CN118568891B - Electronic cam curve generation method, system, and abnormal motion adjustment method - Google Patents
Electronic cam curve generation method, system, and abnormal motion adjustment method Download PDFInfo
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Abstract
本发明涉及工业控制与自动化技术领域中的一种电子凸轮曲线生成方法、系统、动作异常调整方法，包括以下步骤：获取包装膜的膜长、电子凸轮的非同步区长度以及电子凸轮的同步区长度；建立电子凸轮的速度曲线初始模型，其中，速度曲线初始模型为正弦函数或余弦函数；基于膜长、非同步区长度以及同步区长度与速度曲线初始模型的映射关系，得到速度曲线实际模型；基于速度曲线实际模型生成电子凸轮的位移曲线、加速度曲线、急动度曲线和跳动度曲线，解决了现有包装机飞剪过程中的电子凸轮曲线的机械稳定性较弱的问题。
The invention relates to an electronic cam curve generation method, system and abnormal action adjustment method in the field of industrial control and automation technology, comprising the following steps: obtaining the film length of a packaging film, the length of an asynchronous zone of an electronic cam and the length of a synchronous zone of the electronic cam; establishing an initial model of a speed curve of the electronic cam, wherein the initial model of the speed curve is a sine function or a cosine function; obtaining an actual model of the speed curve based on a mapping relationship between the film length, the length of the asynchronous zone and the length of the synchronous zone and the initial model of the speed curve; generating a displacement curve, an acceleration curve, a jerk curve and a runout curve of the electronic cam based on the actual model of the speed curve, thereby solving the problem of weak mechanical stability of the electronic cam curve in the flying shear process of an existing packaging machine.
Description
Technical Field
The invention relates to the technical field of industrial control and automation, in particular to an electronic cam curve generating method, an electronic cam curve generating system and an action abnormality adjusting method.
Background
Electronic cams are software systems that utilize a constructed cam curve to simulate a mechanical cam to achieve the same relative motion of the cam shaft between the main shafts of a mechanical cam system. The electronic cam is equivalent to an aggregate of countless mechanical cams of various types, and can be applied to various schemes only by carrying out parameter configuration.
As shown in figure 1, the working process of the flying shears of the packaging machine is that the cutter of the head part of the packaging machine moves circularly and moves in the same direction as the film of the object to be sheared, and the working process is actually a flying shears process, so that the speed of the cutter of the shearing mechanism needs to be changed to ensure that the shearing length corresponds to the length of the upper film. When the worker sets the moving speed for the packaging machine, the film is fed at a constant speed according to the set speed, and at the moment, the cutter needs to adjust the speed of the cutter to be corresponding to the length of the film. In the actual shearing process, a section of contact area is formed between the cutter and the film when the cutter is cut, the film and the cutter are in close contact, if the speeds of the cutter and the film are unequal, the film is blocked or torn by the cutter, so that the cutter and the film need to keep proper speed to pass through at a constant speed in the contact area, and the cutter does not need to be in contact in the non-contact area, so that the speed is not required, and the cutter can adjust the speed in the area.
The main flow scheme used in the existing packaging industry generally plans the motion curve of the cutter in the speed change area by a trapezoidal curve or a quintic equation curve, however, after the trapezoidal curve or the quintic equation curve is derived for many times, the continuity and the smoothness of the curve cannot be ensured, and the continuity and the smoothness of the derived curve influence the mechanical stability and the service life of the packaging machine, so that the electronic cam curve of the packaging machine needs to be further optimized.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a system for generating an electronic cam curve and a method for adjusting abnormal actions, which solve the problem of weaker mechanical stability of the electronic cam curve in the flying shear process of the existing packaging machine.
