Cutting speed dynamic compensation method and device, electronic equipment and storage medium

Abstract

The invention relates to a cutting speed dynamic compensation method and device, electronic equipment and a storage medium which are applied to a cutting system. The cutting system comprises an external encoder, a traction motor, a cutter motor and an extruder; the method comprises the steps that a first position signal of a to-be-cut target material is obtained according to an external encoder, and a second position signal of a traction motor is obtained according to a traction motor built-in encoder; according to the first position signal and the second position signal, the position compensation amount of the traction motor movement is determined; according to the first position signal and the second position signal, the target rotation speed of a cutter motor is determined in combination with a cam curve control algorithm; according to the position compensation amount and / or the target rotating speed, a target control instruction for controlling the cutting system is generated; and based on the target control instruction, the cutting system is controlled to complete cutting operation on the target material. Therefore, deviation can be captured in real time, movement of the traction motor and the cutter motor can be corrected, cutting errors are reduced, and cutting precision is improved.

Description

Technical Field

[0001] This application relates to the field of processing and manufacturing technology, and in particular to a method, apparatus, electronic device and storage medium for dynamic compensation of cutting speed. Background Technology

[0002] In the manufacturing industry, precise length cutting is a crucial step in ensuring product quality. However, existing cutting technologies face significant challenges in precision control: due to over-reliance on a single information source—the motor encoder—cutting accuracy is easily constrained by it. This is especially true when cutting flexible materials (such as rubber strips), where friction and slippage between the material and the equipment can increase the deviation between the speed feedback from the motor encoder and the actual movement of the material. This leads to inaccurate cutting length control, directly affecting product quality stability and becoming a technical bottleneck for the industry to improve processing accuracy and yield.

[0003] Therefore, how to reduce cutting errors and achieve precise cutting of target materials is an urgent problem to be solved. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, electronic device, and storage medium for dynamic compensation of cutting speed to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a dynamic compensation method for cutting speed, applied to a cutting system; the cutting system includes an external encoder, a traction motor, a cutter motor, and an extruder; the method includes: The first position signal of the target material to be cut is obtained according to the external encoder, and the second position signal of the traction motor is obtained according to the built-in encoder of the traction motor. The position compensation amount of the traction motor movement is determined based on the first position signal and the second position signal; The target rotational speed of the cutter motor is determined based on the first position signal and the second position signal, combined with a cam curve control algorithm. Based on the position compensation amount and / or the target rotation speed, a target control command is generated to control the cutting system; based on the target control command, the cutting system is controlled to complete the cutting operation on the target material.

[0006] In one embodiment, determining the position compensation amount of the traction motor movement based on the first position signal and the second position signal includes: The positional deviation of the target material is determined based on the first position signal and the second position signal; The position compensation amount is determined based on the position deviation.

[0007] In one embodiment, the target control command includes a first control command; the step of generating the target control command for controlling the cutting system based on the position compensation amount and / or the target rotation speed includes: The position compensation amount is dynamically superimposed onto the original control command of the traction motor in the cutting system to obtain the first control command; The step of controlling the cutting system to complete the cutting operation on the target material based on the target control command includes: Based on the first control command, the motion trajectory of the traction motor is adjusted.

[0008] In one embodiment, determining the target rotational speed of the cutter motor based on the first position signal and the second position signal, combined with a cam curve control algorithm, includes: The cam curve of the cutter motor is divided into a synchronous zone and an asynchronous zone; wherein, the cam curve represents the positional mapping relationship between the master shaft and the slave shaft; the slope of the cam curve represents the rotational speed of the cutter motor; the synchronous zone is used to guide the cutter motor to drive the cutter to follow the target material synchronously; the asynchronous zone is used to guide the cutter motor to drive the cutter to move at the rotational speed represented by the cam curve; The positional deviation of the target material is determined based on the first position signal and the second position signal; The slope of the cam curve is adjusted based on the position deviation to obtain the target rotational speed.

