CN102398356B - Temperature control method and system for plurality of sections of barrel of injection molding machine - Google Patents
Temperature control method and system for plurality of sections of barrel of injection molding machine Download PDFInfo
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- CN102398356B CN102398356B CN 201110401005 CN201110401005A CN102398356B CN 102398356 B CN102398356 B CN 102398356B CN 201110401005 CN201110401005 CN 201110401005 CN 201110401005 A CN201110401005 A CN 201110401005A CN 102398356 B CN102398356 B CN 102398356B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001746 injection moulding Methods 0.000 title abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims abstract description 29
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000002347 injection Methods 0.000 claims description 29
- 239000007924 injection Substances 0.000 claims description 29
- 238000004364 calculation method Methods 0.000 claims description 6
- 239000012634 fragment Substances 0.000 claims description 2
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- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000004069 differentiation Effects 0.000 abstract 1
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- 239000000463 material Substances 0.000 description 9
- 229920003023 plastic Polymers 0.000 description 8
- 239000004033 plastic Substances 0.000 description 8
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
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- 238000010438 heat treatment Methods 0.000 description 2
- 229920002521 macromolecule Polymers 0.000 description 2
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- 230000007613 environmental effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- -1 mould Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
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Abstract
The invention relates to a control technology for an injection molding machine, and aims to provide a temperature control method and a temperature control system for a plurality of sections of a barrel of the injection molding machine. The method comprises the following steps that: a temperature sensor acquires the current actual temperature value of each barrel section in real time and transmits the value to the corresponding proportion integration differentiation (PID) control module; each PID control module acquires the temperature control error value of each barrel section and calculates the original control output value of an electric heater of the corresponding barrel section; and a temperature synchronization algorithm module acquires the actual control output value of the electric heater of each barrel section and transmits the value to the electric heater of the corresponding barrel section for control. The temperatures of the plurality of sections of the barrel can be quickly and synchronously raised and controlled, and when the temperature error of the barrel of the injection molding machine exceeds a set error range in the normal operation process of the injection molding machine, a synchronous control algorithm can be expected to be realized, so that the injection molding production process is dynamically and synchronously controlled. By the control system and the control method, the hardware cost of the conventional control system is not changed, and the temperature control synchronism of the barrel is greatly improved.
Description
Technical field
The present invention relates to control method and the system of injection machine, in more detail, the present invention relates to the control of multistage barrel temperature in the injection machine and require control method and the system that control accuracy is high, synchronism is good.
Background technology
Plastics have become human society and have used one of topmost four large materials.Injection machine is that the macromolecule raw material are heated to the temperature of need of production through the barrel of injection machine, becomes molten state, then will be heated to the polymeric fluid of molten state, by the processing equipment of screw of injection cooling forming in the mould.Injection-moulding plastic is that the tool advantage of plastic products also is topmost processing mode, accounts for about 1/3 of whole Process Technology of Polymer gross weight, therefore occupies critical role in all fields of national economy.
The quality of injecting products is subjected to the impact of macromolecular material, mould, injection machine and four aspects of Shooting Technique.In the certain situation of macromolecular material, mould and the Shooting Technique of injection moulding, the quality of injecting products is directly determined by the process parameter control precision of injection machine.The technological parameter of injection moulding comprises the speed, pressure, inject time, injection position, cool time, barrel temperature, nozzle temperature, mold temperature of each injection moulding action etc.And the most important process conditions of injection mo(u)lding are temperature, injection speed, pressure and injection volume etc. that the impact plasticizing is flowed and cooled off.Wherein the barrel temperature of injection machine control is one of pass key control technological parameter in the injection molding technique, and melt temperature directly has influence on the characteristics such as the flowability of melt and specific volume, and then affects the quality of converted products.If barrel temperature is too low, plastics produce unnecessary shearing force between screw rod, and therefore produce cold curing, and machine is caused damage.Occur crosslinkedly during excess Temperature between plastic molecules, can make tissue looseness, produce foamed phenomenon, especially unallowed especially in precise injection molding.Therefore the temperature of injection machine fused mass need to accurately be controlled.And the control of the temperature of melt is by to the control of injection moulding barrel temperature and indirectly control.
