Electronic cam quintic flying shear curve generation method

Abstract

The invention discloses a method for generating a five-time flying shear curve of an electronic cam, and the method comprises the steps: firstly importing a D0 parameter into an S0 pre-calculation module, and obtaining a D1 synchronous segment parameter and a D1 ascending segment parameter; if the short-period characteristic in the J0 is met, a short-period starting point dimensionless speed test and optimization module in the S1 is called, and a result is imported into a waiting-section-free flying shear curve generation module in the S4 to obtain a key point; if the J0 is not in accordance with the short-period characteristics in the J0 and the J1 is forced to have no waiting section, calling an S2 long-period no-waiting section resolving module, importing a result into an S4 no-waiting section flying shear curve generation module to obtain a key point when a solution exists, and reporting an error in S5 when the solution does not exist; and if J0 medium-short period characteristics are not met and J1 accepts a waiting section, a long-period rising section adjusting module S3 is called, and a result is imported into a waiting section flying shear curve generating module S6 to obtain a key point. According to the method, various working conditions in the five-time flying shear curve generation process are fully considered, and the optimal curve can be generated within the range set by a user.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of discrete industry continuous material automatic processing, and particularly relates to a method for generating electronic cam five-time flying shear curve. BACKGROUND

[0002] Flying shear operation is widely used in discrete industry continuous material automatic processing production line to achieve the flying shear operation by using mechanical cam or electronic cam, which can complete material cutting under the premise of non-stop production line and has a very important role in improving production efficiency. However, under some working conditions, it is necessary to adjust the flying shear curve period to meet the cutting requirements of different products, or to adjust the spindle speed to further improve the production efficiency. When the spindle period length and the lift ratio of the slave shaft are unreasonable or the initial speed of the slave shaft is unreasonable, curve planning failure or mechanical impact will be caused. SUMMARY

[0003] The purpose of the present application is to provide a criterion for whether the electronic cam five-time flying shear curve can be planned, and an adjustment process of the speed parameter and the waiting area parameter when it can be planned, so as to generate the optimal curve within the range set by the user and maximize the production efficiency.

[0004] In order to achieve the above purpose, the present application provides a method for generating electronic cam five-time flying shear curve, comprising the following steps:

[0005] Step 1, input D0 parameters and calculate D1 synchronization section and rising section parameters; the D0 parameters include spindle starting point , slave shaft starting point , period , slave shaft lift , synchronization area dimensionless speed , synchronization area angle , first waiting section length , initial dimensionless speed ; the D1 synchronization section and rising section parameters include spindle end point , slave shaft synchronization area length , slave shaft synchronization area starting point , slave shaft synchronization area end point , slave shaft end point , spindle synchronization area length , rising section slave shaft increment , spindle remaining increment , rising section starting point dimensionless speed , rising section end point dimensionless speed ;

[0006] Step 2, judge whether the J0 short period criterion is met, if yes, jump to step 3, otherwise jump to step 5;

[0007] Step 3, the short period starting point dimensionless speed test in S1 is carried out, optimization is carried out, and the optimized ascending section starting point dimensionless speed is output ;

[0008] Step 4, the S4 non-waiting section flying shear curve key point calculation is carried out according to the optimized ascending section starting point dimensionless speed , the D0 parameter in step 1 is combined, and the D1 synchronization section and ascending section parameters are calculated and obtained.

[0009] Step 5, whether the J1 forced non-waiting section criterion is met is judged, if yes, step 6 is jumped to, otherwise, step 9 is jumped to.

[0010] Step 6, the S2 long period non-waiting section solution is carried out, if the solution result is no solution, step 8 is jumped to, if the solution result is solution, the ascending section starting point dimensionless speed is calculated and output, and step 7 is jumped to.

[0011] Step 7, the S4 non-waiting section flying shear curve key point calculation is carried out according to the S2 long period non-waiting section solution result, the D0 parameter in step 1 is combined, and the D1 synchronization section and ascending section parameters are calculated and obtained.

[0012] Step 8, an error is reported, and the flying shear curve generation fails; the step is ended.

[0013] Step 9, the S3 long period ascending section adjustment is carried out, and the adjusted ascending section main shaft increment and the ascending section starting point dimensionless speed are output.

[0014] Step 10, the S6 non-waiting section flying shear curve key point calculation is carried out according to the adjusted ascending section main shaft increment and the ascending section starting point dimensionless speed , the D0 parameter in step 1 is combined, and the D1 synchronization section and ascending section parameters are calculated and obtained.

