Adaptive electronic cam follow-up motion control method and device, electronic equipment and storage medium

Abstract

The adaptive electronic cam shearing motion control method and device, the electronic equipment and the storage medium provided by the embodiment of the application relate to the technical field of control, and the method comprises the following steps: acquiring mechanical parameters of a main shaft and a slave shaft and a position signal of a first material, generating an initial electronic cam curve based on the mechanical parameters and the position signal; in response to the first material reaching a preset shearing position, controlling the slave shaft to perform a shearing action on the first material according to the initial electronic cam curve; in response to the end of a synchronous zone action corresponding to the first material, if there is a position signal of a second material in a preset sampling range, acquiring a slave shaft speed ratio of the slave shaft at a current running position; generating a second electronic cam curve based on the slave shaft speed ratio and the position signal of the second material; and controlling the slave shaft to perform a subsequent shearing action on the second material according to the second electronic cam curve. The application can adapt to the dynamic change of the material spacing, thereby improving the production efficiency.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to adaptive electronic cam tracking shear motion control methods and devices, electronic devices and storage media. Background Technology

[0002] Electronic cam tracking shearing technology, a key motion control solution for automated material processing, enables dynamic, fixed-length cutting of continuously moving materials through the coordinated linkage of the main and driven shafts. It is widely used in continuous production lines in industries such as packaging, metallurgy, and printing. The driven shaft precisely follows the main shaft according to the set electronic cam curve, which is the core element ensuring cutting accuracy and production continuity.

[0003] In related technologies, for continuous material feeding and shearing control, the driven shaft typically operates according to a fixed single-cycle cam curve. After the synchronization zone of a cutting action ends, regardless of the distance between subsequent materials, the driven shaft must perform a complete deceleration process and return to the machine origin position to wait, before restarting for the next shearing cycle. This fixed mode suffers from drawbacks such as long ineffective idle travel and frequent acceleration and deceleration when dealing with dense, continuous material feeding, resulting in an inability to adapt to dynamic changes in material spacing and limiting the maximum operating speed and overall processing efficiency of the production line. Summary of the Invention

[0004] This application provides an adaptive electronic cam tracking shear motion control method and device, electronic device and storage medium, which can adapt to the dynamic changes in material spacing, thereby improving production efficiency.

[0005] To achieve the above objectives, a first aspect of this application proposes an adaptive electronic cam tracking shearing motion control method, applied to an electronic cam control system including a master shaft and a slave shaft. The master shaft is used to transport materials, and the slave shaft is used to carry a shearing device and follow the master shaft to perform tracking shearing motion according to an electronic cam curve. The method includes:

[0006] The mechanical parameters of the main shaft and the slave shaft, as well as the position signal of the first material, are acquired, and an initial electronic cam curve is generated based on the mechanical parameters and the position signal.

[0007] In response to the first material reaching a preset shearing position, the slave shaft is controlled to perform a shearing action on the first material according to the initial electronic cam curve; wherein, the initial electronic cam curve sequentially includes an acceleration zone, a synchronization zone, and a deceleration zone;

[0008] In response to the end of the synchronization zone action corresponding to the first material, if there is a position signal of the second material within the preset sampling range, the slave shaft speed ratio at the current running position is obtained;

[0009] Based on the shaft speed ratio and the position signal of the second material, a second electronic cam curve is generated;

[0010] The slave shaft is controlled to perform a continuous shearing action on the second material according to the second electronic cam curve.

[0011] In some embodiments, the mechanical parameters include the acceleration zone length and the synchronization zone length. The step of acquiring the mechanical parameters of the main shaft and the driven shaft, as well as the position signal of the first material, and generating an initial electronic cam curve based on the mechanical parameters and the position signal, includes:

[0012] The starting point for shearing is determined based on the position signal of the first material.

[0013] Based on the starting point of the tracking cut, the length of the acceleration zone, and the length of the synchronization zone, the principal axis coordinates and slave axis coordinates of the initial electronic cam curve at multiple key points corresponding to the boundaries of the acceleration zone, the synchronization zone, and the deceleration zone are calculated respectively.

[0014] For the key points corresponding to the acceleration zone and the deceleration zone, the smooth segment position mapping data between the master axis and the slave axis is calculated based on a preset cubic polynomial curve;

[0015] For the key points corresponding to the synchronization zone, the linear segment position mapping data between the master axis and the slave axis is calculated using a straight line calculation method;

[0016] The initial electronic cam curve is generated by splicing the smooth segment position mapping data and the linear segment position mapping data according to the timing of the tracking and cutting actions.

[0017] In some embodiments, the step of calculating the smooth segment position mapping data between the master axis and the slave axis based on a preset cubic polynomial curve for key points corresponding to the acceleration zone and the deceleration zone includes:

[0018] Determine the starting control point and the ending control point corresponding to both ends of the acceleration zone and the deceleration zone;

[0019] Obtain the absolute position of the master axis, the absolute position of the slave axis, and the running slope of the starting control point and the ending control point;

[0020] Based on the absolute positions of the principal axis and the slave axis of the starting control point and the ending control point, a cubic polynomial position mapping equation is constructed between the principal axis and the slave axis.

[0021] Based on the absolute position of the principal axis and the running slope of the starting control point and the ending control point, the first derivative equation of the cubic polynomial position mapping equation is constructed.

[0022] Solve the cubic polynomial position mapping equation and the first derivative equation simultaneously to calculate the cubic term coefficients, quadratic term coefficients, linear term coefficients and constant term corresponding to the cubic polynomial, and generate the smooth segment position mapping data based on the solved cubic term coefficients, quadratic term coefficients, linear term coefficients and constant term.

[0023] In some embodiments, generating the second electronic cam curve based on the shaft speed ratio and the position signal of the second material includes:

[0024] The absolute position of the slave shaft and the absolute position of the master shaft at the current running position are used as the starting coordinates of the second electronic cam curve, and the slave shaft speed ratio is used as the slope of the first key point of the second electronic cam curve.

[0025] Based on the position signals of the first material and the second material, the material sampling interval for continuous material supply is calculated;

[0026] Based on the starting coordinates, the slope of the first key point, and the material sampling interval, calculate the principal axis coordinates and slave axis coordinates of multiple connecting key points in the second electronic cam curve;

[0027] The second electronic cam curve is generated by fitting the master axis coordinates and slave axis coordinates of the multiple connecting key points.

[0028] In some embodiments, calculating the principal axis coordinates and slave axis coordinates of multiple connecting key points in the second electronic cam curve based on the starting coordinates, the slope of the first key point, and the material sampling interval includes:

[0029] The spindle coordinates of the second key point in the second electronic cam curve are calculated by subtracting the distance the spindle has traveled when switching to the second electronic cam curve after the synchronization zone action ends from the material sampling interval.

[0030] Calculate the absolute distance between the previous electronic cam curve and the starting position of the synchronization zone when switching to the second electronic cam curve, and determine it as the slave axis coordinate of the second key point in the second electronic cam curve.

[0031] In some embodiments, if the position signal of the second material is not present within the preset sampling range after the synchronization zone corresponding to the first material has ended, the method further includes:

[0032] Control the slave axis to decelerate and return to the origin position while waiting;

[0033] During the process of the slave shaft returning to the origin position, in response to the detection of the position signal of a third material, the real-time absolute position of the master shaft and the real-time absolute position of the slave shaft are acquired in real time.

[0034] Based on the derivative relationship of the preset cubic polynomial position mapping expression, the current running slope corresponding to the real-time spindle absolute position is calculated, wherein the direction of the current running slope is negative.

[0035] The real-time absolute position of the master spindle and the real-time absolute position of the slave spindle are used as the starting point coordinates of the continuation curve, and the current running slope is used as the initial slope of the continuation curve.