[0009] In one embodiment, the main shaft is the external encoder or the traction motor, and the slave shaft is an auxiliary shaft; and / or, the main shaft is an auxiliary shaft, and the slave shaft is the cutter.

[0010] In one embodiment, the target control command includes a second control command; generating the target control command for controlling the cutting system based on the position compensation amount and / or the target rotation speed includes: Based on the target rotation speed, the second control command for controlling the cutter motor in the cutting system is updated; the step of controlling the cutting system to complete the cutting operation on the target material based on the target control command includes: controlling the cutter to cut the target material based on the second control command until the cutting is completed.

[0011] In one embodiment, the expression for the slope is as follows: K cam2 =K cam1 ·(1+k·ΔP); Among them, Kcam2 Indicates the adjusted slope; K cam1 The slope before adjustment is indicated; k indicates the deviation compensation gain; ΔP indicates the position deviation amount.

[0012] Secondly, this application also provides a cutting speed dynamic compensation device for a cutting system; the cutting system includes an external encoder, a traction motor, a cutter motor, and an extruder; the device includes: The acquisition module is used to acquire a first position signal of the target material to be cut based on the external encoder and to acquire a second position signal of the traction motor based on the built-in encoder of the traction motor. The compensation module is used to determine the position compensation amount of the traction motor movement based on the first position signal and the second position signal; The determining module is used to determine the target rotational speed of the cutter motor based on the first position signal and the second position signal, combined with a cam curve control algorithm. The generation module is used to generate target control commands for controlling the cutting system based on the position compensation amount and / or the target rotation speed. The control module is used to control the cutting system to complete the cutting operation on the target material based on the target control command.

[0013] Thirdly, this application also provides an electronic device, including a processor and a memory for storing a computer program of the processor; wherein the processor is configured to, when executing the computer program, implement the steps of the method described in any embodiment of this application.

[0014] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the methods described in any embodiment of this application.

[0015] In the aforementioned dynamic compensation method for cutting speed, on the one hand, by directly measuring the surface velocity of the target material through an external encoder, deviations (such as speed damage caused by material slippage) can be captured in real time. The traction motor motion is then corrected through position compensation, reducing cutting errors and improving cutting accuracy. On the other hand, since the elastic modulus and surface friction coefficient of flexible materials are easily affected by temperature and tension, the target rotational speed of the cutter motor is automatically adjusted using the first position signal of the target material and the second position signal of the traction motor, reducing cutting length deviations caused by changes in material properties. Furthermore, by modifying the cam curve parameters in the cam curve control algorithm, it can adapt to the cutting of different types of materials, meeting the cutting needs of complex and diverse application scenarios. Through dual control of motion compensation and speed compensation, cutting accuracy can be further improved to ensure the stability and reliability of the cut product. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating a dynamic compensation method for cutting speed according to an exemplary embodiment; Figure 2 This is a schematic diagram illustrating the relationship between the axes in a cutting system according to an exemplary embodiment; Figure 3 This is a schematic diagram illustrating a cutter completing a single cut according to an exemplary embodiment; Figure 4 This is a structural block diagram of a cutting speed dynamic compensation device according to an exemplary embodiment; Figure 5 This is an internal structural diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] In some embodiments, the dynamic compensation method for cutting speed provided in this application can be applied to electronic devices or cloud servers. The electronic device can be any mobile terminal or fixed terminal. The terminal can be a device that provides voice and / or data connectivity to the user. For example, the terminal can be an IoT terminal, such as a sensor device, a mobile phone or so-called "cellular" phone, and a computer with an IoT terminal; for example, it can be a fixed, portable, pocket-sized, handheld, or computer-embedded device. The cloud server can be any virtualized computing resource or physical server cluster. The server can be a platform that provides on-demand, scalable computing, storage, networking, and application services to the user.

