjustment; u aux (t) is the auxiliary motor control signal after adjustment; u main,base Is the basic control signal of the main motor; u aux,base It is the basic control signal for the auxiliary motor.

[0040] Optionally, the S5 specifically includes:

[0041] S51: Based on the corrected control signal u main (t) and u aux (t), use the following formula to calculate the final control input of the main motor and auxiliary motor respectively: input,main (t) = u main (t)+Δu input,main (t) and u input,aux (t) = u aux (t)+Δu input,aux (t), where u input,main (t) is the final control input of the main motor; u input,aux (t): Final control input of the auxiliary motor; Δu input,main (t) and Δu input,aux (t) represent the adjustment amount of the control input for the main motor and the auxiliary motor respectively;

[0042] S52: The calculated main motor control input u input,main (t) and auxiliary motor control input u input,aux (t) Real-time feedback is provided to the motor drive system to achieve real-time control of the speed of the main motor and the auxiliary motor to ensure synchronization between the two.

[0043] Beneficial effects of the present invention:

[0044] The present invention can dynamically calculate the speed error between the motors by collecting the speed data of the main motor and the auxiliary motor in real time and combining it with the real-time feedback of the load sensor, and correct it according to the load fluctuation. Compared with the traditional solution that relies on external sensors, it greatly reduces the signal transmission delay and noise interference, and improves the real-time and accuracy of the control signal.

[0045] The present invention uses an adaptive PID control algorithm to adjust the control signal of the motor in real time according to the comprehensive error signal, effectively compensating for the speed change caused by load fluctuation. The method not only improves the response speed and stability of the system, but also can adapt to different load conditions, ensuring the high-precision operation of the PET cross-cutting machine under different production environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present invention or 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 in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 Schematic diagram of a synchronous cutting control method for a cross-cutting machine according to an embodiment of the present invention;

[0048] Figure 2 Schematic diagram of a method for adjusting a control signal using a PID control algorithm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0050] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0051] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0052] like Figure 1-Figure 2 As shown, the synchronous cutting control method of the PET cross-cutting machine based on real-time speed correction includes the following steps:

[0053] S1: In the PET cross-cutting machine, multiple speed sensors are installed to collect the speed data of the main motor and the auxiliary motor in real time;

[0054] S2: Install load sensors to monitor the load conditions of the main motor and the auxiliary motor in real time; the load sensors obtain the load change rate by measuring the load change of the motor drive system;

[0055] S3: Based on the speed data collected by S1, the speed difference between the main motor and the auxiliary motor is calculated to determine the speed error;

[0056] S4: Based on the load change rate obtained by S2 and the speed error calculated by S3, the control signals of the main motor and the auxiliary motor are adjusted using an adaptive PID control algorithm to compensate for the speed change caused by load fluctuations;

[0057] S5: According to the control signal corrected by S4, the control input of the main motor and the auxiliary motor is adjusted to correct the motor speed in real time to ensure the synchronization between the two, so as to achieve precise synchronous cutting control.

[0058] S1 specifically includes:

[0059] S11: In the PET cross-cutting machine, multiple speed sensors are installed, specifically on the bearings, drive components or motor housings of the main motor and the auxiliary motor, for directly measuring the rotation speed of the motor. The speed sensors include fiber grating sensors (FOG) and laser interferometer sensors to ensure accurate monitoring of the high-speed rotation of the motor.

[0060] S12: The speed data measured by each speed sensor is transmitted to the data processing end in real time. During the transmission process, the high-speed transmission line is used to ensure the real-time nature of the data during the operation of the motor, thereby avoiding errors caused by delays.

[0061] S13: The collected speed data is processed within a preset time interval to calculate the real-time speed of each motor for subsequent speed error calculation; through the above steps, a combination of fiber grating sensors and laser interferometer sensors is used to accurately monitor the speed changes of the motors and transmit the speed data in real time to ensure the speed synchronization of the main motor and the auxiliary motor.