In the injection moulding process of plastics, melt temperature is decided by the temperature of barrel and the shear heat between barrel inner screw and the plastics.It is generally acknowledged that melt temperature is decided by that the temperature that heats, the control of plastics temperature show as the temperature control to barrel in middle-size and small-size machine.The temperature control of injecting machine material tube generally adopts segmentation to control, and with the barrel of whole injection machine, from the injection port to the charge door, continuous is divided into several sections, and controls respectively, and control method is take the PID control method as main.Each section temperature arranges as required, and generally the setting of each section temperature is not identical.
Studies show that injection machine multistage barrel temperature is to liking close coupling, large time delay and a non-linear object.At first, the section barrel of injection machine is actually a continuous integral body, owing to intercouple between each section of conductibility barrel temperature of temperature, the temperature control between the adjacent segment influences each other.Secondly, barrel temperature control of injection mold has the hysteresis characteristic of temperature object, according to type different its lag times from several seconds to a few minutes.The 3rd, the controlled target temperature of injecting machine material tube has uncertainty.At first its model can't or be difficult to accurate identification, receives in addition various environmental factor factor affecting, so accurately control is very difficult for it.
Present control method is only considered temperature controlled stable state accuracy basically on the other hand, seldom considers for the dynamic response of control procedure.Because the difference that each section temperature arranges, and the lag time of each section barrel temperature is different with response speed, so it is different that each section barrel reaches the time of design temperature, reach the barrel section of design temperature early stage and must wait for the section that does not also reach setting value, because the conductibility of temperature, will inevitably have influence on the section of not reaching and add thermal control, and each section reaches the asynchronism(-nization) of setting value, the actual heat time heating time of each section is different, heating process must affect the characteristic of melt in the barrel, the uniformity of whole like this macromolecule melt characteristic is received impact, and then can respond the internal performance of converted products, such as toughness, internal stress distribution and intensity etc.Therefore the synchronism of considering the control response of each section barrel temperature also will act on during the raising of injecting products quality is had.
Conventional barrel temperature control of injection mold algorithm is not all considered the requirement of Synchronization Control at present.The radiating condition of each section barrel temperature is different in addition, reach after the design temperature, owing to constantly continuously produce, and the continuous adding of raw material and dispel the heat inconsistently, the temperature error that causes is also different, so also there is the problem of a Synchronization Control.
Chinese invention patent application CN101491935 has disclosed a kind of injecting machine material tube temperature synchronous control system and method, its basic principle is the combined error that at first obtains synchronism by the synchronized algorithm module, then calculate control output by corresponding PID module, but the defective that this technology exists is, the calculating of its combined error interrogatory directly perceived is true, and algorithm calculating combined error needs extra two parameters of determining, arranging of this parameter need to be by the field trial setting, process is comparatively complicated, has limited effective enforcement of invention.
Summary of the invention
The problem to be solved in the present invention is, overcomes deficiency of the prior art, proposes synchronisation control means and the system thereof of multistage barrel temperature in a kind of injection machine.