In order to solve the technical problems, the invention is solved by the following technical scheme:
an electronic cam curve generating method comprises the following steps:
Acquiring the film length of the packaging film, the length of a non-synchronous region of the electronic cam and the length of a synchronous region of the electronic cam;
establishing a speed curve initial model of the electronic cam, wherein the speed curve initial model is a sine function or a cosine function;
Obtaining a speed curve actual model based on the film length, the non-synchronous region length and the mapping relation between the synchronous region length and the speed curve initial model;
And generating a displacement curve, an acceleration curve, a jerk curve and a runout curve of the electronic cam based on the speed curve actual model.
Optionally, when the initial velocity curve model is a sine function, the acquiring of the actual velocity curve model includes the following steps:
Establishing a speed curve initial model expressed as a sine function, wherein the speed curve initial model expression is S '(t) =Asin (Bt+C) +D, wherein A represents a peak value, B represents a period value, C represents an initial phase value, D represents a constant, S' represents a speed, and t represents a spindle displacement;
taking the film length as a reference main shaft of a speed curve initial model, and establishing a speed mapping relation between the packaging film and the cutter;
acquiring a film feeding speed and a speed adjusting parameter of a packaging film, wherein the speed adjusting parameter is the ratio of the cutter speed to the film feeding speed in a synchronous zone of an electronic cam;
Calculating a synchronization zone angle based on the speed mapping relationship, the synchronization zone length, the speed adjustment parameters and the film length;
and calculating the peak value, the period value, the initial phase value and the constant of the initial model of the speed curve based on the speed mapping relation and the synchronous region angle to obtain the actual model of the speed curve.
Optionally, calculating the synchronization zone angle based on the speed mapping relation, the synchronization zone length, the speed adjustment parameter and the film length includes the following steps:
based on the speed mapping relation, quantifying the film length of a packaging film into one period of a sine function, and representing the current position of a main shaft by an angle of 0 to 2 pi;
Calculating the angle of the synchronous zone, wherein the calculation formula is as follows: Where τ represents the sync zone angle, V represents the sync zone length, M represents the film length, and r represents the speed adjustment parameter.
Optionally, calculating a peak value, a period value, an initial phase value and a constant of the velocity curve initial model based on the velocity mapping relation and the synchronous zone angle to obtain a velocity curve actual model, which comprises the following steps:
based on the speed mapping relation, obtaining D=A, and simultaneously calculating a period value and an initial phase value of a speed curve initial model, wherein, And acquiring the compensation displacement of the cutter of the electronic cam relative to the length of the packaging film after rotating for one circle, and obtaining the following simultaneous formula based on the relation between the compensation displacement and the initial model of the speed curve:
calculating to obtain a peak value A and a constant D, wherein S (t) represents the displacement relation of the electronic cam, L represents the compensation displacement, and the initial model of the speed curve is the first derivative of the displacement curve;
Substituting the peak value, the period value, the initial phase value and the constant into a speed curve initial model, and adding the cutter synchronous speed section by section into the speed initial model to obtain a speed curve actual model.
Optionally, when the initial velocity curve model is a cosine function, the acquiring of the actual velocity curve model includes the following steps:
Obtaining a speed curve actual model when the speed curve initial model is a sine function, converting an expression when the speed curve actual model is the sine function into a speed curve actual model expressed by a cosine function, and obtaining a speed curve actual model expression when the speed curve initial model is the cosine function, wherein the speed curve actual model expression is as follows:
Optionally, generating a displacement curve, an acceleration curve, a jerk curve and a jerk curve of the electronic cam based on the speed curve includes the following steps:
Integrating the speed curve actual model to obtain a displacement curve;
First-order deriving the actual model of the speed curve to obtain an acceleration curve;
second-order deriving the actual model of the speed curve to obtain a jerk curve;
and third-order derivation is carried out on the actual speed curve model to obtain a jitter curve.