[0021] In some embodiments, such as Figure 1 As shown, a dynamic compensation method for cutting speed is provided and applied to a cutting system; the cutting system includes an external encoder, a traction motor, a cutter motor and an extruder; the method includes the following steps: S101, obtaining a first position signal of the target material to be cut according to the external encoder and obtaining a second position signal of the traction motor according to the built-in encoder of the traction motor.

[0022] In this embodiment of the application, the traction motor may include an upper traction machine and a lower traction machine.

[0023] In this embodiment, the external encoder is electrically connected to the cutter motor and the traction motor; the external encoder is used to monitor the running speed of the target material in real time.

[0024] In one embodiment, the central shaft of the external encoder is coaxially connected to the central shaft of the roller, and the outer surface of the roller is in close contact with the surface of the target material to be cut. Under the coordinated drive of the upper and lower traction motors, the target material is smoothly conveyed along the outlet direction of the equipment. Through friction with the material surface, the roller rotates synchronously, thereby driving the external encoder to rotate. The electronic equipment accurately calculates the running speed of the material surface by collecting the pulse signal output by the external encoder, thereby determining the first position signal of the target material; and calculates the actual running speed and position of the traction motor by collecting the pulse signal output by the electric encoder built into the traction motor, thereby obtaining the second position signal.

[0025] S102, determine the position compensation amount of the traction motor movement based on the first position signal and the second position signal.

[0026] In some embodiments, determining the position compensation amount of the traction motor movement based on the first position signal and the second position signal includes: The positional deviation of the target material is determined based on the first position signal and the second position signal; The position compensation amount is determined based on the position deviation.

[0027] For example, one way to determine the position deviation ΔP is as follows: ΔP = P1 - P2; Wherein, P1 indicates the first position signal; P2 indicates the second position signal.

[0028] In one embodiment, the electronic device calculates the position compensation amount of the traction motor based on the position deviation amount using a PID controller or a feedforward compensation algorithm; for example, a method for determining the position compensation amount ΔP comp The method is as follows: Wherein, ΔP indicates the positional deviation; K p K i K d Indicates PID parameters, which are determined based on the characteristics of the cutting system.

[0029] S103, the target rotation speed of the cutter motor is determined based on the first position signal and the second position signal, combined with the cam curve control algorithm.

[0030] In this embodiment, the cam curve control algorithm is a method for mapping the motion position of the master shaft to the motion trajectory of the slave shaft using a function. The cam curve control algorithm can simulate the motion characteristics of a mechanical cam to achieve control of the position, speed, and even acceleration of nonlinear motion.

[0031] In some embodiments, the main shaft is the external encoder or the traction motor, and the slave shaft is an auxiliary shaft; and / or, the main shaft is an auxiliary shaft, and the slave shaft is the cutter.

[0032] For example, such as Figure 2 As shown, Figure 2 This diagram illustrates the relationships between the axes in a cutting system. The Material Axis represents the motion axis system that transports and carries the target material; the Auxiliary Axis represents the auxiliary motion axis that works in conjunction with the main spindle, coordinating with its movement; and the Knife Axis represents the motion axis system that mounts the cutting tool and performs cutting or similar machining actions.

[0033] In one embodiment, when the positional relationship between the master shaft and the slave shaft changes in the cam curve control method, the movement speed of the slave shaft also changes accordingly. In the cutting system, either the traction motor or an external encoder can be selected as the master shaft. For example, when the material traction is dominated by the traction motor, the traction motor is used as the speed synchronization master shaft. If it is necessary to prioritize following the actual position of the target material, the external encoder can be used as the speed synchronization master shaft, while the auxiliary shaft is used as the slave shaft. The auxiliary shaft can also be used as the master shaft for cam synchronization, with the cutter motor / cutter as the slave shaft for cam synchronization. The electronic device can calculate the target rotational speed of the cutter motor based on the acquired first position signal and second position signal, combined with a preset cam curve control algorithm, thereby ensuring cutting accuracy.