[0062] S13 specifically includes:

[0063] S131: within a preset time interval, filtering and denoising the collected speed data of each motor to remove abnormal data caused by sensor error or external interference; and recording the processed speed data as ω(t), where t is time and ω(t) represents the motor speed at time t;

[0064] S132: Calculate the real-time speed of each motor in each time interval for the processed speed data ω(t); define the real-time speed as the speed value in the time interval, and the specific calculation formula is: Where N is the number of sampling points in the time interval, ω(t i ) is the speed data of the i-th time interval, ω avg (t) is the real-time speed in the corresponding time period; through the above steps, the collected speed data can be effectively processed, noise interference can be removed and the real-time speed of each motor can be accurately calculated, providing reliable data support for subsequent speed synchronization control and error correction, thereby effectively improving the cutting accuracy and stability of the PET cross-cutting machine.

[0065] S2 specifically includes:

[0066] S21: Load sensors are respectively installed in the driving systems of the main motor and the auxiliary motor of the PET cross-cutting machine to monitor the load conditions of the motors in real time; the load sensors are strain gauge sensors or force sensors;

[0067] S22: The load sensor is used to collect the load change signal in the motor drive system in real time and convert it into an electrical signal for output; the signal acquisition frequency of the load sensor is set to be synchronized with the motor speed to ensure that the load fluctuation can be accurately captured;

[0068] S23: in the process of transmitting the load change signal, removing the interference caused by the mechanical vibration of the motor or environmental factors, and obtaining a net load signal, which reflects the real-time working load of the motor, and the net load signal is recorded as L(t), where t is time;

[0069] S24: Based on the processed load signal L(t), the load change rate ΔL(t) is calculated to monitor the dynamic fluctuation of the motor load. The load change rate represents the rate of change of the load data per unit time. The specific calculation formula is: Among them, Δt is the sampling time interval, L(t) and L(t+Δt) are the load data at time t and t+Δt respectively; through the above steps, the load sensor can monitor the load changes of the motor in real time and provide accurate load data, thereby providing basic data for subsequent speed error calculation and dynamic correction, ensuring that the motor load fluctuation can be captured and compensated in time.

[0070] S3 specifically includes:

[0071] S31: The speed data collected in S1 are respectively ω1(t) and ω2(t), where ω1(t) represents the speed of the main motor at time t, and ω2(t) represents the speed of the auxiliary motor at time t;

[0072] S32: Based on the collected speed data, the speed difference Δω(t) between the main motor and the auxiliary motor is calculated. The speed difference reflects the speed error of the two motors at the same time. The calculation formula is: Δω(t)=ω1(t)-ω2(t), where Δω(t) is the speed difference at time t, and the difference between the main motor speed ω1(t) and the auxiliary motor speed ω2(t) is the speed error.

[0073] S33: According to the speed difference Δω(t) calculated in S32, the real-time speed error between the main motor and the auxiliary motor is obtained; if Δω(t) exceeds the preset error threshold ε threshold , it is considered that there is an unexpected speed deviation and adjustment is required; through the above steps, based on the collected speed data, by calculating the speed difference between the main motor and the auxiliary motor, the real-time speed error between the two motors can be accurately determined, thereby providing the necessary error feedback for subsequent synchronous control. This calculation method effectively ensures the synchronization accuracy between the motors.

[0074] S4 specifically includes:

[0075] S41: Based on the speed error between the main motor and the auxiliary motor calculated by S3 and the load change rate obtained by S2, the load change rate and the speed error are combined in a weighted manner to generate a comprehensive error signal;

[0076] S42: by using an adaptive PID control algorithm, according to the comprehensive error signal obtained in S42, the speed difference between the main motor and the auxiliary motor is corrected in real time to generate a correction increment;

[0077] S43: According to the correction increment generated by S42, the control signals of the main motor and the auxiliary motor are adjusted in real time to compensate for the speed change caused by the load fluctuation, so as to ensure the synchronization accuracy between the two motors.