[0036] Based on the starting point coordinates, the initial slope, and the position signal of the third material, a successive electronic cam curve is calculated and generated, and the slave axis is controlled to execute the successive electronic cam curve.

[0037] In some embodiments, obtaining the mechanical parameters of the main shaft and the driven shaft includes:

[0038] The system receives motion region definition parameters input by the user, including the length of the front waiting area of ​​the spindle, the length of the acceleration area, the length of the synchronization area, and the length of the rear waiting area of ​​the spindle.

[0039] Receive user-input physical device operating parameters, including the single-turn pulse, single-turn distance, and rated speed of the master and slave shafts;

[0040] The motion area definition parameters are combined and analyzed with the physical equipment operating parameters to determine the mechanical parameters of the main shaft and the slave shaft.

[0041] To achieve the above objectives, a second aspect of this application provides an adaptive electronic cam tracking shearing motion control device, applied to an electronic cam control system including a main shaft and a driven shaft. The main shaft is used to transport materials, and the driven shaft is used to carry a shearing device and follow the main shaft in tracking shearing motion according to an electronic cam curve. The device is characterized in that it includes:

[0042] The first acquisition module is used to acquire the mechanical parameters of the main shaft and the slave shaft and the position signal of the first material, and to generate an initial electronic cam curve based on the mechanical parameters and the position signal;

[0043] The first control module is used to control the slave shaft to perform a shearing action on the first material in response to the first material reaching a preset shearing position, according to the initial electronic cam curve; wherein the initial electronic cam curve includes an acceleration zone, a synchronization zone and a deceleration zone in sequence.

[0044] The second acquisition module is used to acquire the slave shaft speed ratio at the current running position of the slave shaft if the position signal of the second material exists within the preset sampling range, in response to the end of the synchronous zone action corresponding to the first material.

[0045] The generation module is used to generate a second electronic cam curve based on the slave shaft speed ratio and the position signal of the second material;

[0046] The second control module is used to control the slave shaft to perform continuous shearing action on the second material according to the second electronic cam curve.

[0047] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the adaptive electronic cam tracking shear motion control method as described in the first aspect.

[0048] To achieve the above objectives, a fourth aspect of the present application provides a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the adaptive electronic cam tracking shear motion control method described in the first aspect.

[0049] The adaptive electronic cam tracking shearing motion control method proposed in this application is applied to an electronic cam control system including a master shaft and a slave shaft. The method includes: firstly, acquiring mechanical parameters and the position signal of a first material to generate an initial electronic cam curve, and controlling the slave shaft to perform a tracking shearing action on the first material; then, at the end of the synchronous zone action corresponding to the first material, if there is a position signal of a second material within a preset sampling range, acquiring the slave shaft speed ratio at the current running position; finally, generating a second electronic cam curve based on the slave shaft speed ratio and the position signal of the second material, and controlling the slave shaft to perform a follow-up tracking shearing action on the second material. This application embodiment extracts the currently running slave shaft speed ratio in real time at the end of the synchronous zone of the initial tracking shearing, and directly uses this speed ratio to plan the follow-up curve, realizing the transition in speed between the two tracking shearing actions, avoiding the mechanical shock caused by the forced deceleration of the slave shaft; by dynamically planning the second electronic cam curve in combination with the position signal of the second material, the slave shaft can directly jump to the next tracking shearing cycle without returning to the mechanical origin, eliminating invalid empty runback and waiting time; combined with continuous follow-up shearing control, ensuring the continuity of action and trajectory accuracy under dense material receiving conditions. This method effectively solves the problems of frequent acceleration and deceleration and equipment idling caused by the need to return to the origin and restart after a single cut-off in traditional cam control. It can adapt to the dynamic changes in material spacing, thereby improving production efficiency.

[0050] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the structure of an electronic cam control system provided in an embodiment of this application.

[0052] Figure 2 This is a flowchart of an adaptive electronic cam tracking motion control method provided in an embodiment of this application.

[0053] Figure 3 This is a flowchart of an adaptive electronic cam tracking motion control method provided in another embodiment of this application.

[0054] Figure 4 This is a flowchart of an adaptive electronic cam tracking motion control method provided in another embodiment of this application.

[0055] Figure 5 This is a flowchart of an adaptive electronic cam tracking motion control method provided in another embodiment of this application.

[0056] Figure 6 This is a flowchart of an adaptive electronic cam tracking motion control method provided in another embodiment of this application.

[0057] Figure 7 This is a flowchart of an adaptive electronic cam tracking motion control method provided in another embodiment of this application.

[0058] Figure 8 This is a schematic diagram showing the location of the running results provided in another embodiment of this application.

[0059] Figure 9 This is a schematic diagram of the structure of an adaptive electronic cam tracking motion control device provided in an embodiment of this application.

[0060] Figure 10 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0061] 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.

[0062] It should be noted that although functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0064] Electronic cam tracking shearing technology, a key motion control solution for automated material processing, enables dynamic, fixed-length cutting of continuously moving materials through the coordinated linkage of the main and driven shafts. It is widely used in continuous production lines in industries such as packaging, metallurgy, and printing. The driven shaft precisely follows the main shaft according to the set electronic cam curve, which is the core element ensuring cutting accuracy and production continuity.

[0065] In related technologies, for continuous material feeding and shearing control, the driven shaft typically operates according to a fixed single-cycle cam curve. After the synchronization zone of a cutting action ends, regardless of the distance between subsequent materials, the driven shaft must perform a complete deceleration process and return to the machine origin position to wait, before restarting for the next shearing cycle. This fixed mode suffers from drawbacks such as long ineffective idle travel and frequent acceleration and deceleration when dealing with dense, continuous material feeding, resulting in an inability to adapt to dynamic changes in material spacing and limiting the maximum operating speed and overall processing efficiency of the production line.

[0066] Based on this, the embodiments of this application first acquire mechanical parameters and the position signal of the first material to generate an initial electronic cam curve, controlling the slave shaft to perform a follow-up shearing action on the first material; then, when the synchronous zone action corresponding to the first material ends, if the position signal of the second material exists within a preset sampling range, the slave shaft speed ratio at the current running position is acquired; finally, based on the slave shaft speed ratio and the position signal of the second material, a second electronic cam curve is generated, controlling the slave shaft to perform a follow-up shearing action on the second material. The embodiments of this application extract the currently running slave shaft speed ratio in real time at the end of the synchronous zone of the initial follow-up shearing, and directly use this speed ratio to plan the follow-up curve, realizing the transition in speed between the two follow-up shearing actions, avoiding the mechanical shock caused by forced deceleration of the slave shaft; by dynamically planning the second electronic cam curve in conjunction with the position signal of the second material, the slave shaft can directly jump into the next follow-up shearing cycle without returning to the mechanical origin, eliminating invalid empty return and waiting time; combined with continuous follow-up shearing control, the continuity of action and trajectory accuracy under dense material receiving conditions are ensured. This method effectively solves the problems of frequent acceleration and deceleration and equipment idling caused by the need to return to the origin and restart after a single cut-off in traditional cam control. It can adapt to the dynamic changes in material spacing, thereby improving production efficiency.

[0067] The adaptive electronic cam tracking motion control method, apparatus, electronic device, and storage medium provided in the embodiments of this application will be further described below. The adaptive electronic cam tracking motion control method provided in the embodiments of this application can be applied to smart terminals, servers, computers, etc., connected to the electronic cam control system.

