CN108638466B - Mold opening and closing control method, system and device of injection molding control system - Google Patents
Mold opening and closing control method, system and device of injection molding control system Download PDFInfo
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- CN108638466B CN108638466B CN201810376565.8A CN201810376565A CN108638466B CN 108638466 B CN108638466 B CN 108638466B CN 201810376565 A CN201810376565 A CN 201810376565A CN 108638466 B CN108638466 B CN 108638466B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7653—Measuring, controlling or regulating mould clamping forces
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- Injection Moulding Of Plastics Or The Like (AREA)
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Abstract
The invention discloses a method, a system and a device for controlling the opening and closing of an injection molding control system, wherein the method comprises the following steps: calculating the mass and the dead zone speed of the mold according to the mold opening and closing speed set by the injection molding machine controller; calculating the actual running speed of the opening and closing die according to the mass of the die and the dead zone speed; calculating the actual inertia displacement of the die according to the dead zone speed of the die and the actual running speed of the opening and closing die; controlling the opening and closing of the die according to the actual inertia displacement of the die; the system comprises a first calculation module, a second calculation module, a third calculation module and a control module; the apparatus includes a memory and a processor. According to the invention, through planning the mold opening and closing process and controlling the mold opening and closing according to the actual inertia displacement of the mold, the noise and the abrasion caused by the speed step operation impact in the mold operation process are greatly reduced, the accuracy of mold opening and closing positioning is improved, the practicability is high, and the method can be widely applied to the technical field of injection molding equipment control.
Description
Technical Field
The invention relates to the technical field of injection molding equipment control, in particular to a method, a system and a device for controlling mold opening and closing of an injection molding control system.
Background
The operation of an injection molding machine generally comprises the following steps: the injection molding machine comprises the following steps of die assembly, injection pressure maintaining, molten glue feeding, cooling and shaping, die opening and ejector pin die supporting, and at present, most injection molding machines adopt a hydraulic system to realize control of an action switch and control of pressure and flow, so that the working cycle is completed. For an injection molding machine, a mold opening and closing device is a component used for ensuring that the injection molding machine locks a forming mold, realizing mold opening and closing and ejecting a product. The two main variables that need to be controlled during mold opening and closing are mold closing force and position. Wherein, the injection molding machine has the following two aspect requirements to the position of opening and shutting mechanism: on one hand, the mold moving speed of the injection molding machine directly influences the molding period of a product, so the mold moving speed of the injection molding machine is required to be as fast as possible; on the other hand, with the continuous development and popularization of special processes, the requirement on the control precision of the positioning of the mold opening and closing mechanism is higher and higher. At present, an injection molding machine is generally provided with a manipulator for realizing automatic material taking and labeling. If the mold opening position is not accurately controlled, the workpiece taking accuracy of the manipulator is influenced; in addition, there is a possibility of causing impact of the mold, resulting in damage to the injection molding machine.
In order to solve the existing problems, the prior art corrects the turn-off time of the flow and pressure control component through an iterative learning algorithm, so that the positioning error is controlled within a set range. However, in the method, the switch stroke end point of the valve and the set displacement error are taken as learning basis, only the end point position of the opening and closing die is considered, and the process of the opening and closing die is not considered, so that the 'step-type' control without planning the motion process can cause the phenomenon of 'overshoot' of the machine, has larger vibration and noise, is easy to crash the machine, has lower accuracy and is not practical enough.
Disclosure of Invention
To solve the above technical problems, the present invention aims to: provided are a mold opening and closing control method, system and device of an injection molding control system, which have high accuracy and high practicability.
The first technical scheme adopted by the invention is as follows:
the mold opening and closing control method of the injection molding control system comprises the following steps:
calculating the mass and the dead zone speed of the mold according to the mold opening and closing speed set by the injection molding machine controller;
calculating the actual running speed of the opening and closing die according to the mass of the die and the dead zone speed;
calculating the actual inertia displacement of the die according to the dead zone speed of the die and the actual running speed of the opening and closing die;
and controlling the opening and closing of the mold according to the actual inertia displacement of the mold.
