CN113625657B

CN113625657B - Motion control method and device based on electronic cam curve

Info

Publication number: CN113625657B
Application number: CN202110950641.3A
Authority: CN
Inventors: 黄海飞; 尚波; 杜肖丰; 杨志朋
Original assignee: Shenzhen Invt Electric Co Ltd
Current assignee: Shenzhen Invt Electric Co Ltd
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2022-12-16
Anticipated expiration: 2041-08-18
Also published as: CN113625657A

Abstract

The invention discloses a motion control method and a device based on an electronic cam curve, which can determine the motion position of a driving shaft and determine the target motion position of a corresponding driven shaft based on an electronic cam position corresponding curve, wherein the electronic cam position corresponding curve comprises an asynchronous stage curve, the asynchronous stage curve at least comprises a first part of sub-stage curve and/or a second part of sub-stage curve, the first part of sub-stage curve can be formed by sequentially connecting a first variable deceleration sub-stage curve, a constant deceleration sub-stage curve and a first variable acceleration sub-stage curve, and the second part of sub-stage curve is formed by sequentially connecting a second variable acceleration sub-stage curve, a constant acceleration sub-stage curve and a second variable deceleration sub-stage curve to control the driven shaft to move to the target motion position. The curve corresponding to the position of the electronic cam provided by the invention can effectively enrich the curve style of the electronic cam, thereby effectively realizing the motion control function required by more motion control scenes.

Description

Motion control method and device based on electronic cam curve

Technical Field

The invention relates to the technical field of motion control, in particular to a motion control method and device based on an electronic cam curve.

Background

With the development of science and technology, the motion control technology is continuously improved.

The mechanical cam is a solid mechanism which can enable a driving shaft and a driven shaft to meet a specific position relation in the motion process, and can be widely applied to the motion control fields of chasing shears, flying shears, labeling and the like. The mechanical cam has the problems that the design and manufacture difficulty is high, the manufacture precision is difficult to meet the motion control requirement, the mechanical cam is easy to wear during motion, and the like, so the mechanical cam is gradually replaced by the electronic cam.

The electronic cam is a control system that can realize that the driving shaft and the driven shaft satisfy a specific positional relationship by generating an electronic cam curve in which the correspondence relationship between the movement positions of the driving shaft and the driven shaft is recorded.

The electronic cam curve can be divided into a synchronous phase curve and an asynchronous phase curve. In the synchronization phase curve, the speeds of the driving shaft and the driven shaft can be kept consistent; the slave axis may complete the target action in the synchronized phase, after which the slave axis may enter the unsynchronized phase in preparation for the next target action. For example, in the chasing and shearing control process, the driving shaft can be a feeding shaft, the driven shaft can be a shearing part, the driven shaft can complete shearing action in a synchronous stage to shear a material with a designated length, and then the driven shaft can enter an asynchronous stage to prepare for next shearing action.

It should be noted that, derivation is performed on the equation expression of the electronic cam curve, and the equation expression of the relation curve between the main shaft speed ratio (the ratio of the driven shaft speed to the driving shaft speed) and the main shaft position can be obtained; derivation is performed on the equation expression of the relation curve of the speed ratio of the main shaft and the position of the main shaft, and the equation expression of the relation curve of the acceleration ratio of the main shaft (the ratio of the acceleration of the driven shaft to the acceleration of the driving shaft) and the position of the main shaft can be obtained.

However, the current electronic cam curve patterns are few and cannot meet the requirements of various motion control scenes.

Disclosure of Invention

In view of the above problems, the present invention provides a method and a device for motion control based on an electronic cam curve, which overcome or at least partially solve the above problems, and the technical solution is as follows:

a method of motion control based on an electronic cam curve, the method comprising:

determining the current motion position of the driving shaft;

determining a target motion position of a driven shaft matched with the current motion position of the driving shaft based on a preset electronic cam position corresponding curve, wherein the electronic cam position corresponding curve comprises an asynchronous stage curve, and the asynchronous stage curve at least comprises a first part of sub-stage curve and/or a second part of sub-stage curve; the first part of sub-stage curve is formed by sequentially connecting a first variable deceleration sub-stage curve, a constant deceleration sub-stage curve and a first variable acceleration sub-stage curve, and the second part of sub-stage curve is formed by sequentially connecting a second variable acceleration sub-stage curve, a constant acceleration sub-stage curve and a second variable deceleration sub-stage curve;

and controlling the driven shaft to move to the target movement position.

Optionally, the non-synchronous phase curve is formed by sequentially connecting the first part of sub-phase curve, the constant speed sub-phase curve and the second part of sub-phase curve.

Optionally, when the unsynchronized phase curve is formed by sequentially connecting the first part of sub-phase curve, the constant-speed sub-phase curve and the second part of sub-phase curve, the unsynchronized phase curve is a centrosymmetric curve, and a midpoint of the constant-speed sub-phase curve is a symmetric center of the unsynchronized phase curve.

Optionally, the first part of sub-phase curve and the second part of sub-phase curve are both axisymmetric curves;

and the symmetrical axis of the first part of sub-stage curve is a vertical line where the midpoint of the constant deceleration sub-stage curve is located, and the symmetrical axis of the second variable acceleration and deceleration sub-stage curve is a vertical line where the midpoint of the constant acceleration sub-stage curve is located.

Optionally, the first part of sub-phase curve and the second part of sub-phase curve are both generated based on the non-synchronized phase curve before adjustment;

the curve of the non-synchronous stage before adjustment is a curve corresponding to the motion position of the slave main shaft corresponding to the trapezoidal acceleration and deceleration curve, and the curve of the non-synchronous stage before adjustment is formed by sequentially connecting a sub-stage curve of constant deceleration before adjustment, a sub-stage curve of constant speed before adjustment and a sub-stage curve of constant acceleration before adjustment;

wherein the first portion sub-phase curve is generated based on the pre-adjustment constant deceleration sub-phase curve; the second partial sub-phase curve is generated based on the pre-conditioning constant acceleration sub-phase curve.

Optionally, the second derivative curve of the non-synchronous stage curve is a continuous variation curve.

Optionally, the quadratic derivation equations of each sub-stage curve in the variable acceleration and deceleration sub-stage curves are cubic polynomial equations; wherein, the variable acceleration and deceleration sub-stage curve comprises: the first variable deceleration sub-phase curve, the first variable acceleration sub-phase curve, the second variable acceleration sub-phase curve, and the second variable deceleration sub-phase curve.

Optionally, when the asynchronous phase curve is formed by sequentially connecting the first part of sub-phase curve, the constant speed sub-phase curve, and the second part of sub-phase curve, the equation of the curve corresponding to the position of the electronic cam includes at least one adjustable motion parameter, and each adjustable motion parameter includes: the method comprises the following steps of (1) periodically shifting a driving shaft, operating duration of a synchronous stage, a non-synchronous maximum speed limit value of a driven shaft, a first proportional parameter and/or a second proportional parameter;

the first proportional parameter is the ratio of the displacement of the driving shaft in the constant speed sub-stage curve to the displacement of the driving shaft in the asynchronous stage curve;

the second proportion parameter is the displacement of the driving shaft in a variable acceleration and deceleration sub-stage curve, and accounts for the ratio of the displacement of the driving shaft in the acceleration and deceleration sub-stage curve;

wherein, the variable acceleration and deceleration sub-stage curve comprises: the first variable deceleration sub-stage curve, the first variable acceleration sub-stage curve, the second variable acceleration sub-stage curve, and the second variable deceleration sub-stage curve;

wherein, the acceleration and deceleration subphase curve comprises: the variable acceleration and deceleration sub-phase curve, the constant deceleration sub-phase curve and the constant acceleration sub-phase curve.