An electronic cam motion abnormality adjustment method for handling motion abnormality problems generated by an electronic cam curve generated using the electronic cam curve generation method according to any one of the above, comprising the steps of:
Calculating the peak value speed of an actual model of the speed curve of the electronic cam, and judging the positive and negative of the peak value speed;
when the peak speed is a negative value, the abnormal problem of the speed curve is electronic cam reversion, and anti-reversion processing is carried out;
And when the peak speed is a positive value and the peak speed is greater than a maximum speed threshold, the abnormal problem of the speed curve is overspeed of the electronic cam, and the maximum speed limit processing is carried out.
Optionally, the anti-inversion processing includes the following steps:
the period of the curve part is shortened, the speed reduction process is accelerated, the shortened period is set to be 2 theta, the model curve part is divided into an acceleration part and a deceleration part, a section of stop interval is inserted in the middle, the size of the stop interval is 2 pi-tau-2 theta, and the corrected model is obtained as follows:
optionally, the maximum speed limit processing includes the following steps:
the period of the curve part is shortened to accelerate the acceleration process, the shortened period is set to be 2 theta, the model curve part is divided into an acceleration part and a deceleration part, a section of maximum speed interval is inserted in the middle, the interval size is 2 pi-tau-2 theta, and the corrected model is obtained as follows:
An electronic cam curve generating system that executes the electronic cam curve generating method of any one of the above, comprising a data acquisition unit, a model construction unit, a model generation unit, and a curve generation unit;
The acquiring unit is used for acquiring the film length of the packaging film, the non-synchronous area length of the electronic cam and the synchronous area length of the electronic cam;
The model construction unit is used for establishing a speed curve initial model of the electronic cam, wherein the speed curve initial model is a sine function or a cosine function;
the model generating unit is used for obtaining a speed curve actual model based on the film length, the non-synchronous area length and the mapping relation between the synchronous area length and the speed curve initial model;
The curve generating unit is used for generating a displacement curve, an acceleration curve, a jerk curve and a jerk curve of the electronic cam based on the speed curve actual model.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
The speed curve actual model in the electronic cam curve is set to be the expression mode of a sine function curve or a cosine function curve, so that the electronic cam curve after multiple derivation is ensured to be continuous and smooth, the stability of mechanical operation is ensured, the mechanical impact generated by the machine is smaller relative to a cubic curve, the noise is smaller relative to the cubic curve, and the service life of the machine is longer.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic diagram of the operation of a flying shear of a packaging machine;
FIG. 2 is an initial model diagram of a velocity profile in an electronic cam according to a first embodiment;
FIG. 3 is a graph showing the displacement curve, the velocity curve, the acceleration curve, the jerk curve and the jerk curve of a unit model generated by the sinusoidal cam and the quintic curve cam according to the first embodiment;
FIG. 4 is a schematic diagram showing an initial model of a speed curve of an electronic cam without reversing according to the fourth embodiment;
Fig. 5 is a schematic diagram of an initial model of a speed curve of an electronic cam after a reversing process according to a fourth embodiment;
Fig. 6 is a schematic diagram of an initial model of a speed curve of an electronic cam after passing through a maximum speed limit process according to the fourth embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following examples, which are illustrative of the present invention and are not intended to limit the present invention thereto.
Example 1
The electronic cam curve generating method comprises the following steps of obtaining film length of a packaging film, length of a non-synchronous region of an electronic cam and length of the synchronous region of the electronic cam, establishing a speed curve initial model of the electronic cam, wherein the speed curve initial model is a sine function or a cosine function, obtaining a speed curve actual model based on a mapping relation between the film length, the length of the non-synchronous region and the length of the synchronous region and the speed curve initial model, and generating a displacement curve, an acceleration curve, a jerk curve and a jerk curve of the electronic cam based on the speed curve actual model.
Specifically, the film length M of the packaging film and the length of the cutting knife needed to move when the cutting knife cuts off the packaging film are obtained, the length is marked as a non-synchronous zone length N, the length of a zone where the cutting knife contacts the film when the cutting knife cuts off the packaging film is marked as a synchronous zone knife length V, and meanwhile, the film feeding speed u and the speed adjusting parameter r are obtained, wherein the speed adjusting parameter is the ratio of the speed of the cutting knife of the synchronous zone of the electronic cam to the film feeding speed.