Further, the step of calculating the mass of the mold and the dead zone speed according to the mold opening and closing speed set by the injection molding machine controller comprises the following steps:
setting the mold opening and closing speed through an injection molding machine controller;
detecting the pushing pressure applied to the die through a pressure sensor;
calculating the mold opening and closing time of the mold;
calculating the mass of the die through a momentum theorem according to the die opening and closing speed, the pushing pressure and the die opening and closing time;
and acquiring a corresponding speed feedback value according to the set mold opening and closing speed, and then obtaining the dead zone speed.
Further, the step of calculating the actual running speed of the opening and closing mold according to the mass of the mold and the dead zone speed comprises the following steps:
calculating the maximum pressure value of the opening and closing die according to the mass of the die and the dead zone speed, wherein the calculation formula of the maximum pressure value of the opening and closing die is as follows:
wherein m is the mass of the mold; fmaxIs the maximum pressure value of the opening and closing mold; s is the end point position of the mold operation; vmaxIs the maximum operating speed of the mold; vdIs the dead zone speed;
judging whether the maximum pressure value of the opening and closing mold is greater than a set pressure value, if so, calculating the actual running speed of the opening and closing mold according to the set pressure value, the mass of the mold and the dead zone speed; and otherwise, calculating the actual running speed of the opening and closing die according to the maximum pressure value of the opening and closing die, the mass of the die and the dead zone speed.
Further, in the step of calculating the actual operating speed of the open/close die according to the set pressure value, the mass of the die, and the dead zone speed, the first calculation formula for calculating the actual operating speed of the open/close die is:
wherein m is the mass of the mold; vdIs the dead zone speed; f0Is a set pressure value; Δ t is a control period; vrThe actual running speed of the opening and closing mold;
in the step of calculating the actual running speed of the open-close die according to the maximum pressure value of the open-close die, the mass of the die and the dead zone speed, the second calculation formula for calculating the actual running speed of the open-close die is as follows:
wherein m is the mass of the mold; vdIs the dead zone speed; fmaxIs the maximum pressure value of the opening and closing mold; Δ t is a control period; vrThe actual running speed of the opening and closing mold.
Further, the step of calculating the actual inertial displacement of the mold based on the dead zone speed of the mold and the actual running speed of the opening and closing mold includes the steps of
Calculating the inertia displacement of the die according to the dead zone speed of the die;
judging whether the error between the end position of the mold operation and the inertial displacement meets the error requirement, if so, taking the inertial displacement as the actual inertial displacement of the mold, and executing the step of controlling the mold opening and closing according to the actual inertial displacement of the mold; otherwise, executing the next step;
correcting the dead zone speed of the die by adopting an iterative algorithm according to the error between the running end point position of the die and the inertial displacement;
and recalculating the inertial displacement of the mold according to the corrected dead zone speed, and returning to the step of judging whether the error between the end position of the mold operation and the inertial displacement meets the error requirement or not until the error between the end position of the mold operation and the inertial displacement meets the error requirement.
Further, the step of controlling the opening and closing of the mold based on the actual inertial displacement of the mold includes the steps of:
calculating the accurate position of the opening and closing die according to the actual running speed and the actual inertia displacement of the opening and closing die, wherein the calculation formula of the accurate position of the opening and closing die is as follows:
wherein S isrThe precise position of the opening and closing die; vrThe actual running speed of the opening and closing mold; Δ t (i) is the ith control period; smIs the actual inertial displacement of the mold; n is a superpositionGeneration times;
and accurately controlling the opening and closing die according to the dead zone speed and the actual inertia displacement of the die.
The second technical scheme adopted by the invention is as follows:
injection control system's mould control system that opens and shuts includes:
the first calculation module is used for calculating the mass and the dead zone speed of the mold according to the mold opening and closing speed set by the injection molding machine controller;
the second calculation module is used for calculating the actual running speed of the opening and closing die according to the mass of the die and the dead zone speed;
the third calculation module is used for calculating the actual inertia displacement of the mold according to the dead zone speed of the mold and the actual running speed of the opening and closing mold;
and the control module is used for controlling the opening and closing of the die according to the actual inertia displacement of the die.