[0034] S104, Generate target control commands to control the cutting system based on the position compensation amount and / or the target rotation speed.

[0035] In this embodiment of the application, the target control instruction may include, but is not limited to, at least one of the first control instruction and the second control instruction.

[0036] In one embodiment, the electronic device can generate a first control command based on the position compensation amount; and control the motion trajectory of the traction motor in the cutting system based on the first control command to cooperate in completing the cutting operation on the target material.

[0037] In one embodiment, the electronic device can generate a second control command based on the target rotation speed; and control the speed of the cutter motor in the cutting system based on the second control command to cooperate in completing the cutting operation on the target material.

[0038] In one embodiment, the electronic device can generate corresponding control commands for each component in the cutting system individually and transmit the control synchronously; alternatively, it can generate target control commands based on the position compensation amount and the target rotation speed, and achieve separate control of each component in the cutting system through the target control commands.

[0039] S105, based on the target control command, control the cutting system to complete the cutting operation on the target material.

[0040] In the aforementioned dynamic compensation method for cutting speed, on the one hand, by directly measuring the surface velocity of the target material through an external encoder, deviations (such as speed damage caused by material slippage) can be captured in real time. The traction motor motion is then corrected through position compensation, reducing cutting errors and improving cutting accuracy. On the other hand, since the elastic modulus and surface friction coefficient of flexible materials are easily affected by temperature and tension, the target rotational speed of the cutter motor is automatically adjusted using the first position signal of the target material and the second position signal of the traction motor, reducing cutting length deviations caused by changes in material properties. Furthermore, by modifying the cam curve parameters in the cam curve control algorithm, it can adapt to the cutting of different types of materials, meeting the cutting needs of complex and diverse application scenarios. Through dual control of motion compensation and speed compensation, cutting accuracy can be further improved to ensure the stability and reliability of the cut product.

[0041] In some embodiments, the target control command includes a first control command; the step of generating the target control command for controlling the cutting system based on the position compensation amount and / or the target rotation speed includes: The position compensation amount is dynamically superimposed onto the original control command of the traction motor in the cutting system to obtain the first control command; The step of controlling the cutting system to complete the cutting operation on the target material based on the target control command includes: Based on the first control command, the motion trajectory of the traction motor is adjusted.

[0042] In one embodiment, the electronic device dynamically superimposes the position compensation amount onto the original control command to obtain an updated first control command; based on the first control command, it controls the servo driver to drive the traction motor to adjust the motion trajectory.

[0043] In this embodiment, the original control command of the traction motor is generated based on an ideal, unbiased transmission model. However, in actual operation, material slippage, wear of the transmission mechanism, etc., can cause deviations between the theoretical and actual movement positions. By dynamically superimposing the position compensation amount into the original control command, the movement trajectory of the traction motor can be calibrated to the actual position of the target material in real time, reducing the accumulation of position deviation with the conveying distance and providing a stable position reference for subsequent cutting.

[0044] In some embodiments, determining the target rotational speed of the cutter motor based on the first position signal and the second position signal, combined with a cam curve control algorithm, includes: The cam curve of the cutter motor is divided into a synchronous zone and an asynchronous zone; wherein, the cam curve represents the positional mapping relationship between the master shaft and the slave shaft; the slope of the cam curve represents the rotational speed of the cutter motor; the synchronous zone is used to guide the cutter motor to drive the cutter to follow the target material synchronously; the asynchronous zone is used to guide the cutter motor to drive the cutter to move at the rotational speed represented by the cam curve; The positional deviation of the target material is determined based on the first position signal and the second position signal; The slope of the cam curve is adjusted based on the position deviation to obtain the target rotational speed.

[0045] For example, such as Figure 3 As shown, Figure 3 This diagram illustrates a single cut made by a cutting blade. The blade moves in a circular motion, completing one cut with each full rotation. The blade circumference shown in the diagram represents the length of the circle corresponding to one rotation of the blade. Figure 3 As shown, in the synchronization zone, the cutter can rotate at the same speed as the spindle to achieve synchronous motion; in the asynchronous zone, the rotation speed of the cutter is controlled according to the speed law defined by the cam curve to complete complex acceleration and deceleration actions, ensuring the accuracy and stability of the cutting process.