Then, an initial model of a velocity curve with the expression of S ' (t) =asin (bt+c) +d is established, wherein a is a peak value, B is a period value, C is an initial phase, D is a constant, S ' is a velocity, t is a spindle displacement, and S ' (t) is a velocity varying with the spindle displacement.
Further, a speed curve actual model is obtained based on the obtained correspondence between the film length, the length of the non-synchronous region and the initial model of the speed curve.
Specifically, as shown in fig. 2, a speed relationship between a packaging film and a cutter is established by taking the packaging film as a reference main shaft of an initial model of a speed curve, the film length of one packaging film is quantized into one period size of a sine function, the current position of the main shaft is expressed by an angle of 0 to 2 pi, and the synchronizing area angle corresponding to the corresponding synchronizing area length is as follows: Wherein V is the length of the cutter in contact with the film in the synchronization zone, where conversion to the corresponding length on the spindle film is required, and the speed of the cutter in the synchronization zone is r times that of the film, so that calculation The film length contacted by the synchronous zone knife film can be converted, then the ratio of the synchronous zone length in one film length is obtained by comparing the total film length, and finally the synchronous zone angle is obtained by multiplying the size of one period.
In the graph of the initial model of the speed curve, the abscissa x takes the angle travelled by the packaging film, and the ordinate s 'is the speed, then there is s= Σs', expressed as the distance travelled by the curve.
The following relationship can be obtained:
D=A。
Since the initial velocity profile model is used to compensate the displacement difference between the cutter and the film length, the compensation displacement L is calculated, and the calculation formula is l=n-m×r.
Further, the simultaneous formula is obtained:
Thereby calculating and obtaining peak value Wherein S (t) represents a displacement relation of the electronic cam, L represents compensation displacement, and the initial velocity curve model is a first derivative of a displacement curve.
Finally, a specific speed curve actual model of the non-synchronous area can be obtained by combining the model with relevant operation parameters of an actual packaging machine, and meanwhile, the cutter synchronous speed is added to obtain a complete speed curve actual model, wherein the cutter synchronous speed is u x r, and the obtained complete speed curve actual model formula is as follows:
Wherein A, B, C, D is further substituted into the above formula to obtain a speed curve actual model formula as follows:
After the speed curve actual model is obtained, the displacement curve, the acceleration curve, the jerk curve and the jerk curve of the electronic cam can be generated based on the speed curve; the method comprises the steps of obtaining an acceleration curve by a first-order derivative speed curve actual model, obtaining a jerk curve by a second-order derivative speed curve actual model, obtaining a jerk curve by a third-order derivative speed curve actual model, and reflecting the mechanical stability of an electronic cam curve through a displacement curve, the acceleration curve, the jerk curve and the jerk curve.
Specifically, in this embodiment, 1 is taken as the compensation displacement L, the cycle scale is 1, the unit cam model of the five-time curve and the sinusoidal curve of this embodiment is obtained, and the control performance of the two is compared to obtain a displacement curve comparison chart shown in fig. 3 (a), a velocity curve actual model comparison chart (i.e., velocity curve comparison chart) shown in fig. 3 (b), an acceleration curve comparison chart shown in fig. 3 (c), a jerk curve comparison chart shown in fig. 3 (d), and a jerk curve comparison chart shown in fig. 3 (e).
The image of the sine function curve is greatly different from the image of the cubic curve after the jerk curve, the cubic curve starts to become no longer smooth and continuous after the jerk curve, and the cubic curve is guided for five times at most, and the sine function curve can be guided in any way and can be obtained into a continuous and smooth curve after the derivation, so that the sine function curve has the characteristic of smoother movement than the cubic curve, the mechanical impact on a machine is smaller, the noise is lower, the mechanical stability is higher, and the service life of the machine can be prolonged.