[0068] To better illustrate the adaptive electronic cam tracking motion control method provided in this application, this embodiment first describes an electronic cam control system applying the adaptive electronic cam tracking motion control method. (Refer to...) Figure 1 The diagram shown is a structural schematic of an electronic cam control system provided in an embodiment of this application. The electronic cam control system includes a human-machine interface (HMI), a programmable logic controller (PLC), a motor, photoelectric sensors, and a mechanical actuator including a main shaft and a slave shaft. The PLC establishes electrical connections with the HMI, the motor, and the photoelectric sensors. The motor is driven by the mechanical actuator including the main shaft and the slave shaft. The main shaft carries and conveys continuous material along a preset motion direction. The slave shaft is arranged above the main shaft and carries a shearing device. Driven by the motor, the slave shaft follows the main shaft in a shearing motion according to the electronic cam curve. The photoelectric sensors are located on the material conveying path side of the main shaft to detect the material in real time during the conveying process, acquire the material's position signal, and send the position signal to the PLC. The HMI acquires the input mechanical parameters of the main shaft and the slave shaft and transmits the mechanical parameters to the PLC. The PLC generates an electronic cam curve based on the received mechanical parameters and position signal and outputs control commands to the motor to control the slave shaft to perform a shearing action according to the corresponding electronic cam curve.

[0069] Based on the above-described electronic cam control system, the adaptive electronic cam tracking and shearing motion control method in the embodiments of this application will be described in detail below. (Refer to...) Figure 2 This is an optional flowchart of the adaptive electronic cam tracking shear motion control method provided in the embodiments of this application. Figure 2 The method may include, but is not limited to, steps 201 to 205. It is also understood that this embodiment... Figure 2 The order of steps 201 to 205 is not specifically limited. The order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0070] Step 201: Obtain the mechanical parameters of the main shaft and the slave shaft, as well as the position signal of the first material, and generate an initial electronic cam curve based on the mechanical parameters and the position signal.

[0071] Step 202: In response to the first material reaching the preset shearing position, control the slave shaft to perform a shearing action on the first material according to the initial electronic cam curve.

[0072] Step 203: In response to the end of the synchronization zone action corresponding to the first material, if there is a position signal of the second material within the preset sampling range, obtain the slave shaft speed ratio at the current running position.

[0073] Step 204: Generate a second electronic cam curve based on the shaft speed ratio and the position signal of the second material.

[0074] Step 205: Control the follow-up shearing action of the slave shaft to the second material according to the second electronic cam curve.

[0075] In step 201 of some embodiments, the mechanical parameters of the main shaft and the slave shaft, as well as the position signal of the first material, are acquired, and an initial electronic cam curve is generated based on the mechanical parameters and the position signal. Specifically, the main shaft, as the position reference reference in the system, is responsible for conveying the material to be processed; the slave shaft, as the actuator, is responsible for carrying the shearing device and following the movement of the main shaft. The mechanical parameters typically characterize the basic mechanical constraints and movement range limitations of the physical equipment during actual operation, such as the preset length of each movement stage. The position signal of the first material is the real-time physical position of the first material to be processed, captured by sensors or other detection devices on the main shaft conveying path. After receiving the aforementioned mechanical parameters and the position signal of the first material, the control system performs internal coordinate mapping and trajectory planning, calculates the correspondence between the main shaft position and the slave shaft position, and generates an initial electronic cam curve to guide the slave shaft in operating the first material. The initial electronic cam curve provides a complete position and velocity reference reference for the first movement of the slave shaft.

[0076] In some embodiments, the step of obtaining the mechanical parameters of the spindle and the driven shaft in step 201 may include, but is not limited to, the following steps:

[0077] The motion region definition parameters are received from the user. These parameters include the length of the front waiting area of ​​the spindle, the length of the acceleration area, the length of the synchronization area, and the length of the rear waiting area of ​​the spindle.

[0078] Receive user input of physical device operating parameters, including single-cycle pulses, single-cycle distance, and rated speed of the master and slave shafts;

[0079] By combining and analyzing the motion zone definition parameters with the physical equipment operating parameters, the mechanical parameters of the master and slave axes are determined.

[0080] The motion zone definition parameters divide the execution stages of the shearing action in both physical space and control logic. The spindle pre-waiting zone length represents the idle displacement of the spindle from material detection to the initiation of the shearing action. The acceleration zone length defines the spatial span required for the slave shaft to accelerate from a stationary state to match the spindle speed. The synchronization zone length defines the coordinated linkage interval between the master and slave shafts maintaining absolute speed consistency and performing the cutting action. The spindle post-waiting zone length sets the buffer distance for the slave shaft to remain stationary after completing its return stroke and before the next action trigger. The physical equipment operating parameters reflect the basic hardware attributes and dynamic limitations of the mechanical transmission mechanism. A single-revolution pulse represents the number of encoder feedback pulses corresponding to one revolution of the motor, and a single-revolution distance represents the linear physical conveying displacement corresponding to one revolution of the motor. The ratio of single-revolution pulses to single-revolution distance establishes the conversion equivalent between the underlying electrical pulse signal and the actual mechanical space dimensions. The rated speed defines the maximum permissible operating speed boundary for the master and slave shaft motors under safe operating conditions. By utilizing the conversion equivalent of single-turn pulses and single-turn distances, motion region defining parameters such as the length of the spindle's pre-waiting zone, acceleration zone, and synchronization zone (all measured in absolute physical lengths) are precisely mapped and converted into pulse count values ​​that can be directly executed and calculated within the programmable logic controller (PLC). Simultaneously, combined with the rated speed, the system verifies whether the parameters of each motion region meet the motor's dynamic constraints during dynamic execution. The mechanical parameters output after analytical mapping constitute the underlying reference data and boundary constraints for generating the subsequent initial electronic cam curve and various subsequent curves.

[0081] Please see Figure 3 In some embodiments, step 201 may include, but is not limited to, steps 301 to 305.

[0082] Step 301: Determine the starting point of the shearing based on the position signal of the first material.

[0083] Step 302: Based on the starting origin of the tracking cut, the length of the acceleration zone, and the length of the synchronization zone, calculate the principal axis coordinates and slave axis coordinates of multiple key points corresponding to the boundaries of the acceleration zone, synchronization zone, and deceleration zone of the initial electronic cam curve.

[0084] Step 303: For the key points corresponding to the acceleration and deceleration zones, calculate the smooth segment position mapping data between the master axis and the slave axis based on the preset cubic polynomial curve.

[0085] Step 304: For the key points corresponding to the synchronization zone, calculate the linear segment position mapping data between the master axis and the slave axis using a straight line calculation method.

[0086] Step 305: Based on the timing of the tracking and shearing action, the smooth segment position mapping data and the linear segment position mapping data are spliced ​​together to generate the initial electronic cam curve.

[0087] In step 301 of some embodiments, the starting origin for the shearing process is determined based on the position signal of the first material. The position signal of the first material characterizes the real-time physical arrival state of the material to be processed on the conveying trajectory. When a detection unit such as a photoelectric sensor captures this position signal, the programmable logic controller marks the spatial position corresponding to the physical arrival time as the zero point of the entire shearing motion control, that is, establishes the starting origin for the shearing process. This starting origin for the shearing process is defined as the origin (0,0) in the subsequently generated two-dimensional coordinate system of the electronic cam, where the horizontal axis represents the absolute position of the master axis and the vertical axis represents the absolute position of the slave axis. Establishing this origin provides a reference for subsequent calculation of the position mapping relationship between the master axis and the slave axis in each control area.