The technical scheme that technical solution problem of the present invention adopts is as follows:
A kind of injection machine multistage barrel temperature control method is provided, may further comprise the steps:
(1) each section of temperature sensor Real-time Collection barrel current actual temperature value is sent to corresponding pid control module;
(2) the built-in calculation procedure of each pid control module at first obtains the temperature departure value E of each section barrel according to formula (a)
i
E
i＝S
i-T
i (a)
Wherein i is the label of i section barrel, E
iBe i section barrel Current Temperatures departure value, S
iBe the design temperature of i section barrel, T
iIt is the current actual samples temperature of i section barrel;
(3) each pid control module calculates the original control output valve U of corresponding section barrel electric heater according to formula (b)
i:
U wherein
iBe i section barrel temperature control output valve, K
p, K
i, K
dBe pid control parameter, in the working control process, adopt the Ziegler-Nichols method to adjust; This section barrel is only considered in the calculating of corresponding section pid control module control output, does not consider the coupling between each section;
The control output valve U that then will calculate
iBe sent to temperature synchronized algorithm module;
(4) the built-in calculation procedure of temperature synchronized algorithm module obtains the control output valve U ' of each section barrel electric heater reality according to formula (c), (d), (e)
i, and the electric heater that is sent to corresponding barrel section is controlled:
E
max＝f
2(E
i)＝max{E
1，E
2...E
n} (d)
E wherein
iBe the error of i section barrel temperature, calculated by step (2); U
iIt is the original control output valve that pid control module corresponding to i section barrel calculates electric heater; U '
iFor passing through the control output valve of the i section barrel electric heater reality that obtains after synchronized algorithm calculates; N is the barrel hop count; E
MaxBe current each section barrel temperature error E
i(the maximum of 1≤i≤n);
If E
Max=0, then do not carry out the calculating of formula (c), each control output U
iRemain unchanged, namely
U
i＝U
i(E
max＝0) (e)
Repeat abovementioned steps (1) when (5) next control cycle arrives to the process of step (4).
Further, the invention provides a kind of system be used to realizing aforementioned injection machine multistage barrel temperature control method, comprise the some electric heaters and corresponding some temperature sensors that are positioned at each fragment position place of barrel, this system also comprises multistage barrel temperature control module; Comprise in the multistage barrel temperature control module: temperature synchronized algorithm module and the pid control module corresponding to every section barrel identical with the barrel hop count; Temperature Setting module, aforementioned each temperature sensor are connected to respectively corresponding pid control module by holding wire; Each pid control module is connected to aforementioned each electric heater by holding wire through temperature synchronized algorithm module.
Described temperature sensor is K type thermocouple, also can use J type thermocouple.
The quantity of described Temperature Setting module is one, and perhaps the pid control module corresponding to every section barrel disposes a Temperature Setting module.
Compared with prior art, the invention has the beneficial effects as follows:
Use this synchronization control algorithm can realize the Fast synchronization intensification control of multistage barrel temperature, in the injection machine normal course of operation, when the injecting machine material tube temperature error surpassed the specification error scope, also can expect can synchronization control algorithm, realizes the dynamic synchronization control in the injection moulding production process.Adopt this control system and method not to change the hardware cost of original control system, greatly improved the synchronism of barrel temperature control.
And this multistage barrel temperature control method, that the PID control output of independently carrying out first each section barrel is calculated, then obtain actual control output through unified synchronized algorithm module, algorithm meaning directly perceived is clear and definite, do not change original control system structure, and brand-new synchronized algorithm to compare existing synchronization policy more succinct, directly perceived, be convenient to implement.
Description of drawings
Fig. 1 is the overall construction drawing of this control system and algorithm.
Fig. 2 is injection machine multistage barrel temperature control algolithm cut-away view
Fig. 3 is four sections barrel temperature control structure figure of this example
Reference numeral is:
101,102,103,104 is the Temperature Setting module; 201,202,203,204 is the temperature departure of each section barrel; 301,302,303,304 is pid control module; 401,402,403,404 is original control output; 501 is temperature synchronized algorithm module; 601,602,603,604 are working control output; 701,702,703,704 is electric heater; 801 is barrel, and I, II, III, IV are each segment mark; 901,902,903,904 is temperature sensor.
The specific embodiment
At first need to prove, the present invention relates to the application of industrial control technology.In implementation procedure of the present invention, can relate to the application of a plurality of software function modules.The applicant thinks that as after reading over application documents, accurate understanding realization principle of the present invention and goal of the invention, in the situation in conjunction with existing known technology, those skilled in the art can use the software programming technical ability of its grasp to realize the present invention fully.The aforementioned software functional module comprises but is not limited to: multistage barrel temperature control module, temperature synchronized algorithm module, pid control module, Temperature Setting module etc., and this category of all genus that all the present patent application files are mentioned, the applicant enumerates no longer one by one.