Optionally, when the non-synchronous phase curve is formed by sequentially connecting the first part of sub-phase curve, the constant speed sub-phase curve, and the second part of sub-phase curve, the method further includes:

determining at least one adjustable motion parameter input by a user;

determining key point information of a plurality of key points matched with each adjustable motion parameter, wherein each key point is an end point of each sub-stage curve;

determining a quadratic derivation equation of each sub-stage curve in the variable acceleration and deceleration sub-stage curves respectively based on the key point information of each key point;

and determining a cubic equation of each sub-stage curve in the variable acceleration and deceleration sub-stage curve based on the quadratic derivation equation of each sub-stage curve in the variable acceleration and deceleration sub-stage curve.

An electronic cam curve based motion control apparatus, the apparatus comprising: a first determination unit, a second determination unit and a control unit;

the first determination unit is configured to perform: determining the current motion position of the driving shaft;

the second determination unit configured to perform: determining a target motion position of a driven shaft matched with the current motion position of the driving shaft based on a preset electronic cam position corresponding curve, wherein the electronic cam position corresponding curve comprises an asynchronous stage curve, and the asynchronous stage curve at least comprises a first part of sub-stage curve and/or a second part of sub-stage curve; the first part of sub-stage curve is formed by sequentially connecting a first variable deceleration sub-stage curve, a constant deceleration sub-stage curve and a first variable acceleration sub-stage curve, and the second part of sub-stage curve is formed by sequentially connecting a second variable acceleration sub-stage curve, a constant acceleration sub-stage curve and a second variable deceleration sub-stage curve;

the control unit configured to perform: and controlling the driven shaft to move to the target movement position.

The invention provides a motion control method and a motion control device based on an electronic cam curve, which can determine the current motion position of a driving shaft, and determine the target motion position of a driven shaft matched with the current motion position of the driving shaft based on a preset electronic cam position corresponding curve, wherein the electronic cam position corresponding curve comprises an asynchronous stage curve, the asynchronous stage curve at least comprises a first part of sub-stage curve and/or a second part of sub-stage curve, the first part of sub-stage curve can be formed by sequentially connecting a first variable deceleration sub-stage curve, a constant deceleration sub-stage curve and a first variable acceleration sub-stage curve, and the second part of sub-stage curve is formed by sequentially connecting a second variable acceleration sub-stage curve, a constant acceleration sub-stage curve and a second variable deceleration sub-stage curve to control the driven shaft to move to the target motion position. The curve corresponding to the position of the electronic cam provided by the invention can effectively enrich the curve style of the existing electronic cam, thereby effectively realizing the motion control function required by more motion control scenes.

The foregoing description is only an overview of the technical solutions of the present invention, and the following detailed description of the present invention is provided to enable the technical means of the present invention to be more clearly understood, and to enable the above and other objects, features, and advantages of the present invention to be more clearly understood.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only the embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a flowchart illustrating a first method for motion control based on an electronic cam curve according to an embodiment of the present invention;

FIG. 2 illustrates an electronic cam position profile and corresponding slave spindle speed ratio profile and slave spindle acceleration ratio profile provided by an embodiment of the present invention;

FIG. 3 shows an electronic cam curve, a slave spindle speed ratio variation curve and a slave spindle acceleration ratio variation curve corresponding to a trapezoidal acceleration/deceleration curve provided by an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a first motion control device based on an electronic cam curve according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

As shown in fig. 1, the present embodiment proposes a first motion control method based on an electronic cam curve. The method may comprise the steps of:

s101, determining the current movement position of a driving shaft;

the driving shaft can be a feeding shaft which is controlled by an encoder in a motion mode, and can also be a feeding shaft which is controlled by other modes, such as an Ethercat bus control servo shaft. It should be noted that the present invention is not limited to the type of the drive shaft.

The invention can monitor the motion position of the driving shaft in real time in the motion process of the driving shaft.

Specifically, the present invention can read the current position of the spindle by reading the encoder pulse mode or by the bus. The present invention does not limit the manner in which the position of the drive shaft is monitored.

It should be noted that the motion law of the driving shaft in the motion process is not limited in the present invention.

S102, determining a target motion position of a driven shaft matched with the current motion position of a driving shaft based on a preset electronic cam position corresponding curve, wherein the electronic cam position corresponding curve comprises an asynchronous stage curve, and the asynchronous stage curve at least comprises a first part of sub-stage curve and/or a second part of sub-stage curve; the first part of sub-stage curves can be formed by sequentially connecting a first variable deceleration sub-stage curve, a constant deceleration sub-stage curve and a first variable acceleration sub-stage curve, and the second part of sub-stage curves can be formed by sequentially connecting a second variable acceleration sub-stage curve, a constant acceleration sub-stage curve and a second variable deceleration sub-stage curve;

the electronic cam position corresponding curve can be a curve recorded with the corresponding relation of the motion positions of the driven shaft and the driving shaft.

The electronic cam position corresponding curve may include an asynchronous phase curve and a synchronous phase curve. In the curve of the asynchronous stage, the motion speeds of the driving shaft and the driven shaft are not consistent; in the synchronization phase curve, the motion speeds of the driving shaft and the driven shaft can be kept consistent.

It should be noted that, in general, the asynchronous-phase curve in the electronic cam curve adopted in the prior art may be a curve corresponding to a certain fifth-order polynomial equation.

The electronic cam position corresponding curves adopted in the present embodiment may include at least a first part of sub-phase curves and/or a second part of sub-phase curves. The equations of the sub-phase curves in the first part of sub-phase curves may be different equations, and the equations of the sub-phase curves in the second part of sub-phase curves may also be different equations. For example, in the first portion of the sub-phase curve, the equation of the first variable deceleration sub-phase curve may be a first equation, and the equation of the constant deceleration sub-phase curve may be a second equation; for another example, in the second part of the sub-phase curve, the equation of the second variable acceleration sub-phase curve may be a third equation, and the equation of the constant acceleration sub-phase curve may be a fourth equation.

Optionally, the non-synchronized phase curve may also include a constant velocity sub-phase curve.

Optionally, the non-synchronous phase curve is formed by sequentially connecting a first part of sub-phase curves, a constant speed sub-phase curve and a second part of sub-phase curves. At this time, the non-synchronized step curve in the electronic cam position correspondence curve may be composed of a first variable deceleration sub-step curve, a constant deceleration sub-step curve, a first variable acceleration sub-step curve, a constant velocity sub-step curve, a second variable acceleration sub-step curve, a constant acceleration sub-step curve, and a second variable deceleration sub-step curve in this order.

Alternatively, the non-synchronized phase curve in the electronic cam position correspondence curve may include only the first portion of the sub-phase curve and the constant velocity sub-phase curve, and not the second portion of the sub-phase curve;

alternatively, the non-synchronized phase curve of the electronic cam position correspondence curve may include only the constant speed sub-phase curve and the second portion of the sub-phase curve, and not the first portion of the sub-phase curve.

Specifically, each sub-phase curve in the asynchronous phase curve may be a sub-phase curve in a certain variation phase from the main shaft speed ratio or from the main shaft acceleration ratio. For example, the first variable deceleration subphase curve may be a subphase curve that is a variable negative from the primary axis acceleration ratio; for another example, the constant deceleration sub-phase curve may be a sub-phase curve with a constant negative acceleration ratio from the main axis; for another example, the constant velocity sub-phase curve may be a sub-phase curve that remains constant from the spindle speed ratio; for another example, the second variable acceleration sub-phase curve may be a sub-phase curve that has a variable positive value from the principal axis acceleration ratio.