[0015] More specifically, the electronic cam five times flying shear curve generation method has the following specific steps:

[0016] Step 1, the D0 parameter is introduced into the S0 pre-calculation module, and the D1 synchronization section and ascending section parameters are obtained.

[0017] The D0 parameter includes the main shaft starting point , the slave shaft starting point , the period , the slave shaft lift , the synchronization area dimensionless speed , the synchronization area angle , the first section waiting section length , start dimensionless velocity .

[0018] D1 sync segment and ramp segment parameters include primary axis end point , slave axis sync zone length , slave axis sync zone start point , slave axis sync zone end point , slave axis end point , primary axis sync zone length , slave axis delta for ramp segment , primary axis remaining delta , ramp segment start point dimensionless velocity , ramp segment end point dimensionless velocity .

[0019] S0 pre-compute module contains the following:

[0020] Compute primary axis end point:

[0021]

[0022] Compute slave axis sync zone length:

[0023]

[0024] Compute slave axis sync zone start point:

[0025]

[0026] Compute slave axis sync zone end point:

[0027]

[0028] Compute slave axis end point:

[0029]

[0030] Compute primary axis sync zone length:

[0031]

[0032] Compute slave axis delta for ramp segment:

[0033]

[0034] Compute primary axis remaining delta:

[0035]

[0036] Get ramp segment start point dimensionless velocity:

[0037]

[0038] Get the dimensionless velocity at the end of the ascending section:

[0039] .

[0040] Step 2, if the short period criterion in J0 is met, go to step 3, otherwise go to step 5;

[0041] The short period criterion in J0 is:

[0042] .

[0043] Step 3, call the S1 short period start dimensionless velocity inspection and optimization module;

[0044] The S1 short period start dimensionless velocity inspection and optimization module includes the following steps:

[0045] Step S1-1, calculate the main shaft increment of the ascending section:

[0046]

[0047] Step S1-2, calculate the coefficient:

[0048]

[0049] Step S1-3, if Invalid (i.e. user input), go to step S1-4, otherwise go to step S1-6;

[0050] Step S1-4, calculate the coefficient:

[0051]

[0052] Step S1-5, calculate the dimensionless velocity at the start of the ascending section:

[0053]

[0054] Step end;

[0055] Step S1-6, calculate the coefficient:

[0056]

[0057] Step S1-7, if

[0058]

[0059] Go to step S1-4, otherwise go to S1-8;

[0060] Step S1-8, if

[0061]

[0062] Then jump to step S1-4, otherwise jump to S1-9;

[0063] Step S1-9, dimensionless speed of the start point of the ascending section Keep unchanged:

[0064]

[0065] Step end.

[0066] Step 4, import the results of the short cycle start point dimensionless speed test and optimization module in S1 ), and D0 parameters, D1 synchronization section and ascending section parameters into the S4 no waiting section flying shear curve generation module to obtain key points, and the curve generation is successful;

[0067] The S4 no waiting section flying shear curve generation module comprises the following steps:

[0068] Step S4-1, generate curve key point 1:

[0069]

[0070] Step S4-2, generate curve key point 2:

[0071]

[0072] Step S4-3, generate curve key point 3:

[0073]

[0074] Step S4-4, generate curve key point 4:

[0075]

[0076] Key point generation end;

[0077] Flying shear curve generation step end.

[0078] Step 5, if the J1 forced no waiting section criterion is met, jump to step 6, otherwise jump to step 10;

[0079] The J1 forced no waiting section criterion is that the user chooses not to accept the waiting section;

[0080] Step 6, call the S2 long cycle no waiting section solving module;

[0081] The S2 long cycle no waiting section solving module comprises the following steps:

[0082] Step S2-1, calculate the increment of the main shaft of the ascending section:

[0083]

[0084] Step S2-2, calculate the coefficient:

[0085]

[0086] Step S2-3, if

[0087]

[0088] jump to step S2-4, otherwise jump to step S2-5;

[0089] Step S2-4, the module has no solution;

[0090] S2 long cycle non-waiting section solution step ends;

[0091] Step S2-5, calculate:

[0092]

[0093] Step S2-6, substitute:

[0094]

[0095] Calculate and ;

[0096] Step S2-7, if

[0097]

[0098] jump to step S2-4, otherwise jump to step S2-8;

[0099] Step S2-8, call S2.1 binary method to find N'(p) zero point module;