Example two
The difference between the present embodiment and the first embodiment is that, when the velocity curve initial model is a cosine function, the obtaining of the velocity curve actual model includes the steps of obtaining the velocity curve actual model when the velocity curve initial model is a sine function, and converting the expression when the velocity curve actual model is a sine function into the velocity curve actual model expressed by the cosine function, to obtain the velocity curve actual model expression when the velocity curve initial model is a cosine function as follows:
On the other hand, when the initial velocity curve model is a cosine function, the actual velocity curve model may be obtained by referring to the push-to-go process of the first embodiment, and detailed description thereof is omitted in this embodiment.
Because the cosine function has the same characteristics as the sine function, the speed curve expressed as the cosine function in the embodiment can ensure smaller mechanical impact and lower noise, namely higher mechanical stability, generated by the machine when applied to the packaging machine for running, and further can prolong the service life of the machine.
Example III
The embodiment also provides an action abnormality adjustment method of the electronic cam, which is used for solving the action abnormality problem generated by the electronic cam curve generating method according to any one of the first embodiment to the second embodiment, and comprises the following steps of calculating the peak speed of an actual model of the speed curve of the electronic cam and judging the positive and negative of the peak speed; when the peak value speed is a negative value, the abnormal problem of the speed curve is electronic cam inversion, anti-inversion processing is carried out, and when the peak value speed is a positive value and the peak value speed is greater than the maximum speed threshold, the abnormal problem of the speed curve is electronic cam overspeed, and maximum speed limiting processing is carried out.
Wherein, the anti-reverse process comprises the following steps:
the period of the curve part is shortened, the speed reduction process is accelerated, the shortened period is set to be 2 theta, the model curve part is divided into an acceleration part and a deceleration part, a section of stop interval is inserted in the middle, the size of the stop interval is 2 pi-tau-2 theta, and the corrected model is obtained as follows:
The process of obtaining the correction model is as follows:
Referring to the deceleration portion pattern shown in fig. 5, it can be seen that:
Peak value a of the cosine curve with 2 times of the highest and lowest point values, and 2a=u×r can be found from the model diagram;
The cosine period is scaled to 2θ;
right shift after scaling by standard cosine Obtained.
The diameter of the circumscribing circle where the cutter is positioned is Z, and the length of the cutter (the length of the cutter which is passed by the end of the cutter in fig. 1) is Z pi, thereby obtaining
As can be seen from the accelerating part diagram in fig. 5:
finally, the value is brought into the general expression of the correction model, which is (theta is not brought into):
on the other hand, the maximum speed limit processing includes the steps of:
the period of the curve part is shortened to accelerate the acceleration process, the shortened period is set to be 2 theta, the model curve part is divided into an acceleration part and a deceleration part, a section of maximum speed interval is inserted in the middle, the interval size is 2 pi-tau-2 theta, and the corrected model is obtained as follows:
the process for obtaining the correction model of the maximum speed limit processing is as follows:
referring to the acceleration portion graph shown in fig. 6, it is possible to:
The peak value A of the highest point and the lowest point of the cosine curve is 2 times different, and the distance between the highest point and the lowest point of the cosine curve is equal to U max -U x r;
The cosine period is scaled to 2θ;
the diameter of the circumscribing circle where the cutter is positioned is Z, and the length of the cutter (the length of the cutter which is passed by the end of the cutter cut once shown in figure 1) is Z pi, thereby obtaining
As can be seen from the diagram of the deceleration part in fig. 6:
finally, the value is brought into the general expression of the correction model, which is (theta is not brought into):
As shown in fig. 4, since the speeds are allowed to be less than 0 in the sine function and the cosine function, and the maximum speed can be unlimited (determined by the peak speed of the sine function or the cosine function), when the speed curve expressed as the sine function or the sine function is actually applied in the electronic cam curve, the electronic cam is inverted when the speed is reduced to a negative value, so that the actual packaging machine is abnormal in operation when the film is cut, and on the other hand, the electronic cam has a maximum speed limit, and the positive peak value is higher than the maximum speed limit, so that the actual packaging machine is abnormal in operation when the film is cut.