It can be understood that, when the driving shaft is in a uniform motion state in the whole motion cycle, each sub-phase curve in the non-synchronous phase curve may be a sub-phase curve in which the motion state of the driven shaft is in a corresponding phase. For example, when the driving shaft moves at a constant speed, the first deceleration sub-stage curve may be a sub-stage curve in which the driven shaft is in a deceleration-variable motion stage, that is, the acceleration of the driven shaft is a variable negative value; for another example, when the driving shaft moves at a constant speed, the constant deceleration sub-stage curve may be a sub-stage curve in which the driven shaft is in a constant deceleration moving stage, that is, the acceleration of the driven shaft is a constant negative value; for another example, when the driving shaft moves at a constant speed, the constant speed sub-stage curve may be a sub-stage curve in which the moving speed of the driven shaft is not changed.

Optionally, in the second motion control method based on an electronic cam curve provided in this embodiment, when the asynchronous stage curve is formed by sequentially connecting a first part of sub-stage curve, a constant speed sub-stage curve, and a second part of sub-stage curve, the asynchronous stage curve is a centrosymmetric curve, and a midpoint of the constant speed sub-stage curve is a symmetric center of the asynchronous stage curve.

It will be appreciated that when the non-synchronous phase curve is a centrosymmetric curve and the midpoint of the constant velocity sub-phase curve is the center of symmetry of the non-synchronous phase curve, the first and second sub-phase curves may be centrosymmetric about the midpoint of the constant velocity sub-phase curve.

Optionally, in a third motion control method based on an electronic cam curve provided in this embodiment, both the first part of sub-stage curve and the second part of sub-stage curve are axisymmetric curves;

the symmetric axis of the first part of the sub-stage curve is a vertical line where the midpoint of the constant deceleration sub-stage curve is located, and the symmetric axis of the second variable acceleration and deceleration sub-stage curve is a vertical line where the midpoint of the constant acceleration sub-stage curve is located.

At this time, in the first partial sub-step curve, the first variable deceleration sub-step curve and the first variable acceleration sub-step curve may be axisymmetric with respect to a vertical line on which a midpoint of the constant deceleration sub-step curve is located; in the second partial sub-phase curve, the second variable acceleration sub-phase curve and the second variable deceleration sub-phase curve may be axisymmetric with respect to a vertical line on which a midpoint of the constant acceleration sub-phase curve is located.

Alternatively, as shown in fig. 2, in a fourth motion control method based on an electronic cam curve proposed in this embodiment, the electronic cam position corresponding curve may include the curve features expressed in the second and third motion control methods based on an electronic cam curve.

As shown in fig. 2, the electronic cam position correspondence curves may include a synchronized phase curve and an unsynchronized phase curve. Wherein, the synchronization stage curve may be a synchronization region uniform velocity section L8 section curve (i.e. a synchronization region); the first part of sub-phase curve in the non-synchronous phase curve may be formed by sequentially connecting a first variable deceleration sub-phase curve (i.e., a variable deceleration section L1 section curve), a constant deceleration sub-phase curve (i.e., a constant deceleration section L2 section curve) and a first variable acceleration sub-phase curve (i.e., a variable acceleration section L3 section curve), the constant velocity sub-phase curve in the non-synchronous phase curve may be a constant velocity section L4 section curve, and the second part of sub-phase curve in the non-synchronous phase curve may be formed by sequentially connecting a second variable acceleration sub-phase curve (i.e., a variable acceleration section L5 section curve), a constant acceleration sub-phase curve (i.e., a constant acceleration section L6 section curve) and a second variable deceleration sub-phase curve (i.e., a variable deceleration section L7 section curve).

In fig. 2, the first and second portions of sub-phase curves may be centered symmetrically about a midpoint of the constant velocity sub-phase curve; and, the first and second portions of sub-phase curves may each be axisymmetric curves.

Optionally, as shown in fig. 2, when the non-synchronous phase curve in the electronic cam position corresponding curve only includes the first part of sub-phase curve and the constant velocity sub-phase curve, but does not include the second part of sub-phase curve, the second part of sub-phase curve in fig. 2 may be replaced by another curve, for example, a constant acceleration section curve, or a part of curve at a corresponding position in the electronic cam curve corresponding to a certain quintic polynomial equation in the prior art, which is not limited in this disclosure.

Optionally, as shown in fig. 2, when the non-synchronous phase curve in the electronic cam position corresponding curve only includes the constant speed sub-phase curve and the second part of sub-phase curve, but does not include the first part of sub-phase curve, the first part of sub-phase curve in fig. 2 may be replaced by another curve, for example, a constant deceleration section curve, or a part of curve at a corresponding position in the electronic cam curve corresponding to a certain fifth-order polynomial equation in the prior art, which is not limited in this disclosure.

Alternatively, other curves may be used instead of the non-synchronous phase curve in the electronic cam position-corresponding curve, such as a partial curve of a corresponding position in the electronic cam curve corresponding to a certain fifth-order polynomial equation in the prior art. At this time, the asynchronous phase curve in the electronic cam position correspondence curve may be formed by sequentially connecting a first part of the sub-phase curve, a curve replacing the constant velocity sub-phase curve, and a second part of the sub-phase curve.

And S103, controlling the driven shaft to move to a target movement position.

Specifically, after the current movement position of the driving shaft is determined, the target movement position of the driven shaft matched with the current movement position of the driving shaft can be searched in the curve corresponding to the position of the electronic cam.

It should be noted that the motion position of one driving shaft may correspond to the motion position of a unique driven shaft. Therefore, the invention can find out the uniquely matched motion position of the driven shaft from the electronic cam position corresponding curve and takes the uniquely matched motion position as the target motion position of the driven shaft.

Optionally, after the target movement position of the driven shaft is determined, the driven shaft can be controlled to move to the target movement position of the driven shaft through a servo or a stepping motor or the like, so that in the process of controlling the movement of the driving shaft and the driven shaft, the driving shaft and the driven shaft can be controlled to meet a specific position relation designed in a corresponding curve of the position of the electronic cam, and a movement control function (such as a flying shear function and a chasing shear function) is effectively realized.

The invention can realize the motion control of the driven shaft according to the position corresponding curve of the electronic cam, control the driven shaft and the driving shaft to meet the specific position relation and effectively realize the motion control function. The electronic cam position corresponding curve provided by the embodiment of the invention can effectively enrich the curve style of the existing electronic cam, thereby effectively realizing the motion control function required by more motion control scenes.

The motion control method based on the electronic cam curve provided by this embodiment may determine a current motion position of the driving shaft, and determine a target motion position of the driven shaft matched with the current motion position of the driving shaft based on a preset electronic cam position corresponding curve, where the electronic cam position corresponding curve includes an asynchronous stage curve, and the asynchronous stage curve includes at least a first part of sub-stage curve and/or a second part of sub-stage curve, where the first part of sub-stage curve may be formed by sequentially connecting a first variable deceleration sub-stage curve, a constant deceleration sub-stage curve, and a first variable acceleration sub-stage curve, and the second part of sub-stage curve is formed by sequentially connecting a second variable acceleration sub-stage curve, a constant acceleration sub-stage curve, and a second variable deceleration sub-stage curve, and controls the driven shaft to move to the target motion position. The curve corresponding to the position of the electronic cam provided by the invention can effectively enrich the curve style of the existing electronic cam, thereby effectively realizing the motion control function required by more motion control scenes.