[0078] S41 specifically includes:

[0079] S411: Assume that the weighting factors of the speed error and the load change rate are w1 and w2, wherein w1 represents the weighting factor of the speed error, and w2 represents the weighting factor of the load change rate; the selection of the weighting factors can be based on the dynamic response characteristics of the system, the load fluctuation degree and the control accuracy requirements, and the weighting factors w1 and w2 meet the following conditions: w1+w2=1;

[0080] S412: Generate a comprehensive error signal e(t) by weighted combination of speed error and load change rate, with the formula: e(t)=w1·Δω(t)+w2·ΔL(t), where e(t) is the comprehensive error signal at time t, w1 and w2 are weighting factors, corresponding to speed error and load change rate, respectively; the weighted combination error signal e(t) comprehensively considers the influence of speed error and load fluctuation, and provides input data for subsequent correction algorithms; during operation, the values ​​of weighting factors w1 and w2 are dynamically adjusted according to changes in state; for example, when the load changes greatly, the weight w2 of the load change rate can be increased to enhance the response to load changes; when the motor runs relatively smoothly, the weight w1 of the speed error is appropriately increased; through this weighting method, the comprehensive error signal can flexibly reflect the speed difference between the main motor and the auxiliary motor and the influence of load fluctuation on the system, ensuring that the system can compensate for the speed changes caused by load fluctuations in real time, thereby improving synchronization accuracy and stability.

[0081] S42 specifically includes:

[0082] S421: Obtaining a comprehensive error signal e(t);

[0083] S422: According to the comprehensive error signal e(t), the adaptive PID control algorithm is used to correct the speed difference between the main motor and the auxiliary motor, and a correction increment Δω is generated. corr (t), the correction increment is used to adjust the control signal of the motor; the formula for the correction increment output by the PID control algorithm is: Δω corr (t) = K p ·e(t)+K i · Among them, Δω corr (t) is the correction increment, which is used to adjust the speed difference; K p is the proportional gain; K i is the integral gain; K d is the differential gain; e(t) is the comprehensive error signal; dτ represents the integral of the error signal from time 0 to t; is the derivative of the error signal.

[0084] S43 specifically includes:

[0085] S431: Correction increment Δω calculated according to step S42 corr (t), use the following formula to calculate the adjustment amount of the control signal: Δu corr (t) = K eff ·Δω corr (t), where Δu corr (t) is the adjustment amount of the control signal, which is used to adjust the control input of the motor in real time; K eff is the effective gain coefficient, which indicates the proportional relationship between the control signal and the correction increment;

[0086] S432: The control signal adjustment amount Δu calculated in S431 is corr (t) is applied to the control signals of the main motor and the auxiliary motor to correct the main motor control signal and the auxiliary motor control signal respectively. The expression of the corrected control signal is: main (t) = u main,base +Δu corr (t) and u aux (t) = u aux,base +Δu corr (t), where u main (t) is the main motor control signal after adjustment; u aux (t) is the auxiliary motor control signal after adjustment; u main,base Is the basic control signal of the main motor; u aux,base It is the basic control signal for the auxiliary motor. Through the above steps, the control signals of the main motor and the auxiliary motor can be accurately adjusted using the generated correction increment, so that the speed difference between the two motors can be corrected in real time under load fluctuations to ensure synchronous operation. The key to this method is to calculate the correction increment in real time and use the effective gain coefficient for precise adjustment, thereby compensating for the impact of load changes on motor performance.

[0087] S5 specifically includes:

[0088] S51: Based on the corrected control signal u main (t) and u aux (t), use the following formula to calculate the final control input of the main motor and auxiliary motor respectively: input,main (t) = u main (t)+Δu input,main (t) and u input,aux (t) = u aux (t)+Δu input,aux(t), where u input,main (t) is the final control input of the main motor; u input,aux (t): Final control input of the auxiliary motor; Δu input,main (t) and Δu input,aux (t) represent the adjustment amount of the control input for the main motor and the auxiliary motor respectively;

[0089] S52: The calculated main motor control input u input,main (t) and auxiliary motor control input u input,aux (t) Real-time feedback is provided to the motor drive system to achieve real-time control of the speed of the main motor and the auxiliary motor to ensure the synchronization between the two. Through the above steps, the influence of factors such as load fluctuation and speed error is effectively compensated, so that the motor can still maintain high-precision synchronous cutting control in a complex working environment.