[0100] Step S2-9, if S2.1 binary method to find N'(p) zero point module has no solution, jump to step S2-4, otherwise jump to step S2-10;

[0101] Step S2-10, substitute the zero point into:

[0102]

[0103] Calculate ;

[0104] Step S2-11, if

[0105]

[0106] then jump to step S2-4, otherwise jump to step S2-12;

[0107] Step S2-12, calculate the dimensionless speed at the start of the ascending section:

[0108]

[0109] S2 long-period non-waiting section solution step ends;

[0110] Wherein, the S2.1 bisection method for finding N'(p) zero point module in step S2-8 contains the following steps:

[0111] Step S2.1-1, call when known

[0112]

[0113] Let temporary variables and ;

[0114] Step S2.1-2, update:

[0115]

[0116] Step S2.1-3, if:

[0117]

[0118] then jump to step S2.1-4, otherwise jump to step S2.1-5;

[0119] Step S2.1-4, the module does not find zero point;

[0120] S2.1 bisection method for finding N'(p) zero point module call step ends;

[0121] Step S2.1-5, substitute:

[0122]

[0123] Calculate ;

[0124] Step S2.1-6, if

[0125]

[0126] then jump to step S2.1-7, otherwise jump to step S2.1-8;

[0127] Step S2.1-7, the module finds zero point ;

[0128] S2.1 Binary search for N'(p) zero point module call step ends;

[0129] Step S2.1-8, if

[0130]

[0131] then jump to step S2.1-2, otherwise jump to step S2.1-9;

[0132] Step S2.1-9, if

[0133]

[0134] then jump to step S2.1-7, otherwise jump to step S2.1-10;

[0135] Step S2.1-10, update:

[0136]

[0137] Step S2.1-11, update:

[0138]

[0139] Step S2.1-12, substitute:

[0140]

[0141] Calculate ;

[0142] Step S2.1-13, if

[0143]

[0144] then jump to step S2.1-7, otherwise jump to step S2.1-14;

[0145] Step S2.1-14, if

[0146]

[0147] then jump to step S2.1-11, otherwise jump to step S2.1-15;

[0148] Step S2.1-15, if

[0149]

[0150] then jump to step S2.1-7, otherwise jump to step S2.1-16;

[0151] Step S2.1-16, update:

[0152]

[0153] And jump to step S2.1-2.

[0154] Step 7, jump to step 8 when S2 long period no waiting section solving module result is a solution, otherwise jump to step 9;

[0155] Step 8, import S2 long period no waiting section solving module result ( ) and D0 parameter, D1 synchronization section and rising section parameter into S4 no waiting section flying shear curve generation module to get key points (synchronization step 4 key point generation step);

[0156] Flying shear curve generation step is finished.

[0157] Step 9, call S5 error module, curve generation fails;

[0158] S5 error module outputs the state word agreed in advance;

[0159] Flying shear curve generation step is finished.

[0160] Step 10, call S3 long period rising section adjustment module;

[0161] S3 long period rising section adjustment module contains the following steps:

[0162] Step S3-1, calculate rising section main shaft increment:

[0163]

[0164] Step S3-2, calculate rising section starting point dimensionless speed:

[0165]

[0166] S3 long period rising section adjustment step is finished;

[0167] Step 11, import S3 long period rising section adjustment module result ( And ) and D0 parameter, D1 synchronization section and rising section parameter into S6 waiting section flying shear curve generation module to get key points, and the curve generation is successful;

[0168] The above S6 waiting section flying shear curve generation module contains the following steps:

[0169] Step S6-1, generate curve key point 1:

[0170]

[0171] Step S6-2, if it meets:

[0172]

[0173] Then jump to step S6-3, otherwise jump to step S6-8;

[0174] Step S6-3, adjust the length of the first waiting section:

[0175]

[0176] Step S6-4, generate curve key point 2:

[0177]

[0178] Step S6-5, generate curve key point 3:

[0179]

[0180] Step S6-6, generate curve key point 4:

[0181]

[0182] Step S6-7, generate curve key point 5:

[0183]

[0184] Key point generation step ends.

[0185] Step S6-8, the length of the first waiting section is unchanged;

[0186] Step S6-9, generate curve key point 2:

[0187]

[0188] Step S6-10, generate curve key point 3:

[0189]

[0190] Step S6-11, generate curve key point 4:

[0191]

[0192] Step S6-12, generate curve key point 5:

[0193]

[0194] Step S6-13, generate curve key point 6:

[0195]

[0196] The key point generation step ends.