Based on the steps shown in fig. 1, the present embodiment proposes a fifth motion control method based on an electronic cam curve. In the method, the first and second portions of sub-phase curves are each generated based on the pre-conditioning non-synchronized phase curve;

the curve of the non-synchronous stage before adjustment is a curve corresponding to the motion position of the slave main shaft corresponding to the trapezoidal acceleration and deceleration curve, and the curve of the non-synchronous stage before adjustment is formed by sequentially connecting a curve of a constant deceleration sub-stage before adjustment, a curve of a constant speed sub-stage before adjustment and a curve of a constant acceleration sub-stage before adjustment;

wherein the first portion of the sub-phase curve is generated based on the pre-adjustment constant deceleration sub-phase curve; the second partial sub-phase curve is generated based on the pre-conditioning constant acceleration sub-phase curve.

It should be noted that the trapezoidal acceleration/deceleration curve is the simplest acceleration/deceleration control curve, and the electronic cam position corresponding curve can be designed and generated by taking the trapezoidal acceleration/deceleration curve as an original design control model.

In order to better illustrate the relationship between the trapezoidal acceleration and deceleration curve and the curve corresponding to the position of the electronic cam, the invention provides a figure 3, and is described by combining a figure 2 and a figure 3.

In fig. 3, the curve of the correspondence relationship between the position of the driven shaft and the position of the driving shaft may be an electronic cam curve corresponding to a trapezoidal acceleration/deceleration curve, the electronic cam curve may also include a synchronized stage curve and an unsynchronized stage curve, the unsynchronized stage curve in the electronic cam curve may be a pre-adjustment unsynchronized stage curve, and the pre-adjustment unsynchronized stage curve may be formed by sequentially connecting a pre-adjustment constant deceleration sub-stage curve, a pre-adjustment constant velocity sub-stage curve, and a pre-adjustment constant acceleration sub-stage curve. Wherein, the constant deceleration section and the constant acceleration section can be in central symmetry with respect to the middle point of the curve of the constant speed section; wherein, P0, P1, P2, P3, and P4 shown in fig. 3 are respectively end points of each segment of curve in the electronic cam curve, and are all key points of the electronic cam curve; in FIG. 3, S is the synchronization zone slave axis displacement amount, S _h Displacement of the driven shaft at a constant deceleration section, S ₀ Displacement of the driven shaft in a constant velocity section, S _l The displacement of the driven shaft in the constant acceleration section and the displacement of the driving shaft in the period.

In fig. 3, the corresponding relationship curve of the spindle speed ratio and the spindle position may be a trapezoidal acceleration/deceleration curve. In the trapezoidal acceleration and deceleration curve, a curve corresponding to the constant deceleration section and a curve corresponding to the constant acceleration section can be axisymmetrical with respect to a vertical line where a midpoint in the curve corresponding to the constant speed section is located; in FIG. 3, V ₀ Is the speed ratio of the slave main shaft in the constant speed section, and V is the speed ratio of the slave main shaft in the constant speed section of the synchronous zone (V) ₀ Greater than V).

In fig. 3, the correspondence curve between the acceleration ratio of the slave spindle and the position of the master spindle may be a change curve of the acceleration ratio of the slave spindle corresponding to a trapezoidal acceleration/deceleration curve, and in this curve, a curve corresponding to a constant deceleration section and a curve corresponding to a constant acceleration section may be centrosymmetric with respect to a midpoint of the curve corresponding to a constant velocity section. In FIG. 3, a _h May be the magnitude of the acceleration ratio of the slave spindle in the constant deceleration section, a _l The ratio of the acceleration from the main axis in the constant acceleration section may be large or small.

As can be seen from the change curve of the acceleration ratio of the main shaft shown in fig. 3, when the driven shaft enters the constant deceleration section from the synchronization section shown in fig. 3, the acceleration ratio of the main shaft changes in a step manner, which causes abrupt change of the speed of the driven shaft, and the smoothness of the speed of the driven shaft is weak, resulting in large mechanical shock to the driven shaft. The invention can try to optimize the speed change smoothness of the curve and reduce the impact caused by the speed change on the basis of the curve before the adjustment of the asynchronous stage shown in figure 3.

Optionally, in the present invention, a variable acceleration/deceleration transition curve may be introduced into the master-slave axis acceleration ratio change curve corresponding to the pre-adjustment constant deceleration sub-stage curve and the pre-adjustment constant acceleration sub-stage curve, respectively, so as to enhance the overall smoothness of the master-slave axis acceleration ratio change curve shown in fig. 3, and reduce the impact caused by speed change.

Alternatively, the invention may use an equation with a continuous variation trend to generate a change curve of the slave main shaft acceleration ratio, and introduce the change curve of the slave main shaft acceleration ratio into a change curve of the master and slave shaft acceleration ratios corresponding to the constant deceleration sub-stage curve before adjustment and the constant acceleration sub-stage curve before adjustment as a variable acceleration transition curve, so that the slave main shaft acceleration ratio has a continuous variation trend, thereby reducing the impact caused by speed variation.

Specifically, the present invention may adjust the pre-adjustment constant deceleration sub-phase curve to the first variable deceleration sub-phase curve, the constant deceleration sub-phase curve, and the first variable acceleration sub-phase curve shown in fig. 2, and adjust the pre-adjustment constant acceleration sub-phase curve to the second variable acceleration sub-phase curve, the constant acceleration sub-phase curve, and the second variable deceleration sub-phase curve shown in fig. 2, in the pre-adjustment non-synchronization phase curve shown in fig. 3.

Alternatively, the pre-adjustment constant velocity sub-phase curve shown in fig. 3 may be identical to the constant velocity sub-phase curve shown in fig. 2, and the synchronization phase curve shown in fig. 3 may be identical to the synchronization phase curve shown in fig. 2.

Specifically, the present invention can obtain the electronic cam position corresponding curve shown in fig. 2 after adjusting the pre-adjustment constant deceleration sub-step curve and the pre-adjustment constant acceleration sub-step curve shown in fig. 3.

It will be appreciated that the second part of the sub-phase curve of figure 2 may be replaced by the constant acceleration segment curve of figure 3 when the non-synchronised phase curve of the electronic cam position correspondence curve includes only the first part of the sub-phase curve and the constant velocity sub-phase curve, and does not include the second part of the sub-phase curve;

when the non-synchronized phase curve of the electronic cam position correspondence curve includes only the constant velocity sub-phase curve and the second portion of the sub-phase curve and does not include the first portion of the sub-phase curve, the first portion of the sub-phase curve of fig. 2 may be replaced with the constant deceleration segment curve of fig. 3.

Optionally, the second derivative curve of the curve corresponding to the position of the electronic cam is a continuous variation curve.

Optionally, the quadratic derivation equations of the sub-stage curves in the variable acceleration and deceleration sub-stage curves are cubic polynomial equations; wherein, the variable acceleration and deceleration sub-stage curve comprises: the system comprises a first variable deceleration sub-stage curve, a first variable acceleration sub-stage curve, a second variable acceleration sub-stage curve and a second variable deceleration sub-stage curve.

The cubic polynomial equation may be composed of:

y(x)＝ax ³ +bx ² +cx+d。

it should be noted that, for a certain sub-stage curve in the variable acceleration/deceleration sub-stage curve, the corresponding quadratic derivative equation is the variation curve of the acceleration ratio from the main shaft corresponding to the sub-stage curve.

It can be understood that when the variation curve from the principal axis acceleration ratio is a cubic polynomial equation, the principal axis acceleration ratio has a continuously varying tendency. Specifically, after a variable acceleration transition curve of a cubic polynomial is introduced into a curve at a non-synchronous stage before adjustment, a change curve of the slave spindle acceleration ratio shown in fig. 2 can be obtained, and at the moment, the slave spindle acceleration ratio has a continuous change trend in a motion process, so that the driven shaft has smoothness in speed change, a discontinuous change trend such as step change can be avoided, and impact caused by speed change can be effectively reduced.