Therefore, in order to avoid the above-mentioned abnormality, the present embodiment proposes a way to solve the above-mentioned abnormality, specifically, to calculate the peak speed, wherein the peak speed has a calculation formula of a+d+u×r, and the peak speed is determined to be less than 0, and then it is determined whether the speed curve is inverted, and then it is determined whether the peak speed is greater than the maximum speed limit, and then it is known whether the speed is exceeded, without performing additional calculation.
Fig. 5 shows an actual model of a speed curve of an electronic cam after the reversal processing, wherein the speed curve after the reversal processing is in one period, and a running process of a synchronous zone, an electronic cam speed reduction, an electronic cam stop, an electronic cam acceleration and a synchronous zone is passed, so that the operation of the electronic cam is ensured to be normal, and finally, the obtained actual model of the speed curve of the electronic cam in one complete period is shown in fig. 6, and the actual model of the speed curve of the electronic cam after the maximum speed limit processing is shown in fig. 6, and the speed curve after the maximum speed limit processing is in one period, and the running process of the synchronous zone, the electronic cam speed acceleration, the electronic cam uniform speed, the electronic cam speed reduction and the synchronous zone is passed, so that the operation of the electronic cam is ensured to be normal, and finally, the obtained actual model of the speed curve of the electronic cam in one complete period is obtained.
Where τ represents the synchronization zone angle, θ represents the duty ratio of the cam acceleration or deceleration portion, in this embodiment, the die line speed of the synchronization zone is set to u, and the cutter line speed of the cutter in the synchronization zone is set to r times the die line speed, that is, the speed is set to u×r.
On the other hand, as shown in fig. 5, in the present embodiment, the running speed of the electronic cam and the packaging film in the synchronization zone is set to be close to the film feeding speed of the packaging film, because the packaging film should be kept at the same linear speed in the contact area (equivalent to the synchronization zone) of the packaging film and the cutter in theory to ensure that the packaging film is not pulled by the cutter, but in practical application, because of the problems of mechanical precision and the cutter structure (the cutter is operated in a rotating mode, and the linear speed direction of the section is changed), the effect of completely conforming the cutter speed to the film speed is not as good as the theoretical cutting effect, so in the synchronization zone, the speed of the cutter needs to be set to be adjustable, in the present embodiment, the linear speed of the cutter is set to be r times the linear speed of the film, and when the practical application r takes 0.8-0.9, the packaging effect is optimal.
Example IV
The electronic cam curve generating system comprises a data acquisition unit, a model construction unit, a model generating unit and a curve generating unit, wherein the acquisition unit is used for acquiring the film length of a packaging film, the length of a non-synchronous region of an electronic cam and the length of the synchronous region of the electronic cam, the model construction unit is used for establishing a speed curve initial model of the electronic cam, the speed curve initial model is a sine function or a cosine function, the model generating unit is used for obtaining a speed curve actual model based on the film length, the length of the non-synchronous region and the mapping relation between the length of the synchronous region and the speed curve initial model, and the curve generating unit is used for generating a displacement curve, an acceleration curve, a jerk curve and a jerk curve of the electronic cam based on the speed curve actual model.
Since the electronic cam curve generating system executes the electronic cam curve generating method according to any one of the first to second embodiments, a repetitive description is omitted in this embodiment.
While the invention has been described with respect to preferred embodiments thereof, it will be understood by those skilled in the art that various modifications and additions may be made without departing from the scope of the invention. Those skilled in the art will appreciate that many modifications, adaptations and variations of the present invention can be made using the techniques disclosed herein without departing from the spirit and scope of the invention, and that many modifications, adaptations and variations of the present invention are within the scope of the invention as defined by the appended claims.