[0197] The flying shear curve generation step ends.

[0198] Compared with the prior art, the present application has the following advantages:

[0199] The present application fully considers various working conditions in the process of generating a quintic polynomial flying shear curve, not only improves the success rate of curve planning under extreme working conditions, but also generates the optimal curve within the range set by the user, maximizes production efficiency. For the user, it can shorten the switching transition phase, reduce the scrap rate, and save materials; for the OEM manufacturer, it can simplify the related automatic mechanical debugging process and reduce the software burden; for the PLC manufacturer, it can improve the technical advantage of the product and enhance the market competitiveness. BRIEF DESCRIPTION OF DRAWINGS

[0200] Figure 1 Typical cam quintic flying shear curve and segmented schematic diagram of the electronic cam quintic flying shear curve generation method of the present application;

[0201] Figure 2 System flowchart of the electronic cam quintic flying shear curve generation method of the present application;

[0202] Figure 3 Parameter input and data preprocessing operation schematic diagram of the electronic cam quintic flying shear curve generation method of the present application;

[0203] Figure 4 Operation schematic diagram before and after the medium-short period criterion of the electronic cam quintic flying shear curve generation method of the present application;

[0204] Figure 5 Operation schematic diagram before and after the forced non-waiting segment criterion of the electronic cam quintic flying shear curve generation method of the present application;

[0205] Figure 6 Binary method N'(p) zero point finding module schematic diagram of the electronic cam quintic flying shear curve generation method of the present application;

[0206] Figure 7 Non-waiting segment flying shear curve point generation module schematic diagram of the electronic cam quintic flying shear curve generation method of the present application;

[0207] Figure 8 Flying shear curve point generation module schematic diagram with waiting segment of the electronic cam quintic flying shear curve generation method of the present application;

[0208] Figure 9 Curve generation graph in application example 1 of the present application;

[0209] Figure 10A graph was generated for application example 2 of the present application.

[0210] Figure 11 A graph was generated for application example 3 of the present application. DETAILED DESCRIPTION

[0211] The technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0212] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0213] As shown in Figure 1 Fig. 1 is a typical cam quintic flying shear curve and segmented schematic diagram of an electronic cam quintic flying shear curve generation method provided by a preferred embodiment of the present application. The cam quintic flying shear curve is one of the typical styles, and does not represent all curves; the segmented schematic diagram is only used to assist in explanation, and does not represent that all curves are segmented according to this name.

[0214] In the figure, the rising segment, the synchronization segment and the falling segment are basic components of the cam flying shear curve. The rising segment represents a stage of accelerating / decelerating from the initial speed of the slave shaft to the synchronization speed according to a specific acceleration mode (1, 2, 3, 5 times curve, etc.). The synchronization segment represents a stage of keeping the speed of the slave shaft constant as the synchronization speed, and the speed ratio of the master shaft to the slave shaft satisfies the dimensionless synchronization speed value. The falling segment represents a stage of decelerating / accelerating from the synchronization speed of the slave shaft to the initial speed according to a specific acceleration mode (1, 2, 3, 5 times curve, etc.).

[0215] In the present example, the rising segment and the falling segment are symmetrical.

[0216] Further, the acceleration mode of the rising segment / falling segment of the cam flying shear curve involved in the present application is a 5th curve.

[0217] As shown in Figure 2 Fig. 2 is a system schematic diagram of an electronic cam quintic flying shear curve generation method provided by a preferred embodiment of the present application.

[0218] After the D0 parameters are input, the S0 pre-calculation module is imported to obtain the D1 synchronization section and the rising section parameters; then the J0 medium-short cycle criterion is performed, if the J0 medium-short cycle characteristics are met, the S1 medium-short cycle starting point dimensionless speed test and optimization module is called, and the results are imported into the S4 non-waiting section flying shear curve generation module to obtain the key points; if the J0 medium-short cycle characteristics are not met and the J1 forced non-waiting section criterion is met, the S2 long cycle non-waiting section solving module is called, if the solution is obtained, the results are imported into the S4 non-waiting section flying shear curve generation module to obtain the key points, if the solution is not obtained, the S5 error is reported; if the J0 medium-short cycle characteristics are not met and the J1 forced non-waiting section criterion is not met, the S3 long cycle rising section adjustment module is called, the results are imported into the S6 waiting section flying shear curve generation module to obtain the key points. The curve generation is successful, and the process is ended.