It should be noted that the present invention can determine the expression of the relevant motion parameter according to the curve shown in fig. 3.

In fig. 3, the speed ratio of the slave spindle in the constant speed section of the synchronization zone is V, and the speed ratio of the slave spindle in the constant speed section is V ₀ (V ₀ Greater than V), the magnitude of the average velocity ratio of the constant velocity section from the synchronous region to the non-synchronous region is (V) since the deceleration of the section is constant ₀ -V)/2. The driven shaft displacement of the synchronous area is S, and the driven shaft displacement of the constant deceleration section is S _h The displacement of the driven shaft in the constant speed section is S ₀ The displacement of the driven shaft in the constant acceleration section is S _l And the periodic displacement of the driving shaft is C, and can obtain:

S _h +S ₀ +S _l ＝S；

after that, it can be concluded that:

at this time, it may be set that the displacement of the driving shaft in the constant velocity segment accounts for k, which is the proportion of the driving shaft in the curve of the asynchronous stage, and then:

the maximum motion speed of the driven shaft can be set as V _s And the operation time length of the synchronization stage is T, and when the driven shaft reaches the maximum speed in the cam period, the method comprises the following steps:

thereafter, V may be eliminated based on the above equations (1), (2) and (3) ₀ And S ₀ Obtaining:

where K = K +1.

At this time, equation (4) may be solved as a quadratic equation and S may be solved as the root of a quadratic equation. At this time, each polynomial coefficient in the formula (4) is:

obtaining by solution:

at this time, V can be calculated in turn ₀ 、S ₀ 、S _h And S _l Such as:

it will be understood that in the course of the corresponding curve of the spindle position shown in fig. 3, the motion parameters k, V, C, V are determined _s And T, the invention can calculate V ₀ 、S ₀ 、S _h And S _l The specific course of the curve shown in fig. 3 can also be determined.

Alternatively, the present invention can be implemented by matching the motion parameters k, V, C, V in the curve shown in FIG. 3 _s And T, to adjust the variation curve corresponding to the spindle position shown in FIG. 3.

Wherein k, V, C, V _s And T may both be an adjustable motion parameter.

The adjustable motion parameters are the motion parameters which can be adjusted. It should be noted that the adjustable motion parameters can be determined by a technician according to actual production needs, and the invention is not limited to this.

According to the motion control method based on the electronic cam curve, the electronic cam position corresponding curve can be generated based on a trapezoidal acceleration and deceleration curve, the electronic cam position corresponding curve can enable the acceleration ratio of the driven shaft to have a continuous change trend, and impact caused by speed change of the driven shaft is reduced.

Based on the steps shown in fig. 1, the present embodiment proposes a sixth motion control method based on an electronic cam curve. In the method, when the asynchronous phase curve is formed by sequentially connecting a first part of sub-phase curve, a constant speed sub-phase curve and a second part of sub-phase curve, the equation of the curve corresponding to the position of the electronic cam may include at least one adjustable motion parameter, and each adjustable motion parameter may include: the method comprises the following steps of (1) periodically shifting a driving shaft, operating duration of a synchronous stage, a non-synchronous maximum speed limit value of a driven shaft, a first proportional parameter and/or a second proportional parameter;

the second proportion parameter is the displacement of the driving shaft in the variable acceleration and deceleration sub-stage curve, and accounts for the ratio of the displacement of the driving shaft in the acceleration and deceleration sub-stage curve;

wherein, the variable acceleration and deceleration sub-stage curve comprises: the first variable deceleration sub-stage curve, the first variable acceleration sub-stage curve, the second variable acceleration sub-stage curve and the second variable deceleration sub-stage curve;

wherein, the acceleration and deceleration subphase curve comprises: the variable acceleration and deceleration sub-stage curve, the constant deceleration sub-stage curve and the constant acceleration sub-stage curve.

Wherein, the periodic displacement of the driving shaft can be C, the movement duration of the synchronous stage can be T, and the maximum asynchronous speed limit of the driven shaft can be V _s The first scale parameter may be k.

Optionally, the electronic cam position corresponding curve may simultaneously include a period displacement of the driving shaft, an operation duration of the synchronization stage, an asynchronous maximum speed limit of the driven shaft, a first proportional parameter, and a second proportional parameter.

It should be noted that the trend of the curve shown in fig. 2 can be controlled by a technician by adjusting the various adjustable motion parameters described above.

Specifically, the present invention may determine the key point information of each key point after determining the parameter value of each adjustable motion parameter, and then calculate the quadratic derivative equation of each sub-stage curve in the variable acceleration/deceleration sub-stage curve, that is, the equation of the curve corresponding to the change from the principal axis acceleration ratio, according to the key point information of each key point and the composition characteristics of the cubic polynomial equation, and then determine the equation of each sub-stage curve in the variable acceleration/deceleration sub-stage curve.

Optionally, when the non-synchronous stage curve is formed by sequentially connecting a first part of sub-stage curves, a constant velocity sub-stage curve, and a second part of sub-stage curves, and the quadratic derivation equations of the sub-stage curves in the variable acceleration/deceleration sub-stage curve are cubic polynomial equations, the method may further include:

determining at least one adjustable motion parameter input by a user;

determining a quadratic derivative equation of each sub-stage curve in the variable acceleration and deceleration sub-stage curves respectively based on the key point information of each key point;

It should be noted that, in the electronic cam position corresponding curve, the end points of each sub-stage curve may be determined as key points.

The key point information may include information such as a master shaft position, a slave shaft speed ratio, and a slave shaft acceleration ratio of the key point.

Optionally, in the above secondary derivation equation for determining each sub-stage curve in the variable acceleration and deceleration sub-stage curve based on the key point information of each key point, the determining may specifically include:

determining one sub-stage curve in the variable acceleration and deceleration sub-stage curves as a target sub-stage curve;

determining each secondary coefficient in a quadratic derivation equation of the target sub-stage curve based on the key point of the target sub-stage curve so as to determine the quadratic derivation equation of the target sub-stage curve;

and returning to the step of determining one sub-stage curve as the target sub-stage curve until a quadratic derivative equation of each sub-stage curve in the variable acceleration and deceleration sub-stage curves is determined.

To better illustrate the process of determining the quadratic derivation equation for the target sub-phase curve, the present invention can be illustrated with the sub-phase curve and its key points as shown in FIG. 2.

Taking the curve of the segment L1 of the deceleration rate in fig. 2 as an example, the curve of the segment L1 of the deceleration rate is determined as the target sub-stage curve, and the determination process of the quadratic derivative equation is as follows:

the key point of the curve of the segment L1 of the deceleration variation may include a starting point 0 (which may be considered herein to be a leftward translation of the curve of the electronic cam position correspondence shown in fig. 2, such that the starting point of the curve of the segment L1 of the deceleration variation corresponds to a driving shaft position of 0, and the starting point corresponds to a driven shaft position of y ₀ ) And end point L ₁ Since the acceleration from the principal axis of the origin 0 is 0, then in a cubic polynomial equation:

y(x)＝ax ³ +bx ² + cx + d-formula (5);

therefore, the following steps are carried out:

y (0) = d =0- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (6);

due to the starting point y ₀ Is 0, in the above equation (5):

at the end point L ₁ Where the value of the slave axis acceleration ratio is-a _c Then, in the above equation (5):

y(L ₁ )＝aL ³ ₁ +bL ² ₁ ＝-a _c - - - - - - - - - - - -formula (8);

wherein, a _c (i.e., a in the acceleration ratio change curve from the main shaft of FIG. 2 _c ) Is a positive number.