[0046] In one embodiment, the cutter is initiated at a start / stop position, such as... Figure 3 As shown, when the cutter moves to the synchronization start position, the cutter follows the speed of the spindle to move synchronously with the target material; when the cutter moves to the cutting position, the cutter cuts the target material; when the cutter moves to the synchronization end position, the rotational speed of the cutter moves at the rotational speed represented by the cam curve; when the cutter moves to the start / stop position, it indicates that one cutting operation has been completed.

[0047] In some embodiments, the slope is expressed as follows: K cam2 =K cam1·(1+k·ΔP); Among them, K cam2 Indicates the adjusted slope; K cam1 The slope before adjustment is indicated; k indicates the deviation compensation gain; ΔP indicates the position deviation amount.

[0048] In one embodiment, during one revolution of the cutter, only the time window at the moment of cutting needs to be synchronized with the target material to be cut. After cutting, the cutter needs to quickly return to the start / stop position. If the movement is synchronized throughout, the cutter speed is limited by the speed of the target material, which may lead to a longer single cutting cycle and lower production efficiency. By dividing the cam curve into synchronous and asynchronous zones, with the asynchronous zone accounting for a larger proportion than the synchronous zone, the cutter can accelerate its reset according to the cam curve in the asynchronous zone, improving production efficiency. Furthermore, during the operation of the cutting system, the cutter may have a spatial interference risk with other mechanisms. The asynchronous zone can be dynamically adjusted through the cam curve to allow the cutter to decelerate or detour at specific positions, avoiding collisions.

[0049] In this embodiment, by adjusting the slope of the synchronization zone of the cam curve, the positional deviation caused by interference factors such as material slippage / tension fluctuation can be eliminated, so that the cutter and the target material remain synchronized at the moment of cutting, ensuring cutting accuracy; by adjusting the slope of the asynchronous zone of the cam curve, the optimal speed can be dynamically planned, so that the cutting cycle time is shortened and the waiting time is reduced, thereby improving production efficiency.

[0050] In some embodiments, the target control command includes a second control command; generating the target control command for controlling the cutting system based on the position compensation amount and / or the target rotation speed includes: Based on the target rotation speed, the second control command for controlling the cutter motor in the cutting system is updated; the step of controlling the cutting system to complete the cutting operation on the target material based on the target control command includes: controlling the cutter to cut the target material based on the second control command until the cutting is completed.

[0051] In one embodiment, in a practical application scenario, such as during the cutting process of a car windshield wiper blade, an external encoder can accurately monitor the actual running speed and first position signal of the material surface and feed this real-time data back to the electronic device. The electronic device analyzes the data transmitted by the encoder and, in conjunction with a cam curve control algorithm, dynamically calculates the target rotation speed of the cutter motor. Based on the target rotation speed, it updates the second control command for controlling the cutting motor in the cutting system. Based on the second control command, it controls the cutting motor to drive the cutter to complete the cutting of the target material, so that the rotation speed of the cutter and the running speed of the target material are precisely matched, thereby achieving high-precision control of the cutting length.

[0052] In this embodiment, the target rotation speed is dynamically calculated based on the real-time position deviation of the material (obtained by adjusting the slope of the cam curve). The second control command is updated based on the target rotation speed, and the cutter is controlled based on the command to complete the cutting. The core is to make the cutter movement adapt to the actual state of the material and the cutting requirements in real time, which brings significant improvements in cutting accuracy, efficiency, material protection and system robustness. Furthermore, the target rotation speed is optimized in real time according to the material feeding rhythm, maximizing cutting efficiency while ensuring accuracy. For example, when entering the asynchronous zone after cutting, the rotation speed corresponding to the planned cam curve can be accelerated and reset in advance, returning to the cutting position (start / stop position) in a short time.