[0219] In combination with Figure 2 and Figure 3 , the D0 parameter input part is for the user to write the main shaft starting point , the slave shaft starting point , the period , the slave shaft lift , the dimensionless speed in the synchronization area , the angle in the synchronization area , the first section waiting section length , and the starting dimensionless speed values through any way.

[0220] In the J1 forced non-waiting section criterion, the user can select whether to accept the existence of the waiting section in the flying shear curve through any way.

[0221] Further, the user can choose not to input the starting dimensionless speed .

[0222] In combination with Figure 2 and Figure 3 , the S0 pre-calculation module can calculate the D1 synchronization section and the rising section parameters on the basis of the D0 parameter input according to the basic rules of the cam flying shear curve, including the main shaft terminal point , the slave shaft synchronization area length , the slave shaft synchronization area starting point , the slave shaft synchronization area terminal point , the slave shaft terminal point , the main shaft synchronization area length , the rising section slave shaft increment , the main shaft remaining increment , the rising section starting point dimensionless speed , and the rising section terminal point dimensionless speed .

[0223] Further, if the user does not input the initial dimensionless speed then , the initial dimensionless speed of the ascending section is invalid.

[0224] In combination with Figure 2 and Figure 4 , if the remaining increment of the main shaft meets the short-period criterion in J0, the module for verifying and optimizing the initial dimensionless speed of the ascending section in the short period S1 is entered, the increment of the main shaft in the ascending section is first determined , then the coefficient is calculated, and according to whether the user inputs the initial dimensionless speed and the rationality thereof, the final initial dimensionless speed of the ascending section is obtained.

[0225] Further, the increment of the main shaft in the ascending section , the initial dimensionless speed of the ascending section , the D0 parameter, the D1 synchronous section and the ascending section parameter are imported into the S4 module for generating a flying shear curve without waiting section to obtain four key points, the curve is successfully generated, and the process ends.

[0226] In combination with Figure 2 , Figure 4 and Figure 5 , if the remaining increment of the main shaft does not meet the short-period criterion in J0, the criterion for a forced waiting section in J1 is determined. If the user selects to accept the existence of a waiting section in the flying shear curve in the parameter input stage, the module for adjusting the ascending section in the long period S3 is entered, the increment of the main shaft in the ascending section is first determined , and then the initial dimensionless speed of the ascending section is assigned a value of 0.

[0227] Further, the increment of the main shaft in the ascending section , the initial dimensionless speed of the ascending section , the D0 parameter, the D1 synchronous section and the ascending section parameter are imported into the S6 module for generating a flying shear curve with a waiting section (as shown in Figure 8 ) to obtain five or six key points, the curve is successfully generated, and the process ends.

[0228] Further, the number of key points obtained in the S6 module for generating a flying shear curve with a waiting section depends on the length of the first waiting section . If the remaining increment of the main shaft excluding the synchronous section minus the increment of the main shaft in the ascending section and the increment of the main shaft in the descending section is not longer than the length of the first waiting section If the condition is met, the cam flying shear curve can only have one waiting segment, with 5 key points. Otherwise, the cam flying shear curve can have 2 waiting segments, with 6 key points.

[0229] Combination Figure 2 , Figure 4 and Figure 5 If the remaining increment of the main spindle If the short-cycle criterion (J0) is not met, the J1 mandatory no-wait-segment criterion is applied. If the user selects not to accept waiting segments in the shear curve during the parameter input stage, the S2 long-cycle no-wait-segment solution module is entered, first determining the main shaft increment of the ascending segment. Then calculate the coefficients. ,according to Whether the range of the solution module is unsolvable or can still be calculated. , and .

[0230] Furthermore, if the S2 long-cycle no-wait-segment solution module has no solution, curve generation fails and the process ends.

[0231] Furthermore, if and This means that the S2 long-cycle no-wait-segment solution module has no solution, curve generation fails, and the process ends.

[0232] Furthermore, if or The solution can be found by using the S2.1 bisection method to find the zero-point module of N'(p).

[0233] Furthermore, the failure of the S2.1 binary search module to find the zero point of N'(p) is also equivalent to the S2 long-cycle no-wait-segment solution module having no solution, curve generation failing, and the process ending.

[0234] Furthermore, the zero point found by the S2.1 bisection method for finding N'(p) zero points module. There are This also means that the S2 long-cycle no-wait-segment solution module has no solution, curve generation fails, and the process ends.