Wherein L is ₁ The displacement amount of the active shaft in the curve of the segment L1 of the variable deceleration, y (L) ₁ ) Can be expressed as the point end point L ₁ The function value of (c).

At the end point L ₁ If the amount of change from the spindle acceleration ratio is 0, then in the above equation (5):

from equations (8) and (9), it can be calculated:

then, equation (5) can be determined, i.e. the equation of the acceleration ratio change curve from the main shaft of the curve of the variable deceleration L1 is:

note that L is ₁ And a _c May be calculated from the determined adjustable motion parameters. Specifically, since the electronic cam position correspondence curve shown in fig. 2 is generated on the basis of the main shaft position correspondence change curve shown in fig. 3, the respective polynomial coefficients calculated by the above equations (1) to (4) and the calculated V are obtained ₀ 、S ₀ 、S _h And S _l This is also true for the electronic cam position correspondence curve shown in fig. 2. In addition, since in fig. 2, it is possible to let:

L ₁ ＝L ₃ ＝P·L(0<P<= 0.5), and

wherein P may be the displacement of the active shaft in the deceleration variable section L1, which is the ratio of the displacement of the active shaft in the deceleration variable section L1, the deceleration constant section L2 and the acceleration variable section L3. The second ratio parameter may be 0.5P.

In addition, the present invention can be based on the calculated V ₀ 、S ₀ 、S _h And P to calculate L ₁ 、L ₂ And L ₃ 。

Specifically, in the electronic cam position correspondence curve shown in fig. 2, equation (11) can be obtained:

wherein the content of the first and second substances,

it may be a formula obtained by calculating the length of the driving shaft through the driven shaft based on the trapezoidal velocity ratio formula.

It will be appreciated that (1-2P) can be the ratio of the displacement of the drive shaft in the constant acceleration segment L2 to the displacement of the drive shaft in the variable deceleration segment L1, the constant deceleration segment L2 and the variable acceleration segment L3.

On the other hand, in the electronic cam position correspondence curve shown in fig. 2, it can be seen that:

y(L ₃ )＝y ₀ -S _h - - - - - - - - - - - - - -formula (12);

this can be calculated from equations (11), (12) and (13):

therefore, the present invention can determine L ₁ And a _c The above equation (10) is determined.

Then, the equation of the change curve of the speed ratio of the main shaft can be determined according to the equation of the change curve of the acceleration ratio of the main shaft of the section curve of the variable deceleration L1. Specifically, in the equation of the change curve from the main shaft speed ratio, at the starting point 0, the position of the active shaft is 0, the speed ratio from the main shaft is V (the change curve from the main shaft speed ratio shown in fig. 3 can be seen), and then the equation of the change curve from the main shaft speed ratio can be determined by combining the equation of the change curve from the main shaft acceleration ratio:

then, the equation of the curve of the variable deceleration L1 may be determined from the equation of the curve of the change from the spindle speed ratio of the curve of the variable deceleration L1. Specifically, in the equation of the curve of the variable deceleration L1, at the starting point 0, the driving shaft position is set to 0, and the driven shaft position is set to y ₀ In this case, in combination with the equation of the curve of the speed ratio change of the main shaft, the equation of the curve of the section L1 of the deceleration can be determined as follows:

therefore, the invention can determine the key point information of the curve of the section L1 of the deceleration according to the determined adjustable motion parameters, thereby determining the equation of the curve of the section L1 of the deceleration, the equation of the curve changing from the speed ratio of the main shaft and the equation of the curve changing from the acceleration ratio of the main shaft.

In the curve of the variable deceleration L1, the key point information of the starting point 0 may include: the position of the active axis being x ₀ =0, and

y(0)＝y ₀ ；

here, y (x) represents the equation of the corresponding sub-phase curve. It will be appreciated that the above-described,

an equation representing the curve of the change from the spindle speed ratio corresponding to the curve of the corresponding sub-phase is shown,

the equation of the acceleration ratio change curve from the main shaft corresponding to the corresponding sub-stage curve is shown.

In the curve of the segment L1 of the deceleration, the end point L ₁ The key point information of (2) may include: position of the driving shaft is x ₁ ＝L ₁ And, and

according to the determination process, the invention can sequentially determine the key point information in the variable acceleration-deceleration sub-stage curve, the equation of the curve corresponding to the position of the main shaft, the equation of the curve changing from the acceleration ratio of the main shaft and the equation of the curve changing from the speed ratio of the main shaft.

Specifically, the invention can list the key point information of other key points in the variable acceleration and deceleration sub-stage curve as follows:

wherein, in the curve of the constant deceleration section L2, the key point L thereof ₂ The key point information of (2) may include: the position of the active axis being x ₂ ＝x ₁ +L ₂ And, and

wherein, in the curve of the variable acceleration section L3, the key point L thereof ₃ The key point information of (a) may be: the position of the active axis being x ₃ ＝x ₂ +L ₃ And, and

in the curve of variable acceleration segment L5, the key point L ₄ The key point information of (2) may be: the position of the active axis being x ₄ ＝x ₃ +L ₄ And, and

in the curve of variable acceleration segment L5, the key point L ₅ The key point information of (a) may be: the position of the active axis being x ₅ ＝x ₄ +L ₅ And an

In the curve of the constant acceleration segment L6, the key point L ₆ The key point information of (2) may be: the position of the active axis being x ₆ ＝x ₅ +L ₆ And, and

in the curve of the segment L7 of the variable deceleration, the key point L ₇ The key point information of (a) may be: the position of the active axis being x ₇ ＝x ₆ +L ₇ And, and

it should be noted that, for the curve of the constant speed section L4 and the curve of the constant speed section L8 in the synchronous area, they are both straight lines, so their equations can be linear equations. Specifically, in the process of determining the equations of the constant speed section L4 curve and the synchronous section constant speed section L8 curve, the end points of the curves may be determined as the key points in advance, and then the corresponding linear equations may be determined according to the key point information and the linear equation characteristics.

Wherein, in the constant speed segment L8 segment curve of the synchronous region, the key point L thereof ₈ The key point information of (2) may be: the position of the active axis being x ₈ ＝x ₇ + S/V, and

y(L ₈ )＝S+y(L ₇ )。

where S may be S shown in the electronic cam curve in fig. 2, i.e., the synchronization region driven shaft displacement amount.

Optionally, in another motion control method based on an electronic cam curve provided in the embodiment of the present invention, C may be preset to 6000,v in a curve corresponding to the electronic cam position _s 1000, k 0.42, P0.3, T0.8.

It should be noted that, in the process of controlling the motion of the driven shaft, a customer usually has requirements on production efficiency and motion speed, and when the overall motion speed of the driven shaft is increased, the production efficiency can be improved accordingly. It can be understood that the motion speed of the driven shaft cannot be increased without limit by the control modes of the driven shafts such as servo and motor, and therefore, the motion speed of the driven shaft is not higher than the preset maximum operation speed in the motion process of the driven shaft.

However, in the prior art, an electronic cam curve generated according to a quintic polynomial equation can only ensure the smoothness of the motion speed of the driven shaft, and the control of the motion speed of the driven shaft has uncertainty, so that the motion speed of the driven shaft cannot be effectively controlled to reach the preset maximum operation speed in an asynchronous stage curve, and the overall operation speed of the driven shaft cannot effectively reach the maximum design value, thereby reducing the production efficiency and failing to meet the requirements of customers on the production efficiency.