[0088] In step 302 of some embodiments, based on the shearing start origin, acceleration zone length, and synchronization zone length, the master axis coordinates and slave axis coordinates of multiple key points corresponding to the boundaries of the acceleration zone, synchronization zone, and deceleration zone of the initial electronic cam curve are calculated. The acceleration zone length defines the master axis displacement required for the slave axis to accelerate from a stationary state to match the speed of the master axis; the synchronization zone length defines the master axis displacement for the slave axis to maintain the same speed as the master axis and complete the shearing action. Using the shearing start origin established in step 301 as the calculation reference point, the set acceleration zone length and synchronization zone length are sequentially superimposed along the positive running direction of the master axis, which can accurately locate the boundary points between the acceleration zone and the synchronization zone, as well as the boundary points between the synchronization zone and the deceleration zone. For the above boundary points, combined with the pre-set target displacement of the slave axis at the end point of the corresponding region, the exact abscissa and ordinate values ​​of each boundary boundary point in the electronic cam coordinate system are solved, thereby obtaining a set of key points for accurately dividing different kinematic regions.

[0089] In step 303 of some embodiments, for key points corresponding to the acceleration and deceleration zones, smooth segment position mapping data between the master axis and slave axis is calculated based on a preset cubic polynomial curve. The acceleration and deceleration zones are dynamic transition intervals for changes in slave axis velocity. Using the coordinate information of the key points at both ends of the acceleration zone and the key points at both ends of the deceleration zone calculated in step 302, a cubic polynomial position mapping expression is used. Curve fitting is performed, where y represents the absolute position of the slave axis and x represents the absolute position of the master axis. This cubic polynomial curve ensures the continuity of the derivatives of velocity and acceleration of the slave axis during acceleration and deceleration. The generated smooth segment position mapping data accurately characterizes the nonlinear displacement matching relationship of the slave axis following the master axis during the variable-speed motion phase.

[0090] Please see Figure 4 In some embodiments, step 303 may include, but is not limited to, steps 401 to 405.

[0091] Step 401: Determine the starting control point and ending control point corresponding to the two ends of the acceleration zone and deceleration zone.

[0092] Step 402: Obtain the absolute position of the master axis, the absolute position of the slave axis, and the running slope of the starting control point and the ending control point.

[0093] Step 403: Based on the absolute positions of the principal axis and the slave axis of the starting and ending control points, construct the cubic polynomial position mapping equations of the principal axis and the slave axis.

[0094] Step 404: Based on the absolute position of the principal axis and the running slope of the starting and ending control points, construct the first derivative equation of the cubic polynomial position mapping equation.

[0095] Step 405: Solve the cubic polynomial position mapping equation and the first derivative equation simultaneously to calculate the cubic term coefficients, quadratic term coefficients, linear term coefficients and constant term corresponding to the cubic polynomial, and generate smooth segment position mapping data based on the solved cubic term coefficients, quadratic term coefficients, linear term coefficients and constant term.

[0096] In step 401 of some embodiments, the starting control point and the ending control point corresponding to the two ends of the acceleration zone and the deceleration zone are determined. The acceleration zone and the deceleration zone are the transition intervals for nonlinear speed change motion from the shaft. The precise boundaries of the acceleration zone and the deceleration zone are defined in a set physical space coordinate system. The starting control point defines the physical position at which the shaft begins to enter the acceleration or deceleration state, and the ending control point defines the physical position at which the shaft ends the speed change state and enters the next running state.

[0097] In step 402 of some embodiments, the absolute positions of the master and slave axes, as well as the running slope, are obtained for the start and end control points. The absolute positions of the master and slave axes constitute the horizontal and vertical coordinates of the electronic cam curve. The running slope characterizes the speed at which the curve runs, that is, the instantaneous rate of change of the slave axis displacement with the principal axis displacement. By extracting the spatial positions and running slopes of the control points at both ends, the boundary state data that must be satisfied for the cubic curve calculation are determined.

[0098] In step 403 of some embodiments, a cubic polynomial position mapping equation for the master and slave axes is constructed based on the absolute positions of the master and slave axes of the starting and ending control points. All lines except the synchronization segment are calculated as cubic curves, and the expression for a cubic curve is shown below: ,in For the electronic cam to operate from the axis of absolute position, The first position mapping equation is constructed by substituting the absolute positions of the master and slave axes corresponding to the starting control points into this expression. The second position mapping equation is constructed by substituting the absolute positions of the master and slave axes corresponding to the ending control points into this expression.

[0099] In step 404 of some embodiments, based on the absolute principal axis positions and running slopes of the starting and ending control points, a first-order derivative equation of the cubic polynomial position mapping equation is constructed. Taking the first derivative of the above cubic curve expression yields the expression for velocity: ,in The velocity during curve operation is the corresponding running slope. The first slope equation is constructed by substituting the absolute position of the principal axis corresponding to the starting control point and its running slope into this velocity expression, and the second slope equation is constructed by substituting the absolute position of the principal axis corresponding to the ending control point and its running slope into this velocity expression.

[0100] In step 405 of some embodiments, the position mapping equation of the cubic polynomial and the first derivative equation are solved simultaneously to calculate the cubic coefficients, quadratic coefficients, linear coefficients, and constant term of the cubic polynomial. Based on the solved cubic coefficients, quadratic coefficients, linear coefficients, and constant term, smooth segment position mapping data is generated. A system of equations including the first position mapping equation, the second position mapping equation, the first slope equation, and the second slope equation is solved simultaneously, and algebraic operations are performed to obtain the cubic coefficients of the corresponding cubic curve segment. coefficient of quadratic term coefficient of the first term and constant terms Based on the above parameter values, the expression for each line segment is determined, and the coordinates of key points of the smooth segment representing the actual running trajectory of the acceleration and deceleration zones are calculated point by point.

[0101] Through steps 401 to 405 above, this embodiment transforms the nonlinear flexible curve planning process into the extraction of boundary constraints and the solution of algebraic constraint equations. Using the absolute positions and running slopes at both ends of the acceleration and deceleration zones, an equation system containing spatial and velocity constraints is constructed, and the coefficients of the cubic curve expression are analytically solved. This ensures precise alignment of the key point coordinates in the generated smooth segment in spatial displacement and smooth continuity at the velocity derivative level, eliminating abrupt changes caused by the abrupt change in the transmission phase.

[0102] In step 304 of some embodiments, linear segment position mapping data between the master shaft and the slave shaft is calculated using a linear calculation method for key points corresponding to the synchronization zone. The synchronization zone is the area where physical cutting actions are performed, and within this zone, the slave shaft carrying the shearing device and the master shaft conveying the material must remain relatively stationary. Based on the key points at both ends of the synchronization zone extracted in step 302, a linear function is used to construct the mapping relationship between the master shaft position and the slave shaft position. Under this linear calculation method, the rate of change of the slave shaft displacement with the master shaft displacement (i.e., the running slope) is a fixed constant, and the generated linear segment position mapping data characterizes the fixed proportional linkage characteristic of the master and slave shafts running synchronously at the same speed within this zone.

[0103] In step 305 of some embodiments, the smooth segment position mapping data and the linear segment position mapping data are spliced ​​together according to the timing of the shearing action to generate an initial electronic cam curve. The complete timing of the shearing action follows the physical execution order of acceleration, synchronization, and deceleration. The programmable logic controller (PLC) sequentially connects and splices the smooth segment position mapping data of the acceleration zone solved in step 303, the linear segment position mapping data of the synchronization zone solved in step 304, and the smooth segment position mapping data of the deceleration zone solved in step 303, according to the continuity requirements of the coordinate system. The complete and continuous master-slave axis coordinate correspondence data table formed after splicing and fusion is the complete initial electronic cam curve. This curve is directly used to guide the slave axis to execute the first cycle of shearing command for the first material.

[0104] This embodiment of the application, through steps 301 to 305, establishes the physical boundary by pre-acquiring mechanical parameters and divides the entire tracking and shearing motion into acceleration, synchronization, and deceleration regions for segmented mathematical planning. For the speed-changing region, a cubic polynomial is used to ensure a smooth transition at the kinematic level, while for the shearing region, linear calculations are used to ensure synchronous linkage. Finally, these are sequentially assembled to form a complete electronic cam coordinate mapping table. This implementation can construct a smooth tracking and shearing trajectory that conforms to the mechanical constraints of the equipment when the first material signal is captured.