Claims (10)
1. The electronic cam curve generating method is characterized by comprising the following steps of:
Acquiring the film length of the packaging film, the length of a non-synchronous region of the electronic cam and the length of a synchronous region of the electronic cam;
establishing a speed curve initial model of the electronic cam, wherein the speed curve initial model is a sine function or a cosine function;
The method comprises the steps of obtaining a speed curve actual model based on the film length, the non-synchronous area length and the mapping relation between the synchronous area length and a speed curve initial model, specifically, establishing a speed relation between a packaging film and a cutter by taking the packaging film as a reference main shaft of the speed curve initial model, quantifying the film length of one packaging film to be one period size of a sine function or a cosine function, expressing the current position of the main shaft by an angle of 0 to 2 pi, calculating the synchronous area angle corresponding to the corresponding synchronous area length, taking the main shaft as the abscissa of a curve graph of the speed curve initial model, taking the speed as the ordinate, and integrating the speed as the relation of curve displacement, and obtaining a compensation displacement calculation formula I according to the non-synchronous area length, the film length and the speed adjustment parameter, wherein the compensation displacement calculation formula I is L=N-M, N represents the length of the non-synchronous area, and M represents the speed adjustment parameter, and simultaneously obtaining a compensation displacement calculation formula II according to the curve displacement relation, wherein the compensation displacement calculation formula II is as follows: The method comprises the steps of obtaining a speed curve actual model when the speed curve initial model is a sine function, converting an expression when the speed curve actual model is the sine function into a speed curve actual model expressed by a cosine function, and obtaining a speed curve actual model expression when the speed curve initial model is the cosine function;
And generating a displacement curve, an acceleration curve, a jerk curve and a runout curve of the electronic cam based on the speed curve actual model.
2. The method of generating an electronic cam curve according to claim 1, wherein when the initial velocity curve model is a sine function, the acquisition of the actual velocity curve model includes the steps of:
Establishing a speed curve initial model expressed as a sine function, wherein the speed curve initial model expression is S '(t) =Asin (Bt+C) +D, wherein A represents a peak value, B represents a period value, C represents an initial phase value, D represents a constant, S' represents a speed, and t represents a spindle displacement;
taking the film length as a reference main shaft of a speed curve initial model, and establishing a speed mapping relation between the packaging film and the cutter;
acquiring a film feeding speed and a speed adjusting parameter of a packaging film, wherein the speed adjusting parameter is the ratio of the cutter speed to the film feeding speed in a synchronous zone of an electronic cam;
Calculating a synchronization zone angle based on the speed mapping relationship, the synchronization zone length, the speed adjustment parameters and the film length;
and calculating the peak value, the period value, the initial phase value and the constant of the initial model of the speed curve based on the speed mapping relation and the synchronous region angle to obtain the actual model of the speed curve.
3. The method of generating an electronic cam curve according to claim 2, wherein the step of calculating the synchronization zone angle based on the speed map, the synchronization zone length, the speed adjustment parameter, and the film length comprises the steps of:
based on the speed mapping relation, quantifying the film length of a packaging film into one period of a sine function, and representing the current position of a main shaft by an angle of 0 to 2 pi;
Calculating the angle of the synchronous zone, wherein the calculation formula is as follows: Wherein τ represents the sync zone angle, V represents the sync zone knife length, M represents the film length, and r represents the speed adjustment parameter.