The electronic cam position corresponding curve provided by the invention can be preset by a technician for the asynchronous maximum speed limit value of the driven shaft, and can effectively realize that the movement speed of the driven shaft reaches the preset asynchronous maximum speed limit value in the movement control process of the driven shaft, thereby effectively ensuring the integral operation speed of the driven shaft and further ensuring the production efficiency; meanwhile, in the process of controlling the motion of the driven shaft, the invention can also effectively control the motion speed of the driven shaft not to exceed the preset asynchronous maximum speed limit value, prevent meaningless errors or alarm and avoid related mechanical faults caused by overspeed;

optionally, the second proportion parameter may be set to adjust the proportion of the curve of the variable acceleration/deceleration section in the curve corresponding to the position of the electronic cam in the curve of the acceleration/deceleration section, so as to adjust the smoothness of the curve corresponding to the position of the electronic cam, ensure the smoothness of the movement speed of the driven shaft in the curve of the asynchronous stage, and reduce the mechanical impact on the driven shaft during movement;

optionally, the present invention may also improve the flexibility of controlling the maximum operation speed of the driven shaft by setting the first proportional parameter. When the maximum running speed of the driven shaft needs to be increased, the first proportional parameter can be reduced, so that the driven shaft can have more sufficient space for increasing and reducing the speed; when the maximum running speed of the driven shaft needs to be reduced, the first proportional parameter can be increased.

It should be noted that the invention can adjust the position curve of the electronic cam by setting various motion parameters, thereby effectively realizing the requirements on production efficiency, smoothness of motion speed of the driven shaft and prevention of exceeding the maximum operation speed in the actual industrial control process. Specifically, the invention can ensure that the position of the electronic cam corresponds to a curve and simultaneously ensures the production efficiency and the motion speed smoothness of the driven shaft. The invention can create greater industrial value in industrial production applications, such as steel shearing, plate shearing, or applications using a cut-after correlation electronic cam curve.

The motion control method based on the electronic cam curve provided in this embodiment may utilize the key point information of each sub-stage curve to determine the equation of each sub-stage curve. The invention can also preset or adjust the relevant motion parameters in the curve corresponding to the position of the electronic cam to ensure the production efficiency, the motion speed smoothness of the driven shaft, the prevention of overspeed and other relevant characteristics of the curve corresponding to the position of the electronic cam in the application process.

Corresponding to the steps shown in fig. 1, the present embodiment proposes a first motion control device based on an electronic cam curve, as shown in fig. 4. The apparatus may include: a first determination unit 101, a second determination unit 102, and a control unit 103;

a first determining unit 101 configured to perform: determining the current motion position of the driving shaft;

the driving shaft can be a feeding shaft which is controlled by an encoder in a motion mode, and can also be a feeding shaft which is controlled by other modes, such as an Ethercat bus control servo shaft.

A second determining unit 102 configured to perform: determining a target motion position of a driven shaft matched with the current motion position of a driving shaft based on a preset electronic cam position corresponding curve, wherein the electronic cam position corresponding curve comprises an asynchronous stage curve, and the asynchronous stage curve at least comprises a first part of sub-stage curve and/or a second part of sub-stage curve; the first part of sub-stage curves are formed by sequentially connecting a first variable deceleration sub-stage curve, a constant deceleration sub-stage curve and a first variable acceleration sub-stage curve, and the second part of sub-stage curves are formed by sequentially connecting a second variable acceleration sub-stage curve, a constant acceleration sub-stage curve and a second variable deceleration sub-stage curve;

It should be noted that, in general, the asynchronous-phase curve in the electronic cam curve adopted in the prior art may be a curve corresponding to a certain fifth-order polynomial equation. In the asynchronous-phase curve in the electronic cam position corresponding curve adopted in this embodiment, the equations of the sub-phase curves in the first part of sub-phase curves may be different equations, and the equations of the sub-phase curves in the second part of sub-phase curves may also be different equations.

Optionally, the non-synchronized phase curve may further include a constant velocity sub-phase curve.

Optionally, the non-synchronous phase curve is formed by sequentially connecting a first part of sub-phase curves, a constant speed sub-phase curve and a second part of sub-phase curves. At this time, the non-synchronous step curve in the electronic cam position correspondence curve may be sequentially composed of a first variable deceleration sub-step curve, a constant deceleration sub-step curve, a first variable acceleration sub-step curve, a constant velocity sub-step curve, a second variable acceleration sub-step curve, a constant acceleration sub-step curve, and a second variable deceleration sub-step curve.

Specifically, each sub-phase curve in the asynchronous phase curve may be a sub-phase curve in a certain variation phase from the main shaft speed ratio or from the main shaft acceleration ratio.

Optionally, in the second motion control device based on an electronic cam curve provided in this embodiment, when the asynchronous stage curve is formed by sequentially connecting a first part of sub-stage curve, a constant speed sub-stage curve and a second part of sub-stage curve, the asynchronous stage curve is a centrosymmetric curve, and a midpoint of the constant speed sub-stage curve is a symmetric center of the asynchronous stage curve.

Optionally, in a third motion control device based on an electronic cam curve provided in this embodiment, both the first part of sub-stage curve and the second part of sub-stage curve are axisymmetric curves;

Alternatively, in the fourth motion control device based on an electronic cam curve proposed in this embodiment, the electronic cam position correspondence curve may include both the curve characteristics expressed in the second and third motion control devices based on an electronic cam curve.

Alternatively, other curves may be used instead of the non-synchronous phase curve in the electronic cam position-corresponding curve, such as a partial curve of a corresponding position in the electronic cam curve corresponding to a certain fifth-order polynomial equation in the prior art.

A control unit 103 configured to perform: and controlling the driven shaft to move to a target movement position.

Optionally, after the target movement position of the driven shaft is determined, the driven shaft can be controlled to move to the target movement position of the driven shaft in a servo or stepping motor mode, so that in the process of controlling the movement of the driving shaft and the driven shaft, the driving shaft and the driven shaft can be controlled to meet a specific position relation designed in a corresponding curve of the position of the electronic cam, and the movement control function is effectively realized.

The motion control device based on the electronic cam curve provided by the embodiment can effectively enrich the existing electronic cam curve patterns, so that the motion control functions required by more motion control scenes can be effectively realized.

Based on fig. 4, the present embodiment proposes a fifth motion control device based on an electronic cam curve. In the apparatus, the first and second portions of sub-phase curves are each generated based on the pre-conditioning non-synchronized phase curve;

wherein the first partial sub-phase curve is generated based on the pre-adjustment constant deceleration sub-phase curve; the second partial sub-phase curve is generated based on the pre-conditioning constant acceleration sub-phase curve.

Optionally, the quadratic derivation equations of each sub-stage curve in the variable acceleration and deceleration sub-stage curves are cubic polynomial equations; wherein, the variable acceleration and deceleration sub-stage curve comprises: a first variable deceleration sub-phase curve, a first variable acceleration sub-phase curve, a second variable acceleration sub-phase curve, and a second variable deceleration sub-phase curve.

It can be understood that when the variation curve from the principal axis acceleration ratio is a cubic polynomial equation, the principal axis acceleration ratio has a continuously varying tendency. Specifically, after a variable acceleration transition curve of a cubic polynomial is introduced into a curve in a non-synchronous stage before adjustment, the acceleration ratio of the driven shaft has a continuous change trend in the motion process, so that the driven shaft has more smoothness in speed change, the non-continuous change trend such as step change can be avoided, and the impact caused by speed change can be effectively reduced.

