目的 针对枕式包装机的运动控制问题，实现电子凸轮、三轴同步控制等关键技术。方法 以三伺服枕式包装机为例，介绍其具体结构，包括送膜、送料、横封横切、纵封装置和制袋成型器等。对枕式包装机的运动特点进行分析，同时简述其功能。设计一种枕式包装机控制系统，并详细论述基于DSP的通用运动控制器结构。最后，给出软件设计方法，结合三次多项式、定步法和查表法实现电子凸轮；采用主从同步控制实现枕式包装机的三轴同步控制。结果 该控制系统可以满足枕式包装机的运动控制要求，能够提高包装质量、精度和效率，降低次品率。结论 通过实验验证了所述控制方法和系统的可行性和有效性。

The work aims to realize such key techniques as electronic CAM and three-axis synchronous control, etc. with respect to the motion control of pillow packaging machines. Taking the three-servo pillow packaging machine as an example, its specific structure was introduced, including mechanisms such as film-feeding, material-feeding, horizontal sealing, vertical sealing and pocket making former. The movement characteristics of pillow packaging machines were analyzed and its functions were described at the same time. A control system of pillow packaging machine was designed, and the structure of general motion controller was discussed in detail based on DSP. Finally, the software design methods were given. The electronic CAM was realized on the basis of cubic polynomial, given-step and look-up table methods. The three-axis synchronous control of pillow packaging machine was realized by using master-slave synchronous control. The control system could satisfy the requirements of pillow packaging machine for motion control and improve the packaging quality, precision and efficiency with defective rate reduced. The feasibility and effectiveness of the control methods and the system described above are verified by experiments.