[0235] Furthermore, the zero point found by the S2.1 bisection method for finding N'(p) zero points module. There are The S2 long-period no-wait-segment solution module has a solution, and the dimensionless velocity at the starting point of the final rising segment can be obtained. .

[0236] Furthermore, the incremental main axis of the ascending segment will be... Dimensionless velocity at the starting point of the ascent segment Import the D0 parameters, D1 synchronization segment and rising segment parameters into the S4 no-wait-segment flying shear curve generation module (e.g.) Figure 7 As shown in the figure, four key points were obtained, the curve was successfully generated, and the process ended.

[0237] Application Example 1:

[0238] User inputs the spindle start point. =0, from the axis starting point =0, period =10000, lift from shaft =8000, dimensionless velocity in the synchronization zone =1. Synchronization zone angle =90, Length of the first waiting segment =1000, Initial dimensionless velocity =0;

[0239] Calculate the end point of the spindle =10000, length of the synchronization zone from the shaft =2000, Starting point of the axis synchronization zone =3000, End point of the synchronization zone from the shaft =5000, from the end point of the axis =8000, Spindle synchronization zone length =2000, rising segment from axis increment =3000, Remaining Increment of Spindle =8000, dimensionless velocity at the starting point of the rising segment =0, dimensionless velocity at the end of the rising segment =1;

[0240] The short-cycle criterion for J0 is: 8000 / 2 ≤ 5*3000 / (2*1), which is satisfied. Therefore, the system enters the dimensionless velocity check and optimization module at the starting point of the rising segment of the interrupt cycle in S1. The calculated value is Dx = 4000, and the coefficient k = 0.75. Since Vstart is valid at 0, the coefficient p = 0, which does not satisfy p = 2*k - 1. The adjusted coefficient is p = (5*0.75 - 2) / 3 = 0.5833, resulting in V0 = 0.5833.

[0241] The following is obtained from the S4 no-wait-segment flying shear curve point generation module:

[0242] Key point 1:

[0243]

[0244] Key Point 2:

[0245]

[0246] Key point 3:

[0247]

[0248] Key point 4:

[0249]

[0250] The curve image is as shown in Figure 9 .

[0251] Application example 2:

[0252] User input main shaft starting point =0, slave shaft starting point =0, period =30000, slave shaft lift =8000, synchronization area dimensionless speed =1, synchronization area angle =90, first segment waiting segment length =1000, starting dimensionless speed =0;

[0253] Calculated main shaft end point =30000, slave shaft synchronization area length =2000, slave shaft synchronization area starting point =3000, slave shaft synchronization area end point =5000, slave shaft end point =8000, main shaft synchronization area length =2000, slave shaft increment of rising segment =3000, main shaft remaining increment =28000, starting point dimensionless speed of rising segment =0, end point dimensionless speed of rising segment =1;

[0254] The short period criterion in J0 is: 28000 / 2≤5*3000 / (2*1), which is not satisfied, and the user does not select J1 forced no waiting segment, then S3 long period rising segment adjustment module, and Dx=7500 is calculated, and V0 remains 0.

[0255] From the S6 flying shear curve generation module with waiting segment:

[0256] Key point 1:

[0257]

[0258] Key point 2:

[0259]

[0260] Key point 3:

[0261]

[0262] Key point 4:

[0263]

[0264] Key point 5:

[0265]

[0266] Key point 6:

[0267]

[0268] The curve image is as shown in Figure 10 .

[0269] Application example 3:

[0270] User input main shaft starting point =0, slave shaft starting point =0, period =20000, slave shaft lift =8000, synchronization area dimensionless speed =1, synchronization area angle =90, first segment waiting segment length =1000, starting dimensionless speed =0;

[0271] The main shaft end point is calculated as =20000, slave shaft synchronization area length =2000, slave shaft synchronization area starting point =3000, slave shaft synchronization area end point =5000, slave shaft end point =8000, main shaft synchronization area length =2000, slave shaft increment of the rising segment =3000, main shaft remaining increment =18000, starting dimensionless speed of the rising segment =1, ending dimensionless speed of the rising segment =0;

[0272] The short period criterion in J0 is: 18000 / 2≤5*3000 / (2*1), which does not meet the condition, the user selects J1 forced no waiting segment, then enters the S2 long period no waiting calculation module, calculates Dx=9000, coefficient k=0.3333, which is greater than . The condition is met to enter the S2.1 bisection method to find N'(p) zero point module, find the zero point pz=0.2028, get V0=0.2028*1=0.2028.