[0090] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0091] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A synchronous cutting control method for a PET cross-cutting machine based on real-time speed correction, characterized in that: The following steps are involved: S1: In the PET cross-cutting machine, multiple speed sensors are installed to collect the speed data of the main motor and the auxiliary motor in real time; S2: Install a load sensor to monitor the load conditions of the main motor and the auxiliary motor in real time; the load sensor obtains the load change rate by measuring the load change of the motor drive system; S3: Based on the speed data collected by S1, the speed difference between the main motor and the auxiliary motor is calculated to determine the speed error; S4: Based on the load change rate obtained by S2 and the speed error calculated by S3, the control signals of the main motor and the auxiliary motor are adjusted using an adaptive PID control algorithm to compensate for the speed change caused by load fluctuations; S5: According to the control signal corrected by S4, the control input of the main motor and the auxiliary motor is adjusted to correct the motor speed in real time to ensure the synchronization between the two.

2. The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction according to claim 1 is characterized in that: The S1 specifically includes: S11: In the PET cross-cutting machine, multiple speed sensors are installed, specifically on the bearings, driving components or motor housings of the main motor and the auxiliary motor, for directly measuring the rotation speed of the motor, wherein the speed sensors include fiber grating sensors and laser interferometer sensors; S12: The speed data measured by each speed sensor is transmitted to the data processing end in real time. During the transmission process, the real-time nature of the data during the operation of the motor is ensured through a high-speed transmission line; S13: Processing the collected speed data within a preset time interval to calculate the real-time speed of each motor for subsequent speed error calculation.

3. The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction according to claim 2 is characterized in that: The S13 specifically includes: S131: within a preset time interval, filtering and denoising the collected speed data of each motor to remove abnormal data caused by sensor error or external interference; and recording the processed speed data as ω(t), where t is time and ω(t) represents the motor speed at time t; S132: Calculate the real-time speed of each motor in each time interval for the processed speed data ω(t); define the real-time speed as the speed value in the time interval, and the specific calculation formula is: Where N is the number of sampling points in the time interval, ω(t i ) is the speed data of the i-th time interval, ω avg (t) is the real-time speed in the corresponding time period.

4. The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction according to claim 1, characterized in that: The S2 specifically includes: S21: In the driving systems of the main motor and the auxiliary motor of the PET cross-cutting machine, load sensors are respectively installed to monitor the load conditions of the motors in real time; the load sensors are strain gauge sensors or force sensors; S22: The load sensor is used to collect the load change signal in the motor drive system in real time and convert it into an electrical signal for output; the signal collection frequency of the load sensor is set to be synchronized with the motor speed; S23: in the process of transmitting the load change signal, removing the interference caused by the mechanical vibration of the motor or environmental factors, and obtaining a net load signal, which reflects the real-time working load of the motor, and the net load signal is recorded as L(t), where t is time; S24: Based on the processed load signal L(t), the load change rate ΔL(t) is calculated to monitor the dynamic fluctuation of the motor load. The load change rate represents the rate of change of the load data per unit time. The specific calculation formula is: Wherein, Δt is the sampling time interval, L(t) and L(t+Δt) are the load data at time t and t+Δt respectively.

5. The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction according to claim 3 is characterized in that: The S3 specifically includes: S31: The speed data collected in S1 are respectively ω1(t) and ω2(t), where ω1(t) represents the speed of the main motor at time t, and ω2(t) represents the speed of the auxiliary motor at time t; S32: Based on the collected speed data, the speed difference Δω(t) between the main motor and the auxiliary motor is calculated. The speed difference reflects the speed error of the two motors at the same time. The calculation formula is: Δω(t)=ω1(t)-ω2(t), where Δω(t) is the speed difference at time t, and the difference between the main motor speed ω1(t) and the auxiliary motor speed ω2(t) is the speed error. S33: According to the speed difference Δω(t) calculated in S32, the real-time speed error between the main motor and the auxiliary motor is obtained; if Δω(t) exceeds the preset error threshold ε threshold , it is considered that there is an unexpected speed deviation and adjustment is required.