[0105] In step 202 of some embodiments, in response to the first material reaching a preset follow-cut position, the slave shaft is controlled to perform a follow-cut action on the first material according to an initial electronic cam curve; wherein, the initial electronic cam curve sequentially includes an acceleration zone, a synchronization zone, and a deceleration zone. Specifically, the preset follow-cut position refers to the physical trigger point set by the system to start dynamic follow-cutting. When the first material conveyed by the main shaft travels to this trigger point, the slave shaft is immediately controlled to start. During the follow-cut action, the slave shaft runs according to the trajectory planned by the initial electronic cam curve. This curve is logically divided into three continuous motion stages: first, the acceleration zone, in which the slave shaft accelerates from a stationary or low-speed state to shorten the relative speed difference between itself and the material on the main shaft; second, the synchronization zone, which is the core area for performing the cutting action, in which the slave shaft and the main shaft maintain absolute speed consistency and relative position stillness, thereby ensuring that the cutting device mounted on the slave shaft can smoothly and accurately cut the material; finally, the deceleration zone, after the cutting action is completed, the slave shaft enters this area to reduce its running speed, preparing for subsequent stop or reset actions.

[0106] In step 203 of some embodiments, in response to the end of the synchronization zone action corresponding to the first material, if a position signal of the second material exists within a preset sampling range, the slave shaft speed ratio at the current operating position is obtained. Specifically, the moment the synchronization zone action ends is the branch point in the entire adaptive control logic. At this time, the shearing action of the first material has just been completed, and the slave shaft has not yet fully entered the deceleration and stopping state. The preset sampling range refers to the physical interval on the main shaft conveying path where the sensor can effectively monitor and record the material arrival situation. At this specific moment, the control system will search the records within this sampling range in real time to determine whether the next material (i.e., the second material) has entered the waiting queue for processing. If it is determined that a position signal of the second material exists, the system will not directly issue a command to return to the origin to the slave shaft, but will immediately extract the slave shaft speed ratio at the current physical operating position. This slave shaft speed ratio mathematically and physically represents the ratio of the current slave shaft running speed to the main shaft running speed (i.e., the slope of the electronic cam curve at the current coordinate point).

[0107] In step 204 of some embodiments, a second electronic cam curve is generated based on the acquired slave axis speed ratio and the position signal of the second material. Specifically, in order for the slave axis to directly chase and cut the next material, a completely new succession trajectory needs to be planned. When planning this second electronic cam curve, the current slave axis speed ratio extracted in step 203 is directly used as the initial slope (i.e., the initial velocity boundary condition) of the new curve. By inheriting this velocity state, it is ensured that the velocity of the slave axis is continuous on the time axis when switching from the previous curve to the new curve, without any abrupt changes. At the same time, the position signal of the second material is used to determine the spatial target position of the new curve in the master axis coordinate system. By combining the currently inherited velocity state with the new spatial target distance, a new round of position mapping relationship between the master and slave axes is recalculated and fitted, thereby dynamically generating a second electronic cam curve for chasing the second material.

[0108] Please see Figure 5 In some embodiments, step 204 may include, but is not limited to, steps 501 to 504.

[0109] Step 501: The absolute position of the slave shaft and the absolute position of the master shaft at the current running position are used as the starting coordinates of the second electronic cam curve, and the slave shaft speed ratio is used as the slope of the first key point of the second electronic cam curve.

[0110] Step 502: Calculate the material sampling interval for continuous material supply based on the position signals of the first material and the second material.

[0111] Step 503: Based on the starting coordinates, the slope of the first key point, and the material sampling interval, calculate the principal axis coordinates and slave axis coordinates of multiple connecting key points in the second electronic cam curve.

[0112] Step 504: Generate a second electronic cam curve by fitting the master axis coordinates and slave axis coordinates of multiple connecting key points.

[0113] In step 501 of some embodiments, the absolute position of the slave shaft and the absolute position of the master shaft at the current operating position are used as the starting coordinates of the second electronic cam curve, and the slave shaft speed ratio is used as the slope of the first key point of the second electronic cam curve. Specifically, after the synchronization zone of the first segment of the follow-up cutting action ends, the programmable logic controller directly extracts and records the current real-time physical positions of the master and slave shafts, defining them as the initial position points of the next follow-up cutting action (i.e., the next segment of the curve). ,in The absolute position of the main axis This is the absolute position of the slave axis. Simultaneously, the ratio of the slave axis speed to the spindle speed at the current operating position is extracted as the slope of the first key point. Combining the first derivative relationship of a cubic polynomial, this initial slope satisfies the velocity expression. If the synchronization zone of the previous action has just been completed, the master and slave axis speeds remain consistent, therefore the extracted initial slope... If the value is 1, the system will fully inherit this state into the new curve, which will serve as a boundary condition constraint for velocity continuity.

[0114] In step 502 of some embodiments, the material sampling interval for continuous material intake is calculated based on the position signals of the first material and the second material. Specifically, the material sampling interval characterizes the exact physical distance between two adjacent materials to be processed on the main shaft conveying trajectory. After the photoelectric sensor detects consecutive materials within a preset sampling range, it feeds back the position signal to the system. The programmable logic controller quantifies the spacing parameter of continuous material intake by calculating the difference in main shaft position coordinates corresponding to the two signals. This material sampling interval is the core reference benchmark that determines how much main shaft displacement is required after the current shearing is completed to establish a synchronous motion relationship with the next material.

[0115] In step 503 of some embodiments, the principal axis coordinates and slave axis coordinates of multiple connecting key points in the second electronic cam curve are calculated based on the starting coordinates, the slope of the first key point, and the material sampling interval. Specifically, the system utilizes the starting position point established in step 501. and initial slope Based on the material sampling interval calculated in step 502 and the preset mechanical parameters such as the length of the acceleration zone and synchronization zone, the starting position of the synchronization zone of the next curve segment is calculated. ,in and These represent the absolute positions of the master and slave axes at this critical transition point, respectively. According to process requirements, when entering the next synchronization zone starting point B, the master and slave axes must re-establish synchronous linkage. Therefore, the slope at the start of the synchronization zone corresponding to this position point... Similarly, if we set it to 1, its corresponding derivative expression is: .

[0116] Please see Figure 6 In some embodiments, step 503 may include, but is not limited to, steps 601 to 602.

[0117] Step 601: Subtract the distance the main shaft has traveled when switching to the second electronic cam curve after the synchronization zone action ends from the material sampling interval, and calculate the main shaft coordinates of the second key point in the second electronic cam curve.

[0118] Step 602: Calculate the absolute distance between the previous electronic cam curve and the starting position of the synchronization zone when switching to the second electronic cam curve, and determine it as the slave axis coordinate of the second key point in the second electronic cam curve.

[0119] In step 601 of some embodiments, the second key point characterizes the spatial target position that the slave axis must reach in order to track and synchronize with the next material. During continuous shearing, the target stroke of the spindle needs to be calibrated in real time based on the dynamic material distribution. The material sampling interval reflects the initial physical distance between two consecutive materials. However, during the underlying calculation cycle of condition assessment and triggering algorithm switching, the spindle continues to drive the material forward. Therefore, to accurately anchor the true relative arrival position of the second material, the initial material sampling interval must be subtracted from the actual physical displacement already traversed by the spindle during the time difference between the end of the synchronization zone action and the actual switch to the second electronic cam curve. Through this dynamic displacement compensation calculation, the obtained spindle coordinates can accurately define the remaining spindle travel corresponding to the slave axis in the subsequent acceleration and follow-up synchronization phases, ensuring the absolute accuracy of the control coordinate mapping in the time dimension.