[0273] From the S4 non-waiting section flying shear curve point generation module:

[0274] Key point 1:

[0275]

[0276] Key point 2:

[0277]

[0278] Key point 3:

[0279]

[0280] Key point 4:

[0281]

[0282] The curve image is as shown in Figure 11 .

[0283] In summary, the electronic cam quintic flying shear curve generation method provided by the application can generate the optimal curve within the range set by the user by providing the criterion for whether the flying shear curve can be planned and the adjustment process of the speed parameter and the waiting area parameter when it can be planned, meets the needs of adjusting the length of the flying shear curve period to adapt to different product cutting and adjusting the spindle speed to further improve the production efficiency, maximizes the curve adjustment success rate, and has strong application value.

Claims

1. An electronic cam five-time flying shear curve generation method, characterized by, Comprising the following steps: Step 1, input D0 parameters, calculate D1 synchronization section and the rising section parameters; the D0 parameters include the main shaft starting point , the slave shaft starting point , the period , the slave shaft lift , the synchronization area dimensionless speed , the synchronization area angle , the first section waiting section length , the starting dimensionless speed ; the D1 synchronization section and the rising section parameters include the main shaft end point , the slave shaft synchronization area length , the slave shaft synchronization area starting point , the slave shaft synchronization area end point , the slave shaft end point , the main shaft synchronization area length , the rising section slave shaft increment , the main shaft remaining increment , the rising section starting point dimensionless speed , the rising section end point dimensionless speed ; Step 2, judge whether the short cycle criterion in J0 is met, if met, jump to step 3, otherwise jump to step 5; Step 3, carry out short period starting point dimensionless speed test in S1, optimization, output optimized ascending segment starting point dimensionless speed ; Step 4, the dimensionless velocity at the start of the rising section according to the optimization , combined with the D0 parameter in step 1, and the calculated D1 synchronization section and rising section parameters, the key point calculation of the S4 non-waiting section flying shear curve is carried out; the flying shear curve generation step is ended; Step 5, judge whether the forced non-waiting section criterion in J1 is met, if met, jump to step 6, otherwise jump to step 9; Step 6, S2 long period non-waiting segment solution is performed, if the solution result is no solution, jump to step 8, if there is solution, the output rising segment starting point non-dimensional speed is calculated , jump to step 7; Step 7, according to the S2 long cycle non-waiting section calculation result, combine the D0 parameter in step 1, and the D1 synchronous section and rising section parameters obtained by calculation, calculate the key points of the S4 non-waiting section flying shear curve; the flying shear curve generation step ends; Step 8, error reporting, the flying shear curve generation fails; the flying shear curve generation step ends; Step 9, S3 long cycle up section adjustment is performed, and an adjusted up section spindle increment is output and the up section start point dimensionless speed ; Step 10, increment the adjusted upstroke spindle and the upstroke start dimensionless velocity S6 key point calculation of the waiting section flying shear curve is performed in combination with the D0 parameter in step 1 and the calculated D1 synchronization section and upstroke parameters, and the flying shear curve generation step is ended.

2. The electronic cam five-time fly shear curve generation method according to claim 1, characterized by, The S1 short cycle starting point non-dimensional speed test and optimization in step 3 comprises the following steps: Step S1-1, calculating the increment of the main shaft of the ascending section : ， Step S1-2, calculating coefficients : ， Step S1-3, if the start dimensionless velocity is not input the dimensionless velocity at the start of the rising section invalid, then jump to step S1-4, otherwise jump to step S1-6; Step S1-4, calculating coefficients : ， Step S1-5, calculating the dimensionless velocity at the start of the optimized climb segment : ， Step ends; Step S1-6, calculating coefficients : ， Step S1-7, if Not satisfied: ， If yes, jump to step S1-4, otherwise jump to S1-8; Step S1-8, if is satisfied. ， If yes, jump to step S1-4, otherwise jump to S1-9; Step S1-9, dimensionless velocity at start of rising section unchanged: ， Step ends.