Concrete thought of the present invention is as follows:
The injecting machine material tube temperature synchronous control system comprises Temperature Setting module, multistage barrel temperature control module, heater, controlled injecting machine material tube, reaches the temperature acquisition sensor as shown in Figure 1; Temperature sensor adopts thermocouple, and control algolithm realizes in multistage barrel temperature control algolithm inside modules.
Comprise in the multistage barrel temperature control module: temperature synchronized algorithm module and the pid control module corresponding to every section barrel identical with the barrel hop count; Temperature Setting module, aforementioned each temperature sensor are connected to respectively corresponding pid control module by holding wire; Each pid control module is connected to aforementioned each electric heater by holding wire through temperature synchronized algorithm module.
Control algolithm framework of the present invention as shown in Figure 2.Use thermocouple to carry out temperature acquisition and then be passed to pid control module, the signal of Temperature Setting module also is sent to pid control module, all each PID modules obtain to be sent to temperature synchronized algorithm module after the control output, every section electric heater that barrel is corresponding of output control is realized the control of multistage barrel temperature at last after the temperature synchronized algorithm module.
Below, the realization of this algorithm is described as example take one four sections barrel temperature control of injection mold.The control algolithm of other multistages is similar, all is deemed to be within the scope of the present invention.
Injection machine multistage barrel temperature control system structure in the present embodiment as shown in Figure 3.
Among the present invention molding machine barrel temperature synchronisation control means mainly pid control module 301,302,303,304 and temperature synchronized algorithm module 501 in realize, may further comprise the steps:
(1) by temperature sensor 901,902,4 sections barrel current actual temperature of 903 and 904 difference Real-time Collections value T
1, T
2, T
3And T
4, and be sent to corresponding pid control module 301,302,303 and 304;
(2) pid control module 301,302,303 and 304 built-in calculation procedures at first obtain temperature departure value E between the adjacent barrel of each section according to formula (a)
i
E
i＝S
i-T
i (a)
Wherein i is the label of i section barrel, E
iBe i section barrel Current Temperatures departure value, S
iBe the design temperature of i section barrel, T
iIt is the current actual samples temperature of i section barrel.
In the present embodiment, the temperature of barrel 801 each sections detects through K type thermocouple, transforms through AD and obtains actual temperature.The setting value of 801 4 sections temperature of barrel is respectively: Temperature Setting module 101 is first paragraph desired temperature S
1, Temperature Setting module 102 is second segment desired temperature S
2, Temperature Setting module 103 is the 3rd section desired temperature S
3, degree setting module 104 is the 4th section desired temperature S
4
First paragraph setting value S
1Deduct first paragraph actual value T
1Obtain the departure 201 of first paragraph, be E
1Second segment setting value S
2Deduct second segment actual value T
2Get the departure to 202 of second segment, be E
2, the 3rd section setting value S
3Deduct the 3rd section actual value T
3Obtain the 3rd section departure 203, be E
3, the 4th section setting value S
3Deduct the 4th section actual value T
3Obtain the 4th section departure 204, be E
4
(3) then 4 pid control modules 301,302,303,304 calculate the original control output valve of each section barrel according to formula (b) respectively, this section barrel is only considered in the calculating of corresponding section pid control module control output, does not consider the coupling between each section.The control output U that pid control module will calculate
iBe sent to temperature synchronized algorithm module 501:
E wherein
iBe i section barrel Current Temperatures departure value, U
iBe i section barrel temperature control output valve, K
p, K
i, K
dBe pid control parameter, in the working control process, adopt general Ziegler-Nichols method to adjust.
According to each section error input E that obtains
1, E
2, E
3And E
4, utilize pid control algorithm to calculate respectively four sections initial control output.Pid control module 301,302,303,304 K
p, K
i, K
dParameter adopts the Ziegler-Nichols method of introducing in the foregoing invention content to adjust according to actual conditions.Obtain as 401 initially control for the first paragraph barrel temperature and to export U in the accompanying drawing 3
1, 402 is that the second segment barrel temperature is initially controlled output U
2, 403 is that the 3rd section barrel temperature initially controlled output U
3, 404 is that the 4th section barrel temperature initially controlled output U
44 sections barrel temperatures are initially controlled output U
1, U
2, U
3And U
4Be sent to temperature synchronized algorithm module 501.