[0120] In step 602 of some embodiments, after determining the target master axis coordinates, it is necessary to further anchor the spatial position that the slave axis should be in in this continuous state. The absolute distance of the previous electronic cam curve from the starting position of the synchronization zone essentially represents the actual displacement of the slave axis in physical space relative to the standard synchronization starting point after completing the previous shearing task. In the adaptive cutting table control logic, in order to achieve continuous continuous action without returning to the mechanical origin, the absolute physical offset distance of the relative coordinate system at the moment of cutting table is directly extracted and directly assigned to the slave axis coordinates of the second key point of the new curve (i.e., the second electronic cam curve). This translation and transformation of the spatial reference benchmark allows the slave axis to directly calculate the target arrival displacement of the slave axis when cutting into the synchronization zone for the next time, using the current actual stopping position as the starting point of the continuation.

[0121] Through steps 601 to 602 above, this embodiment of the application uses the material sampling interval to deduct the running distance during spindle switching to calibrate the target spindle coordinates in real time, and directly extracts the absolute distance of the previous curve from the synchronization starting point at the moment of cutting as the subsequent slave axis coordinates. This enables the control system to quantify the precise displacement parameters required for the slave axis to catch up with the next material in real time and accurately during the dynamic conveying process at high speed. This provides reliable coordinate boundary constraints for generating a flexible tracking and cutting trajectory that does not return to the origin and is seamlessly connected, thereby improving the overall processing efficiency and cutting accuracy of the equipment when dealing with materials with dynamically changing spacing.

[0122] In step 504 of some embodiments, a second electronic cam curve is generated by fitting the principal axis coordinates and slave axis coordinates of multiple successive key points. Specifically, the starting position point is known. The starting point of the next synchronization zone and initial slope and the starting slope of the synchronization zone The coefficients of the cubic term *a*, quadratic term *b*, linear term *c*, and constant term *d* of the second electronic cam curve are obtained by solving a system of simultaneous polynomial equations in reverse. Based on the algebraic relationship between coordinate points and slope, the precise calculation expressions for each coefficient are as follows:

[0123]

[0124]

[0125]

[0126]

[0127] Substituting the exact coefficients obtained above into a cubic polynomial, we fit and generate smooth second electronic cam curve mapping data point by point, which is directly used to guide the motor drive to perform seamless cutting of the second material from the slave shaft.

[0128] Through steps 501 to 504 above, this embodiment of the application extracts the current absolute spatial position and running slope as the initial kinematic constraints for the next action cycle at the instant the synchronous cutting of the preceding material is completed. Combined with the real-time calculated material spacing, the coordinates and slope of the subsequent target point are derived. Finally, the coefficients of the cubic curve are accurately calculated using algebraic equations. This process enables the control algorithm to dynamically and smoothly reconstruct the motion trajectory of the subsequent shearing without instructing the slave axis to decelerate to zero. This eliminates the mechanical impact and idle running time caused by frequent starts and stops under continuous and dense material feeding conditions, ensuring the absolute smoothness and high responsiveness of the electronic cam system in high-speed continuous operation.

[0129] Please see Figure 7 In some embodiments, if there is no position signal of the second material within the preset sampling range after the synchronization zone action corresponding to the first material ends, the method provided in this application embodiment may further include, but is not limited to, steps 701 to 705.

[0130] Step 701: Control the slave axis to decelerate and return to the origin position while waiting.

[0131] Step 702: During the operation of the slave shaft returning to the origin position, in response to the detection of the position signal of the third material, the real-time absolute position of the main shaft and the real-time absolute position of the slave shaft are acquired in real time.

[0132] Step 703: Calculate the current running slope corresponding to the real-time absolute position of the spindle by combining the derivative relationship of the preset cubic polynomial position mapping expression.

[0133] Step 704: Use the real-time absolute position of the spindle and the real-time absolute position of the slave axis as the starting point coordinates of the continuation curve, and use the current running slope as the initial slope of the continuation curve.

[0134] Step 705: Based on the starting point coordinates, initial slope, and position signal of the third material, calculate and generate the successive electronic cam curve, and control the slave axis to execute the successive electronic cam curve.

[0135] In step 701 of some embodiments, after the first material is cut synchronously, the control system will detect a preset sampling range in real time. When it is determined that there is no new material immediately following within this range (i.e., there is no position signal for the second material), it indicates that the material supply to the current production line is intermittent. To avoid mechanical interference caused by the driven shaft stopping at the end of its stroke, the driven shaft will be smoothly decelerated according to the initially planned deceleration curve. After deceleration, the driven shaft will be driven to move in the opposite direction, returning to the starting point of the follow-up cutting. According to conventional logic, after reaching the origin, the driven shaft will remain stationary and enter a standby waiting state to prepare for the arrival of the next material.

[0136] In step 702 of some embodiments, the material conveying in actual production conditions is often random and sudden. When the driven shaft is in the process of dynamic movement back to the origin, the photoelectric sensor may suddenly capture newly arrived material (i.e., a third material). In the instant of responding to this sudden third material position signal, the driven shaft is not forcibly stopped, nor is it allowed to continue mechanically to complete the remaining return stroke. Instead, the spatial state of the driven shaft at this instant is immediately extracted, and the values ​​fed back by the spindle encoder and the driven shaft encoder at this moment are read. These values ​​are established as the real-time absolute position of the spindle and the real-time absolute position of the driven shaft at the time of triggering the interruption event, thereby providing the basic starting coordinates for the next step of abnormal working condition trajectory reconstruction.

[0137] In step 703 of some embodiments, to ensure the smoothness of subsequent actions, it is necessary to accurately grasp the instantaneous velocity vector state of the slave shaft during its return journey. This is because the return trajectory of the slave shaft is also controlled by a preset cubic polynomial position mapping expression (…). By taking the first derivative of this expression, we obtain the derivative equation characterizing the velocity mapping relationship. Substituting the real-time absolute position of the spindle obtained in step 702 into the derivative equation, the instantaneous first derivative value corresponding to that coordinate point is calculated, i.e., the current running slope. Since the slave axis is currently in the physical regression stage of returning to the origin, the algebraic sign of its displacement with the positive transmission rate of the spindle is negative. Therefore, the direction of the current running slope is strictly marked as negative, reflecting the physical motion trend of the slave axis regressing in the reverse direction.

[0138] In step 704 of some embodiments, the real-time absolute position of the master spindle and the real-time absolute position of the slave spindle are used as the starting point coordinates of the continuation curve, and the current running slope is used as the initial slope of the continuation curve. Specifically, after obtaining the spatial position and directional velocity vector at the moment of return interruption, a new electronic cam trajectory for intercepting and shearing the third material is constructed. To achieve a seamless transition of motion states, the just-extracted real-time absolute positions of the master spindle and the slave spindle are directly mapped to the absolute starting point coordinates of the continuation curve in the two-dimensional cam coordinate system. At the same time, the current running slope with negative directional characteristics will be... The value is directly assigned to the continuation curve as the initial constraint condition for its first derivative. By establishing this initial boundary condition that includes negative velocity properties, the mathematical model ensures that the slave axis can smoothly transition from the current backward velocity state to the positive chasing acceleration state the instant it receives a new instruction.

[0139] In step 705 of some embodiments, using the starting point coordinates determined in step 704 and the initial slope with negative characteristics as a reference, combined with the position of the target synchronization zone derived from the position signal of the third material, a system of algebraic equations containing the start and end positions and the start and end slope constraints is constructed again. After accurately solving the coefficients of each term of the cubic polynomial of the continuity curve and completing the full trajectory fitting, complete continuity electronic cam curve mapping data is generated in real time. Subsequently, the control motor drives the driven shaft to smoothly dissipate the current reverse speed according to the guidance of the continuity electronic cam curve, then smoothly switch to forward acceleration to catch up, and finally accurately cut into the synchronization zone of the third material and complete the cutting action.