According to the motion control device based on the electronic cam curve, the electronic cam position corresponding curve can be generated based on a trapezoidal acceleration and deceleration curve, the acceleration ratio of the driven shaft can have a continuous variation trend through the electronic cam position corresponding curve, and impact caused by speed variation of the driven shaft is reduced.

Based on fig. 4, the present embodiment proposes a sixth motion control device based on an electronic cam curve. In the device, when the asynchronous phase curve is formed by sequentially connecting a first part of sub-phase curve, a constant speed sub-phase curve and a second part of sub-phase curve, the equation of the curve corresponding to the position of the electronic cam may include at least one adjustable motion parameter, and each adjustable motion parameter may include: the method comprises the following steps of (1) periodically shifting a driving shaft, operating duration of a synchronous stage, a non-synchronous maximum speed limit value of a driven shaft, a first proportional parameter and/or a second proportional parameter;

wherein, the variable acceleration and deceleration sub-stage curve comprises: a first variable deceleration sub-stage curve, a first variable acceleration sub-stage curve, a second variable acceleration sub-stage curve and a second variable deceleration sub-stage curve;

It should be noted that the trend of the curve corresponding to the position of the electronic cam can be controlled by the technician by adjusting the above-mentioned adjustable motion parameters.

Optionally, when the asynchronous stage curve is formed by sequentially connecting a first part of sub-stage curves, a constant velocity sub-stage curve and a second part of sub-stage curves, and the quadratic derivative equations of the sub-stage curves in the variable acceleration and deceleration sub-stage curve are cubic polynomial equations, the apparatus may further include: a second determining unit 102, a third determining unit, a fourth determining unit, and a fifth determining unit; wherein:

a second determining unit 102 configured to perform: determining at least one adjustable motion parameter input by a user;

a third determination unit configured to perform: determining key point information of a plurality of key points matched with each adjustable motion parameter, wherein each key point is an end point of each sub-stage curve;

a fourth determination unit configured to perform: determining a quadratic derivative equation of each sub-stage curve in the variable acceleration and deceleration sub-stage curves respectively based on the key point information of each key point;

a fifth determining unit configured to perform: and determining a cubic equation of each sub-stage curve in the variable acceleration and deceleration sub-stage curve based on the quadratic derivation equation of each sub-stage curve in the variable acceleration and deceleration sub-stage curve.

Optionally, the fourth determining unit includes: a sixth determining unit, a seventh determining unit, and an eighth determining unit, wherein:

a sixth determination unit configured to perform: determining one sub-stage curve in the variable acceleration and deceleration sub-stage curves as a target sub-stage curve;

a seventh determining unit configured to perform: determining each secondary coefficient in a quadratic derivation equation of the target sub-stage curve based on the key point of the target sub-stage curve so as to determine the quadratic derivation equation of the target sub-stage curve;

an eighth determination unit configured to perform: and triggering a sixth determining unit until determining the quadratic derivative equation of each sub-stage curve in the variable acceleration and deceleration sub-stage curves.

The motion control device based on the electronic cam curve provided in this embodiment can determine the equation of each sub-phase curve by using the key point information of each sub-phase curve. The invention can also preset or adjust the relevant motion parameters in the curve corresponding to the position of the electronic cam to ensure the production efficiency, the motion speed smoothness of the driven shaft, the prevention of overspeed and other relevant characteristics of the curve corresponding to the position of the electronic cam in the application process.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for motion control based on an electronic cam curve, the method comprising:

determining the current motion position of the driving shaft;

determining a target motion position of a driven shaft matched with the current motion position of the driving shaft based on a preset electronic cam position corresponding curve, wherein the electronic cam position corresponding curve comprises an asynchronous stage curve, and the asynchronous stage curve at least comprises a first part of sub-stage curve and/or a second part of sub-stage curve; the first part of sub-stage curve is formed by sequentially connecting a first variable deceleration sub-stage curve, a constant deceleration sub-stage curve and a first variable acceleration sub-stage curve, and the second part of sub-stage curve is formed by sequentially connecting a second variable acceleration sub-stage curve, a constant acceleration sub-stage curve and a second variable deceleration sub-stage curve; the first and second portions of sub-phase curves are both axisymmetric curves; the symmetric axis of the first part of sub-stage curve is a vertical line where the midpoint of the constant deceleration sub-stage curve is located, and the symmetric axis of the second variable acceleration and deceleration sub-stage curve is a vertical line where the midpoint of the constant acceleration sub-stage curve is located;

and controlling the driven shaft to move to the target movement position.

2. The electronic cam curve-based motion control method of claim 1, wherein the asynchronous phase curve is formed by connecting the first part of sub-phase curve, the constant speed sub-phase curve and the second part of sub-phase curve in sequence.

3. The electronic cam curve-based motion control method of claim 1, wherein when the non-synchronous phase curve is formed by sequentially connecting the first part of sub-phase curve, the constant speed sub-phase curve and the second part of sub-phase curve, the non-synchronous phase curve is a centrosymmetric curve, and a midpoint of the constant speed sub-phase curve is a symmetric center of the non-synchronous phase curve.

4. The electronic cam curve-based motion control method of claim 1, wherein the first and second portions of sub-phase curves are each generated based on a pre-conditioning unsynchronized phase curve;

5. The electronic cam curve-based motion control method of claim 1, wherein the quadratic derivative curve of the asynchronous stage curve is a continuously varying curve.

6. The electronic cam curve-based motion control method as claimed in claim 1, wherein the quadratic derivation equations of each sub-stage curve in the variable acceleration and deceleration sub-stage curves are cubic polynomial equations; wherein, the variable acceleration and deceleration sub-stage curve comprises: the first variable deceleration sub-phase curve, the first variable acceleration sub-phase curve, the second variable acceleration sub-phase curve, and the second variable deceleration sub-phase curve.

7. The electronic cam curve-based motion control method of claim 1, wherein when the asynchronous phase curve is formed by sequentially connecting the first part of sub-phase curve, the constant speed sub-phase curve and the second part of sub-phase curve, the equation of the electronic cam position corresponding curve comprises at least one adjustable motion parameter, and each adjustable motion parameter comprises: the method comprises the following steps of (1) periodically shifting a driving shaft, operating duration of a synchronous stage, a non-synchronous maximum speed limit value of a driven shaft, a first proportional parameter and/or a second proportional parameter;

8. The electronic cam curve-based motion control method of claim 6, wherein when the non-synchronized phase curve is formed by connecting the first, constant velocity, and second sub-phase curves in sequence, the method further comprises:

determining at least one adjustable motion parameter input by a user;

9. An electronic cam curve based motion control apparatus, comprising: a first determining unit, a second determining unit and a control unit;

the first determining unit is configured to perform: determining the current motion position of the driving shaft;

the second determination unit configured to perform: determining a target motion position of a driven shaft matched with the current motion position of a driving shaft based on a preset electronic cam position corresponding curve, wherein the electronic cam position corresponding curve comprises an asynchronous stage curve, and the asynchronous stage curve at least comprises a first part of sub-stage curve and/or a second part of sub-stage curve; the first part of sub-stage curve is formed by sequentially connecting a first variable deceleration sub-stage curve, a constant deceleration sub-stage curve and a first variable acceleration sub-stage curve, and the second part of sub-stage curve is formed by sequentially connecting a second variable acceleration sub-stage curve, a constant acceleration sub-stage curve and a second variable deceleration sub-stage curve; the first and second portions of sub-phase curves are both axisymmetric curves; the symmetric axis of the first part of sub-stage curve is a vertical line where the midpoint of the constant deceleration sub-stage curve is located, and the symmetric axis of the second variable acceleration and deceleration sub-stage curve is a vertical line where the midpoint of the constant acceleration sub-stage curve is located;