3. The electronic cam five-time fly shear curve generation method according to claim 1, characterized by, The S2 long cycle non-waiting section calculation in step 6 comprises the following steps: Step S2-1, calculating the increment of the main shaft of the ascending section : ， Step S2-2, calculating coefficients : ， Step S2-3, if satisfies: ， If yes, jump to step S2-4, otherwise jump to step S2-5; Step S2-4, module has no solution; Step ends; Step S2-5, calculate: ， Step S2-6, substituting and 0 into: ； Computing and ; Step S2-7, if meet: ， If yes, jump to step S2-4, otherwise jump to step S2-8; Step S2-8, adopt S2.1 dichotomy to find N'(p) zero point module; Step S2-9, if the S2.1 dichotomy finds no solution for the N'(p) zero point module, jump to step S2-4, otherwise output the zero point , jump to step S2-10; Step S2-10, zero point Substitute: ， Computing ; Step S2-11, if meet: ， If yes, jump to step S2-4, otherwise jump to step S2-12; Step S2-12, calculate the rising section starting point non-dimensional speed: ， Step ends.

4. The electronic cam five-time fly shear curve generation method according to claim 3, characterized in that, characterized in that, The S2.1 dichotomy to find N'(p) zero point module in step S2-8 comprises the following steps: Step S2.1-1, set temporary variable and ; Step S2.1-2, update: ， Step S2.1-3, if meet: ， If yes, jump to step S2.1-4, otherwise jump to step S2.1-5; Step S2.1-4, module has not found zero point; Step ends; Step S2.1-5, substitute: ， In the formulae, , Computing ; Step S2.1-6, if meet ， If yes, jump to step S2.1-7, otherwise jump to step S2.1-8; Step S2.1-7, module finds zero point ; Step ends; Step S2.1-8, if meet ， If yes, jump to step S2.1-2, otherwise jump to step S2.1-9; Step S2.1-9, if meet ， If yes, jump to step S2.1-7, otherwise jump to step S2.1-10; Step S2.1-10, update: ， Step S2.1-11, update: ， Step S2.1-12, substitute: ， Computing ; Step S2.1-13, if meet ， If yes, jump to step S2.1-7, otherwise jump to step S2.1-14; Step S2.1-14, if meet ， If yes, jump to step S2.1-11, otherwise jump to step S2.1-15; Step S2.1-15, if meet ， If yes, jump to step S2.1-7, otherwise jump to step S2.1-16; Step S2.1-16, update: ， And jump to step S2.1-2.

5. The electronic cam five-time fly shear curve generation method according to claim 1, wherein, The S3 long cycle rising section adjustment in step 9 comprises the following steps: Step S3-1, calculate the rising section main shaft increment: ， Step S3-2, the current stage S3 corresponds to a long cycle and has a waiting section, so the shaft is not moving at the beginning of running, and the rising section starting point non-dimensional speed is assigned: ， Step ends.

6. The electronic cam five-time fly shear curve generation method according to claim 1, wherein, The calculation of D1 synchronization section and ramp section parameters in step 1 is as follows: Main shaft end point: ， Slave shaft synchronization zone length: ， Slave shaft synchronization zone start point: ， Slave shaft synchronization zone end point: ， Slave shaft end point: ， Main shaft synchronization zone length: ， Ramp section slave shaft increment: ， Main shaft remaining increment: ， Ramp section start point dimensionless speed: ， Ramp section end point dimensionless speed: 。 7. The electronic cam five-time fly-shear curve generation method according to claim 1, characterized by, The short period criterion in J0 in step 2 is .

8. The electronic cam five-time fly-shear curve generation method according to claim 1, characterized by, The J1 forced non-waiting section criterion in step 5 is that the user chooses not to accept the waiting section.

9. The electronic cam five-time fly curve generation method according to claim 2, 3 or 4, characterized by, The key point calculation of the S4 non-waiting section flying shear curve in steps 4 and 7 includes the following steps: Step S4-1, generate curve key point 1: ， Step S4-2, generate curve key point 2: ， Step S4-3, generate curve key point 3: ， Step S4-4, generate curve key point 4: ， Step end.

10. The electronic cam five-time fly-shear curve generation method according to claim 5, wherein, The S6 non-waiting section flying shear curve generation module in step 10 contains the following steps: Step S6-1, generate curve key point 1: ， Step S6-2, if: ， Then jump to step S6-3, otherwise jump to step S6-8; Step S6-3, adjust the first waiting section length: ， Step S6-4, generate curve key point 2: ， Step S6-5, generate curve key point 3: ， Step S6-6, generate curve key point 4: ， Step S6-7, generate curve key point 5: ， Step end; Step S6-8, the first waiting section length remains unchanged; Step S6-9, generate curve key point 2: ， Step S6-10, generate curve key point 3: ， Step S6-11, generate curve key point 4: ， Step S6-12, generate curve key point 5: ， Step S6-13, generate curve key point 6: ， Step end.

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