6. The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction according to claim 1, characterized in that: The S4 specifically includes: S41: Based on the speed error between the main motor and the auxiliary motor calculated by S3 and the load change rate obtained by S2, the load change rate and the speed error are combined in a weighted manner to generate a comprehensive error signal; S42: by using an adaptive PID control algorithm, according to the comprehensive error signal obtained in S42, the speed difference between the main motor and the auxiliary motor is corrected in real time to generate a correction increment; S43: According to the correction increment generated by S42, the control signals of the main motor and the auxiliary motor are adjusted in real time to compensate for the speed change caused by the load fluctuation, so as to ensure the synchronization accuracy between the two motors.

7. The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction according to claim 6, characterized in that: The S41 specifically includes: S411: Assume that the weighting factors of the speed error and the load change rate are w1 and w2, wherein w1 represents the weighting factor of the speed error, w2 represents the weighting factor of the load change rate, and the weighting factors w1 and w2 satisfy the following condition: w1+w2=1; S412: Generate a comprehensive error signal e(t) by weighted combination of speed error and load change rate, the formula is: e(t) = w1·Δω(t)+w2·ΔL(t), where e(t) is the comprehensive error signal at time t, w1 and w2 are weighting factors, corresponding to speed error and load change rate, respectively.

8. The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction according to claim 7, characterized in that: The S42 specifically includes: S421: Obtaining a comprehensive error signal e(t); S422: According to the comprehensive error signal e(t), the adaptive PID control algorithm is used to correct the speed difference between the main motor and the auxiliary motor, and a correction increment Δω is generated. corr (t); The formula for the PID control algorithm output correction increment is: Among them, Δω corr (t) is the correction increment; K p is the proportional gain; K i is the integral gain; K d is the differential gain; e(t) is the comprehensive error signal; represents the integral of the error signal from time 0 to t; is the derivative of the error signal.

9. The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction according to claim 8, characterized in that: The S43 specifically includes: S431: Correction increment Δω calculated according to step S42 corr (t), use the following formula to calculate the adjustment amount of the control signal: Δu corr (t) = K eff ·Δω corr (t), where Δu corr (t) is the adjustment amount of the control signal; K eff is the effective gain coefficient; S432: The control signal adjustment amount Δu calculated in S431 is corr (t) is applied to the control signals of the main motor and the auxiliary motor to correct the main motor control signal and the auxiliary motor control signal respectively. The expression of the corrected control signal is: main (t) = u main,base +Δu corr (t) and u aux (t) = u aux,base +Δu corr (t), where u main (t) is the main motor control signal after adjustment; u aux (t) is the auxiliary motor control signal after adjustment; u main,base Is the basic control signal of the main motor; u aux,base It is the basic control signal for the auxiliary motor.

10. The synchronous cutting control method of a PET cross-cutting machine based on real-time speed correction according to claim 9, characterized in that: The S5 specifically includes: S51: Based on the corrected control signal u main (t) and u aux (t), use the following formula to calculate the final control input of the main motor and auxiliary motor respectively: input,main (t) = u main (t)+Δu input,main (t) and u input,aux (t) = u aux (t)+Δu input,aux (t), where u input,main (t) is the final control input of the main motor; u input,aux (t): Final control input of the auxiliary motor; Δu input,main (t) and Δu input,aux (t) represent the adjustment amount of the control input for the main motor and the auxiliary motor respectively; S52: The calculated main motor control input u input,main (t) and auxiliary motor control input u input,aux (t) Real-time feedback is provided to the motor drive system to achieve real-time control of the speed of the main motor and the auxiliary motor to ensure synchronization between the two.

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