[0053] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0054] Based on the same inventive concept, this application also provides a cutting speed dynamic compensation device for implementing the cutting speed dynamic compensation method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more cutting speed dynamic compensation device embodiments provided below can be found in the limitations of the cutting speed dynamic compensation method described above, and will not be repeated here.

[0055] In one embodiment, such as Figure 4As shown, a dynamic compensation device for cutting speed is provided, applied to a cutting system; the cutting system includes an external encoder, a traction motor, a cutter motor, and an extruder; the device includes: The acquisition module 10 is used to acquire a first position signal of the target material to be cut according to the external encoder and to acquire a second position signal of the traction motor according to the built-in encoder of the traction motor. Compensation module 20 is used to determine the position compensation amount of the traction motor movement based on the first position signal and the second position signal; The determining module 30 is used to determine the target rotation speed of the cutter motor based on the first position signal and the second position signal, combined with the cam curve control algorithm; The generation module 40 is used to generate target control commands for controlling the cutting system based on the position compensation amount and / or the target rotation speed. The control module 50 is used to control the cutting system to complete the cutting operation on the target material based on the target control command.

[0056] In one embodiment, the compensation module 20 is configured to perform the following steps: The positional deviation of the target material is determined based on the first position signal and the second position signal; The position compensation amount is determined based on the position deviation.

[0057] In one embodiment, the target control command includes a first control command; the generation module 40 is used to dynamically superimpose the position compensation amount onto the original control command of the traction motor in the cutting system to obtain the first control command; The control module 50 is used to adjust the motion trajectory of the traction motor based on the first control command.

[0058] In one embodiment, the determining module 30 is configured to perform the following steps: The cam curve of the cutter motor is divided into a synchronous zone and an asynchronous zone; wherein, the cam curve represents the positional mapping relationship between the master shaft and the slave shaft; the slope of the cam curve represents the rotational speed of the cutter motor; the synchronous zone is used to guide the cutter motor to drive the cutter to follow the target material synchronously; the asynchronous zone is used to guide the cutter motor to drive the cutter to move at the rotational speed represented by the cam curve; The positional deviation of the target material is determined based on the first position signal and the second position signal; The slope of the cam curve is adjusted based on the position deviation to obtain the target rotational speed.

[0059] In one embodiment, the main shaft is the external encoder or the traction motor, and the driven shaft is an auxiliary shaft; and / or, the main shaft is an auxiliary shaft, and the driven shaft is the cutter.

[0060] In one embodiment, the target control command includes a second control command; the generation module 40 is used to update the second control command for controlling the cutter motor in the cutting system according to the target rotation speed; the control module 50 is used to control the cutter to cut the target material based on the second control command until the cutting is completed.

[0061] In one embodiment, the slope is expressed as follows: K cam2 =K cam1 ·(1+k·ΔP); Among them, K cam2 Indicates the adjusted slope; K cam1 The slope before adjustment is indicated; k indicates the deviation compensation gain; ΔP indicates the position deviation amount.

[0062] Each module in the above-mentioned dynamic compensation device for cutting speed can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in the processor of the electronic device in hardware form or independent of the processor, or it can be stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0063] In one embodiment, an electronic device is provided, the internal structure of which can be shown as follows: Figure 5 As shown, the electronic device includes a processor, memory, communication interface, display unit, and input device connected via a method bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores operating methods and computer programs. The internal memory provides an environment for the operation of the operating methods and computer programs stored in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an image processing method. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0064] Those skilled in the art will understand that Figure 5The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0065] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0066] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps performed by the processor of the electronic device of any of the above.

[0067] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0068] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, compilable logic units, quantum computing-based data processing logic units, etc., and are not limited to these.