4. The method for generating an electronic cam curve according to claim 2, wherein calculating a peak value, a period value, an initial phase value, and a constant of an initial model of a velocity curve based on the velocity map and the synchronization zone angle, and obtaining an actual model of the velocity curve, comprises the steps of:
based on the speed mapping relation, obtaining D=A, and simultaneously calculating a period value and an initial phase value of a speed curve initial model, wherein,
And acquiring the compensation displacement of the cutter of the electronic cam relative to the length of the packaging film after rotating for one circle, and obtaining the following simultaneous formula based on the relation between the compensation displacement and the initial model of the speed curve:
Calculating to obtain peak value Wherein S (t) represents a displacement relation of the electronic cam, L represents compensation displacement, and the initial model of the speed curve is a first derivative of the displacement curve;
substituting the peak value, the period value, the initial phase value and the constant into a speed curve initial model, and superposing the cutter synchronous speed into the speed initial model to obtain a speed curve actual model:
5. the method of generating an electronic cam curve according to claim 4, wherein when the initial velocity curve model is a cosine function, the acquisition of the actual velocity curve model includes the steps of:
Obtaining a speed curve actual model when the speed curve initial model is a sine function, converting an expression when the speed curve actual model is the sine function into a speed curve actual model expressed by a cosine function, and obtaining a speed curve actual model expression when the speed curve initial model is the cosine function, wherein the speed curve actual model expression is as follows:
6. the method of generating an electronic cam curve according to any one of claims 1 to 5, characterized in that generating a displacement curve, an acceleration curve, a jerk curve, and a jerk curve of the electronic cam based on the speed curve, comprises the steps of:
Integrating the speed curve actual model to obtain a displacement curve;
First-order deriving the actual model of the speed curve to obtain an acceleration curve;
second-order deriving the actual model of the speed curve to obtain a jerk curve;
and third-order derivation is carried out on the actual speed curve model to obtain a jitter curve.
7. An electronic cam motion abnormality adjustment method for handling motion abnormality problems generated using the electronic cam curve generated by the electronic cam curve generation method according to any one of claims 1 to 6, comprising the steps of:
Calculating the peak value speed of an actual model of the speed curve of the electronic cam, and judging the positive and negative of the peak value speed;
when the peak speed is a negative value, the abnormal problem of the speed curve is electronic cam reversion, and anti-reversion processing is carried out;
And when the peak speed is a positive value and the peak speed is greater than a maximum speed threshold, the abnormal problem of the speed curve is overspeed of the electronic cam, and the maximum speed limit processing is carried out.
8. The method for adjusting abnormal operation of an electronic cam according to claim 7, wherein the anti-reverse process comprises the steps of:
the period of the curve part is shortened, the speed reduction process is accelerated, the shortened period is set to be 2 theta, the model curve part is divided into an acceleration part and a deceleration part, a section of stop interval is inserted in the middle, the size of the stop interval is 2 pi-tau-2 theta, and the corrected model is obtained as follows:
9. the method for adjusting abnormal operation of an electronic cam according to claim 7, wherein the maximum speed limit processing comprises the steps of:
the period of the curve part is shortened to accelerate the acceleration process, the shortened period is set to be 2 theta, the model curve part is divided into an acceleration part and a deceleration part, a section of maximum speed interval is inserted in the middle, the interval size is 2 pi-tau-2 theta, and the corrected model is obtained as follows:
10. An electronic cam curve generating system, characterized in that the electronic cam curve generating system performs the electronic cam curve generating method according to any one of claims 1 to 6, comprising a data acquisition unit, a model construction unit, a model generation unit, and a curve generation unit;
The acquiring unit is used for acquiring the film length of the packaging film, the non-synchronous area length of the electronic cam and the synchronous area length of the electronic cam;
The model construction unit is used for establishing a speed curve initial model of the electronic cam, wherein the speed curve initial model is a sine function or a cosine function;
the model generating unit is used for obtaining a speed curve actual model based on the film length, the non-synchronous area length and the mapping relation between the synchronous area length and the speed curve initial model;
The curve generating unit is used for generating a displacement curve, an acceleration curve, a jerk curve and a jerk curve of the electronic cam based on the speed curve actual model.
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