[0140] Through steps 701 to 705 above, this embodiment of the application addresses the complex production situation where new materials suddenly appear on the return journey after an interruption in incoming material. By utilizing the absolute spatial coordinates and negative running slope at the moment of interruption as underlying boundary constraints, it can drive the slave axis to seamlessly and flexibly switch from the reverse return state to the forward pursuit state, avoiding the process of having to forcibly return to the origin and restart in traditional control logic. This solution not only saves ineffective mechanical reset time and idle travel, but also ensures the smoothness of the speed reverse transition through high-order polynomial fitting with directional constraints, improving the electronic cam control system's all-scenario adaptability and overall processing efficiency when facing irregular random material distributions.

[0141] In step 205 of some embodiments, the driven shaft is controlled to perform a continuous shearing action on the second material according to the second electronic cam curve. Specifically, the continuous shearing action means that the driven shaft, without returning to the mechanical origin or performing a complete stop reset, directly continues the current motion trend, seamlessly switching and entering the guided trajectory of the second electronic cam curve. Since the second electronic cam curve inherits the speed ratio state at the moment of switching and locks the coordinates of the second material, the programmable logic controller can directly issue new position commands to the drive motor, driving the driven shaft to smoothly transition to the acceleration or synchronization state for the second material, accurately completing the continuous shearing of subsequent materials.

[0142] Please see Figure 8 This is a schematic diagram illustrating the principle of adaptive electronic cam curve switching provided in an embodiment of this application.

[0143] In some embodiments, Figure 2 The specific execution logic of steps 203 to 205 shown can be combined with Figure 8 The motion trajectory shown is explained in detail. When the slave axis moves according to the initial electronic cam curve to the synchronization zone corresponding to the first material and the motion ends, the system will perform a critical condition judgment. For example... Figure 8 As shown at the bifurcation point of the solid and dashed lines, if a new material (i.e., the second material) position signal is detected within the preset sampling range, the original deceleration and regression action will no longer be executed. Instead, the system will immediately switch to the electronic cam curve backup table and begin running the new electronic cam curve (i.e., the second electronic cam curve). During this switching process, the system will record the current master-slave axis position as the initial position of the next curve segment and extract the current slope as the velocity boundary constraint. Since this is at the moment of the end of the synchronization zone, the master-slave axis speeds remain synchronized, thus the extracted initial slope is used. By combining the position signal of the second material to determine the starting position point of the synchronization zone of the next curve segment, and setting the slope at the start of synchronization at that point, the coefficients can be solved simultaneously using the preset cubic curve calculation method. Conversely, if... Figure 8 As shown by the downward-extending dashed line trajectory, if it is determined that there is no new material signal when the synchronous zone action ends, the control slave axis will complete the deceleration section of the current curve and then return to the origin to wait for the next material.

[0144] The adaptive electronic cam tracking shearing motion control method proposed in this application is applied to an electronic cam control system including a master shaft and a slave shaft. The method includes: firstly, acquiring mechanical parameters and the position signal of a first material to generate an initial electronic cam curve, and controlling the slave shaft to perform a tracking shearing action on the first material; then, at the end of the synchronous zone action corresponding to the first material, if there is a position signal of a second material within a preset sampling range, acquiring the slave shaft speed ratio at the current running position; finally, generating a second electronic cam curve based on the slave shaft speed ratio and the position signal of the second material, and controlling the slave shaft to perform a follow-up tracking shearing action on the second material. This application embodiment extracts the currently running slave shaft speed ratio in real time at the end of the synchronous zone of the initial tracking shearing, and directly uses this speed ratio to plan the follow-up curve, realizing the transition in speed between the two tracking shearing actions, avoiding the mechanical shock caused by the forced deceleration of the slave shaft; by dynamically planning the second electronic cam curve in combination with the position signal of the second material, the slave shaft can directly jump to the next tracking shearing cycle without returning to the mechanical origin, eliminating invalid empty runback and waiting time; combined with continuous follow-up shearing control, ensuring the continuity of action and trajectory accuracy under dense material receiving conditions. This method effectively solves the problems of frequent acceleration and deceleration and equipment idling caused by the need to return to the origin and restart after a single cut-off in traditional cam control. It can adapt to the dynamic changes in material spacing, thereby improving production efficiency.

[0145] This application also provides an adaptive electronic cam tracking shear motion control device, which can realize the above-described adaptive electronic cam tracking shear motion control method, see reference. Figure 9 The device includes:

[0146] The first acquisition module is used to acquire the mechanical parameters of the main shaft and the slave shaft, as well as the position signal of the first material, and to generate an initial electronic cam curve based on the mechanical parameters and the position signal.

[0147] The first control module is used to respond to the first material reaching the preset shearing position and control the slave shaft to perform a shearing action on the first material according to the initial electronic cam curve; wherein, the initial electronic cam curve includes an acceleration zone, a synchronization zone and a deceleration zone in sequence;

[0148] The second acquisition module is used to respond to the end of the synchronization zone action corresponding to the first material, and if there is a position signal of the second material within the preset sampling range, acquire the slave shaft speed ratio at the current running position of the slave shaft;

[0149] The generation module is used to generate a second electronic cam curve based on the shaft speed ratio and the position signal of the second material;

[0150] The second control module is used to control the slave shaft to perform continuous shearing action on the second material according to the second electronic cam curve.

[0151] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, the specific implementation of the adaptive electronic cam tracking shear motion control device is basically the same as the specific implementation of the adaptive electronic cam tracking shear motion control method described above, and will not be repeated here.

[0152] This application also provides an electronic device, including:

[0153] At least one memory;

[0154] At least one processor;

[0155] At least one program;

[0156] The program is stored in a memory, and the processor executes the at least one program to implement the adaptive electronic cam tracking shear motion control method described above. The electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), and in-vehicle computers.

[0157] Please see Figure 10 , Figure 10 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0158] The processor 1001 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0159] The memory 1002 can be implemented in the form of ROM (Read-Only Memory), static storage device, dynamic storage device, or RAM (Random Access Memory). The memory 1002 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1002 and is called and executed by the processor 1001 to execute the adaptive electronic cam tracking shear motion control method of the embodiments of this application.

[0160] Input / output interface 1003 is used to implement information input and output;

[0161] The communication interface 1004 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0162] Bus 1005 transmits information between various components of the device (e.g., processor 1001, memory 1002, input / output interface 1003, and communication interface 1004);

[0163] The processor 1001, memory 1002, input / output interface 1003 and communication interface 1004 are connected to each other within the device via bus 1005.

[0164] This application embodiment also provides a storage medium, which is a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the above-described adaptive electronic cam tracking shear motion control method.

[0165] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0166] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0167] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0168] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0169] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0170] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0171] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0172] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. The coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, or indirect coupling or communication connection between the apparatus or units, and may be electrical, mechanical, or other forms.