[0069] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for dynamic compensation of cutting speed, characterized in that, Applied to cutting systems; The cutting system includes an external encoder, a traction motor, a cutter motor, and an extruder; the method includes: The first position signal of the target material to be cut is obtained according to the external encoder, and the second position signal of the traction motor is obtained according to the built-in encoder of the traction motor. The position compensation amount of the traction motor movement is determined based on the first position signal and the second position signal; The target rotational speed of the cutter motor is determined based on the first position signal and the second position signal, combined with a cam curve control algorithm. Based on the position compensation amount and / or the target rotation speed, generate target control commands to control the cutting system; Based on the target control command, the cutting system is controlled to complete the cutting operation on the target material.

2. The method according to claim 1, characterized in that, Determining the position compensation amount of the traction motor movement based on the first position signal and the second position signal includes: The positional deviation of the target material is determined based on the first position signal and the second position signal; The position compensation amount is determined based on the position deviation.

3. The method according to claim 2, characterized in that, The target control command includes a first control command; the step of generating the target control command for controlling the cutting system based on the position compensation amount and / or the target rotation speed includes: The position compensation amount is dynamically superimposed onto the original control command of the traction motor in the cutting system to obtain the first control command; The step of controlling the cutting system to complete the cutting operation on the target material based on the target control command includes: Based on the first control command, the motion trajectory of the traction motor is adjusted.

4. The method according to claim 1, characterized in that, The step of determining the target rotational speed of the cutter motor based on the first position signal and the second position signal, combined with a cam curve control algorithm, includes: The cam curve of the cutter motor is divided into a synchronous zone and an asynchronous zone; wherein, the cam curve represents the positional mapping relationship between the master shaft and the slave shaft; the slope of the cam curve represents the rotational speed of the cutter motor; the synchronous zone is used to guide the cutter motor to drive the cutter to follow the target material synchronously; the asynchronous zone is used to guide the cutter motor to drive the cutter to move at the rotational speed represented by the cam curve; The positional deviation of the target material is determined based on the first position signal and the second position signal; The slope of the cam curve is adjusted based on the position deviation to obtain the target rotational speed.

5. The method according to claim 4, characterized in that, The main shaft is the external encoder or the traction motor, and the driven shaft is an auxiliary shaft; and / or, the main shaft is an auxiliary shaft, and the driven shaft is the cutter.

6. The method according to claim 5, characterized in that, The target control command includes a second control command; generating the target control command for controlling the cutting system based on the position compensation amount and / or the target rotation speed includes: updating the second control command for controlling the cutter motor in the cutting system based on the target rotation speed; controlling the cutting system to complete the cutting operation on the target material based on the target control command includes: Based on the second control command, the cutter is controlled to cut the target material until the cutting is completed.

7. The method according to claim 5, characterized in that, The expression for the slope is as follows: K cam2 =K cam1 ·(1+k·ΔP); Among them, K cam2 Indicates the adjusted slope; K cam1 The slope before adjustment is indicated; k indicates the deviation compensation gain; ΔP indicates the position deviation amount.

8. A dynamic compensation device for cutting speed, characterized in that, Applied to cutting systems; The cutting system includes an external encoder, a traction motor, a cutter motor, and an extruder; the device includes: The acquisition module is used to acquire a first position signal of the target material to be cut based on the external encoder and to acquire a second position signal of the traction motor based on the built-in encoder of the traction motor. The compensation module is used to determine the position compensation amount of the traction motor movement based on the first position signal and the second position signal; The determining module is used to determine the target rotational speed of the cutter motor based on the first position signal and the second position signal, combined with a cam curve control algorithm. The generation module is used to generate target control commands for controlling the cutting system based on the position compensation amount and / or the target rotation speed. The control module is used to control the cutting system to complete the cutting operation on the target material based on the target control command.

9. An electronic device, characterized in that, The system includes a processor and a memory for storing a computer program of the processor; wherein the processor is configured to, when executing the computer program, implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it performs the steps of the method according to any one of claims 1 to 7.

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