(4) temperature synchronized algorithm module 501 built-in calculation procedures obtain current each section barrel electric heater control output U ' according to formula (c), (d), (e)
i, and the electric heater that is sent to corresponding barrel section is controlled:
E
max＝f
2(E
i)＝max{E
1，E
2...E
n} (d)
E wherein
iBe the error of i section barrel temperature, calculated by second step, U
iIt is the controlled quentity controlled variable that pid control module corresponding to i section barrel calculates; U '
iFor the n that obtains after calculating through synchronized algorithm is the barrel hop count, E
MaxBe current each section barrel temperature error E
i(the maximum of 1≤i≤n).
If E
Max=0, then do not carry out the calculating of formula (c), each control output U
iRemain unchanged, namely
U
i＝U
i(E
max＝0) (e)
In this example, temperature synchronized algorithm module 501 is at first utilized four sections barrel temperature error E
1, E
2, E
3And E
4And formula (d) calculates current worst error E
Max=f
2(E
i)=max{E
1, E
2, E
3, E
4.
If E
Max≠ 04 sections barrel temperature that utilize pid algorithm to calculate is initially controlled output U
1, U
2, U
3And U
4Calculate working control output corresponding to each section barrel by formula (c).Utilize E
1, E
MaxAnd U
1 Working control output 601 by formula (c) calculates the first paragraph barrel is U '
1Utilize E
2, E
MaxAnd U
2 Working control output 602 by formula (c) calculates the first paragraph barrel is U '
2Utilize E
3, E
MaxAnd U
3 Working control output 603 by formula (c) calculates the first paragraph barrel is U '
3Utilize E
4, E
MaxAnd E
4 Working control output 604 by formula (c) calculates the first paragraph barrel is U '
4
If E
Max=0, then utilize initial control output U
1, U
2, U
3And U
4Calculate each section working control output U ' by formula (e)
1, U '
2, U '
3And U '
4
Synchronized algorithm module 501 links to each other with 4 heaters 701,702,703,704, will calculate 4 sections working control output U ' that obtain
1, U '
2, U '
3And U '
4Be sent to heater, the electric heater 701,702,703 of control correspondence, 704 work, and then four sections barrel temperatures of control barrel 801.Wherein working control output 601 is sent to electric heater 701, and electric heater 701 is installed in the first paragraph correspondence position of barrel 801, the temperature of control first paragraph barrel; Working control output 602 is sent to electric heater 702, and electric heater 702 is installed in the second segment correspondence position of barrel 801, the temperature of control second segment barrel; Working control output 603 is sent to electric heater 703, and electric heater 703 is installed in the 3rd section correspondence position of barrel 801, controls the temperature of the 3rd section barrel; Working control output 604 is sent to electric heater 704, and electric heater 704 is installed in the 4th section correspondence position of barrel 801, controls the temperature of the 4th section barrel.
Repeat abovementioned steps (1) when (5) next control cycle arrives to the process of step (4), realize Sustainable Control.
Need to prove that wherein actual temperature is continuous continuous sampling data, every error and control output and control all are constantly to realize calculating and controlling output according to the control cycle of setting, and the control cycle in the present embodiment is 6 seconds.
It should be understood that; the present invention is not limited to the definite structure that as above illustrates and describe; in the defined the spirit and scope of the present invention of the claim that does not deviate from, can carry out various change and modification to invention, all be considered to protection scope of the present invention.