[0173] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0174] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0175] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0176] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. An adaptive electronic cam tracking shear motion control method, characterized in that, An electronic cam control system including a main shaft and a driven shaft, wherein the main shaft is used to convey material and the driven shaft is used to carry a shearing device and follow the main shaft to perform a shearing motion according to an electronic cam curve, the method comprising: The mechanical parameters of the main shaft and the slave shaft, as well as the position signal of the first material, are acquired, and an initial electronic cam curve is generated based on the mechanical parameters and the position signal. In response to the first material reaching a preset shearing position, the slave shaft is controlled to perform a shearing action on the first material according to the initial electronic cam curve; wherein, the initial electronic cam curve sequentially includes an acceleration zone, a synchronization zone, and a deceleration zone; In response to the end of the synchronization zone action corresponding to the first material, if a position signal of the second material exists within a preset sampling range, the slave shaft speed ratio at the current running position is obtained; wherein, after the end of the synchronization zone action corresponding to the first material, if a position signal of the second material does not exist within the preset sampling range, the method further includes: controlling the slave shaft to decelerate and return to the origin position to wait; during the return of the slave shaft to the origin position, in response to the detection of a position signal of the third material, the real-time absolute position of the master shaft and the real-time absolute position of the slave shaft are obtained in real time; combined with the derivative relationship of a preset cubic polynomial position mapping expression, the current running slope corresponding to the real-time absolute position of the master shaft is calculated, wherein the direction of the current running slope is negative; the real-time absolute position of the master shaft and the real-time absolute position of the slave shaft are used as the starting point coordinates of the continuation curve, and the current running slope is used as the initial slope of the continuation curve; based on the starting point coordinates, the initial slope, and the position signal of the third material, a continuation electronic cam curve is calculated and generated, and the slave shaft is controlled to execute the continuation electronic cam curve; Based on the slave shaft speed ratio and the position signal of the second material, a second electronic cam curve is generated, including: using the absolute position of the slave shaft and the absolute position of the master shaft at the current running position as the starting coordinates of the second electronic cam curve, and using the slave shaft speed ratio as the slope of the first key point of the second electronic cam curve; calculating the material sampling interval for continuous material arrival based on the position signals of the first material and the second material; subtracting the distance the master shaft has traveled when switching to the second electronic cam curve after the synchronization zone action ends from the material sampling interval to calculate the master shaft coordinates of the second key point in the second electronic cam curve; calculating the absolute distance from the previous electronic cam curve to the starting position of the synchronization zone when switching to the second electronic cam curve, and determining it as the slave shaft coordinate of the second key point in the second electronic cam curve; and fitting the master shaft coordinates and slave shaft coordinates of multiple successive key points to generate the second electronic cam curve. The slave shaft is controlled to perform a continuous shearing action on the second material according to the second electronic cam curve.

2. The adaptive electronic cam tracking shear motion control method according to claim 1, characterized in that, The mechanical parameters include the acceleration zone length and the synchronization zone length. The process of acquiring the mechanical parameters of the main shaft and the driven shaft, as well as the position signal of the first material, and generating an initial electronic cam curve based on the mechanical parameters and the position signal, includes: The starting point for shearing is determined based on the position signal of the first material. Based on the starting point of the tracking cut, the length of the acceleration zone, and the length of the synchronization zone, the principal axis coordinates and slave axis coordinates of the initial electronic cam curve at multiple key points corresponding to the boundaries of the acceleration zone, the synchronization zone, and the deceleration zone are calculated respectively. For the key points corresponding to the acceleration zone and the deceleration zone, the smooth segment position mapping data between the master axis and the slave axis is calculated based on a preset cubic polynomial curve; For the key points corresponding to the synchronization zone, the linear segment position mapping data between the master axis and the slave axis is calculated using a straight line calculation method; The initial electronic cam curve is generated by splicing the smooth segment position mapping data and the linear segment position mapping data according to the timing of the tracking and cutting actions.

3. The adaptive electronic cam tracking shear motion control method according to claim 2, characterized in that, The step of calculating the smooth segment position mapping data between the master axis and the slave axis based on a preset cubic polynomial curve for key points corresponding to the acceleration zone and the deceleration zone includes: Determine the starting control point and the ending control point corresponding to both ends of the acceleration zone and the deceleration zone; Obtain the absolute position of the master axis, the absolute position of the slave axis, and the running slope of the starting control point and the ending control point; Based on the absolute positions of the principal axis and the slave axis of the starting control point and the ending control point, a cubic polynomial position mapping equation is constructed between the principal axis and the slave axis. Based on the absolute position of the principal axis and the running slope of the starting control point and the ending control point, the first derivative equation of the cubic polynomial position mapping equation is constructed. Solve the cubic polynomial position mapping equation and the first derivative equation simultaneously to calculate the cubic term coefficients, quadratic term coefficients, linear term coefficients and constant term corresponding to the cubic polynomial, and generate the smooth segment position mapping data based on the solved cubic term coefficients, quadratic term coefficients, linear term coefficients and constant term.

4. The adaptive electronic cam tracking shear motion control method according to claim 1, characterized in that, The process of obtaining the mechanical parameters of the main shaft and the driven shaft includes: The system receives motion region definition parameters input by the user, including the length of the front waiting area of ​​the spindle, the length of the acceleration area, the length of the synchronization area, and the length of the rear waiting area of ​​the spindle. Receive user-input physical device operating parameters, including the single-turn pulse, single-turn distance, and rated speed of the master and slave shafts; The motion area definition parameters are combined and analyzed with the physical equipment operating parameters to determine the mechanical parameters of the main shaft and the slave shaft.

5. An adaptive electronic cam tracking shear motion control device, characterized in that, An electronic cam control system including a main shaft and a driven shaft, wherein the main shaft is used to convey material, and the driven shaft is used to mount a shearing device and follow the main shaft to perform a shearing motion according to an electronic cam curve, the device comprising: The first acquisition module is used to acquire the mechanical parameters of the main shaft and the slave shaft and the position signal of the first material, and to generate an initial electronic cam curve based on the mechanical parameters and the position signal; The first control module is used to control the slave shaft to perform a shearing action on the first material in response to the first material reaching a preset shearing position, according to the initial electronic cam curve; wherein the initial electronic cam curve includes an acceleration zone, a synchronization zone and a deceleration zone in sequence. The second acquisition module is used to, in response to the end of the synchronization zone action corresponding to the first material, if a position signal of the second material exists within a preset sampling range, acquire the slave shaft speed ratio at the current running position; wherein, after the end of the synchronization zone action corresponding to the first material, if no position signal of the second material exists within the preset sampling range, the device further includes: controlling the slave shaft to decelerate and return to the origin position to wait; during the operation of the slave shaft returning to the origin position, in response to the detection of a position signal of the third material, acquiring the current real-time master shaft absolute position and the real-time slave shaft absolute position of the slave shaft in real time; combining the derivative relationship of a preset cubic polynomial position mapping expression, calculating the current running slope corresponding to the real-time master shaft absolute position, wherein the direction of the current running slope is negative; using the real-time master shaft absolute position and the real-time slave shaft absolute position as the starting point coordinates of the continuation curve, and using the current running slope as the initial slope of the continuation curve; based on the starting point coordinates, the initial slope, and the position signal of the third material, calculating and generating a continuation electronic cam curve, and controlling the slave shaft to execute the continuation electronic cam curve; A generation module is used to generate a second electronic cam curve based on the slave shaft speed ratio and the position signal of the second material, including: using the absolute position of the slave shaft and the absolute position of the master shaft at the current running position as the starting coordinates of the second electronic cam curve, and using the slave shaft speed ratio as the slope of the first key point of the second electronic cam curve; calculating the material sampling interval for continuous material arrival based on the position signals of the first material and the second material; subtracting the distance already traveled by the master shaft when switching to the second electronic cam curve after the synchronization zone action ends from the material sampling interval to calculate the master shaft coordinates of the second key point in the second electronic cam curve; calculating the absolute distance from the previous electronic cam curve to the starting position of the synchronization zone when switching to the second electronic cam curve, and determining it as the slave shaft coordinate of the second key point in the second electronic cam curve; and fitting the master shaft coordinates and slave shaft coordinates of multiple successive key points to generate the second electronic cam curve. The second control module is used to control the slave shaft to perform continuous shearing action on the second material according to the second electronic cam curve.

6. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the adaptive electronic cam tracking shear motion control method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the adaptive electronic cam tracking shear motion control method according to any one of claims 1 to 4.

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