Claims (2)
1. injection machine multistage barrel temperature control method may further comprise the steps:
(1) each section of temperature sensor Real-time Collection barrel current actual temperature value is sent to corresponding pid control module;
(2) the built-in calculation procedure of each pid control module at first obtains the temperature departure value E of each section barrel according to formula (a)
i
E
i=S
i-T
i （a）
Wherein i is the label of i section barrel, E
iBe i section barrel Current Temperatures departure value, S
iBe the design temperature of i section barrel, T
iIt is the current actual samples temperature of i section barrel;
(3) each pid control module calculates the original control output valve U of corresponding section barrel electric heater according to formula (b)
i:
U wherein
iBe i section barrel temperature control output valve, K
p, K
i, K
dBe pid control parameter, in the working control process, adopt the Ziegler-Nichols method to adjust;
The control output valve U that then will calculate
iBe sent to temperature synchronized algorithm module;
(4) the built-in calculation procedure of temperature synchronized algorithm module obtains the control output valve U of each section barrel electric heater reality according to formula (c), (d), (e)
i', and the electric heater that is sent to corresponding barrel section is controlled:
E
max=f
2(E
i)=max{E
1,E
2...E
n} (d)
E wherein
iBe the error of i section barrel temperature, calculated by step (2); U
iIt is the original control output valve that pid control module corresponding to i section barrel calculates electric heater; U
i' be the control output valve through the i section barrel electric heater reality that obtains after the synchronized algorithm calculating; N is the barrel hop count; E
MaxBe current each section barrel temperature error E
i(the maximum of 1≤i≤n);
If E
Max=0, then do not carry out the calculating of formula (c), each control output U
iRemain unchanged, namely
U
i'=U
i(E
max=0) （e）
Repeat abovementioned steps (1) when (5) next control cycle arrives to the process of step (4).
2. system that be used for to realize the described injection machine multistage of claim 1 barrel temperature control method, comprise the some electric heaters and corresponding some temperature sensors that are positioned at each fragment position place of barrel, it is characterized in that this system also comprises multistage barrel temperature control module; Comprise in the multistage barrel temperature control module: temperature synchronized algorithm module and the pid control module corresponding to every section barrel identical with the barrel hop count; Temperature Setting module, aforementioned each temperature sensor are connected to respectively corresponding pid control module by holding wire; Each pid control module is connected to aforementioned each electric heater by holding wire through temperature synchronized algorithm module.
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|---|---|---|---|
| CN 201110401005 CN102398356B (en) | 2011-12-06 | 2011-12-06 | Temperature control method and system for plurality of sections of barrel of injection molding machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110401005 CN102398356B (en) | 2011-12-06 | 2011-12-06 | Temperature control method and system for plurality of sections of barrel of injection molding machine |
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| CN102398356B true CN102398356B (en) | 2013-10-30 |
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| CN103568235A (en) * | 2013-10-25 | 2014-02-12 | 安徽工贸职业技术学院 | Synchronous temperature control system for injection molding machine |
| WO2016084369A1 (en) * | 2014-11-26 | 2016-06-02 | 三菱重工プラスチックテクノロジー株式会社 | Temperature control method and temperature control device |
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| CN114433844B (en) | 2020-11-06 | 2024-06-11 | 广东伊之密精密机械股份有限公司 | Method and device for controlling temperature of charging barrel of injection molding machine and injection molding machine |
| CN113752507B (en) * | 2021-09-13 | 2022-06-14 | 广东优铸精密机械股份有限公司 | Temperature control system and method for multi-section charging barrel of injection molding machine |
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| JP2004199526A (en) * | 2002-12-19 | 2004-07-15 | Toshiba Mach Co Ltd | Heating control method, heating control program and heating control device |
| JP2006315317A (en) * | 2005-05-13 | 2006-11-24 | Japan Steel Works Ltd:The | Apparatus for controlling temperature of injection molding machine |
| CN101491935A (en) * | 2009-01-08 | 2009-07-29 | 浙江大学 | Charging-basket temperature synchronous control system and method of injection-molding device machine |
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| CN108407247A (en) * | 2018-03-26 | 2018-08-17 | 佛山英诺万自动化有限公司 | A kind of injecting machine material tube fuser malfunction automatic testing method |
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