Further, the first calculation module includes:
the setting unit is used for setting the mold opening and closing speed through the injection molding machine controller;
the detection unit is used for detecting the pushing pressure applied to the die through the pressure sensor;
the time calculation unit is used for calculating the mold opening and closing time of the mold;
and the mass calculating unit is used for calculating the mass of the die through momentum theorem according to the die opening and closing speed, the pushing pressure and the die opening and closing time.
Further, the second calculation module includes:
the pressure value calculation unit is used for calculating the maximum pressure value of the opening and closing die according to the mass of the die and the dead zone speed;
the judgment unit is used for judging whether the maximum pressure value of the mold opening and closing is greater than a set pressure value or not, and if so, calculating the actual running speed of the mold opening and closing according to the set pressure value, the mass of the mold and the dead zone speed; and otherwise, calculating the actual running speed of the opening and closing die according to the maximum pressure value of the opening and closing die, the mass of the die and the dead zone speed.
The third technical scheme adopted by the invention is as follows:
the open-close mould control device of the injection molding control system comprises:
a memory for storing a program;
and the processor is used for loading the program to execute the mold opening and closing control method of the injection molding control system according to the first technical scheme.
The invention has the beneficial effects that: according to the method, the actual inertial displacement of the die is finally calculated according to the set die opening and closing speed, and the accurate control is performed according to the actual inertial displacement.
Drawings
FIG. 1 is a flowchart illustrating the steps of a mold opening and closing control method of an injection molding control system according to the present invention;
FIG. 2 is a schematic diagram of an overall structure of the injection control system.
Detailed Description
The invention will be further explained and explained with reference to the drawings and the embodiments in the description. The step numbers in the embodiments of the present invention are set for convenience of illustration only, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.
Referring to fig. 1, the mold opening and closing control method of the injection molding control system of the invention comprises the following steps:
calculating the mass and the dead zone speed of the mold according to the mold opening and closing speed set by the injection molding machine controller;
calculating the actual running speed of the opening and closing die according to the mass of the die and the dead zone speed;
calculating the actual inertia displacement of the die according to the dead zone speed of the die and the actual running speed of the opening and closing die;
and controlling the opening and closing of the mold according to the actual inertia displacement of the mold.
Further, as a preferred embodiment, the step of calculating the mass of the mold and the dead zone speed according to the mold opening and closing speed set by the controller of the injection molding machine includes the steps of:
setting the mold opening and closing speed through an injection molding machine controller;
detecting the pushing pressure applied to the die through a pressure sensor;
calculating the mold opening and closing time of the mold;
calculating the mass of the die through a momentum theorem according to the die opening and closing speed, the pushing pressure and the die opening and closing time;
and acquiring a corresponding speed feedback value according to the set mold opening and closing speed, and then obtaining the dead zone speed.
Further preferably, the step of calculating the actual operating speed of the opening and closing die based on the mass of the die and the dead zone speed includes the steps of:
calculating the maximum pressure value of the opening and closing die according to the mass of the die and the dead zone speed, wherein the calculation formula of the maximum pressure value of the opening and closing die is as follows:
wherein m is the mass of the mold; fmaxIs the maximum pressure value of the opening and closing mold; s is the end point position of the mold operation; vmaxIs the maximum operating speed of the mold; vdIs the dead zone speed;
judging whether the maximum pressure value of the opening and closing mold is greater than a set pressure value, if so, calculating the actual running speed of the opening and closing mold according to the set pressure value, the mass of the mold and the dead zone speed; and otherwise, calculating the actual running speed of the opening and closing die according to the maximum pressure value of the opening and closing die, the mass of the die and the dead zone speed.
In a further preferred embodiment, in the step of calculating the actual operating speed of the open/close die from the set pressure value, the mass of the die, and the dead zone speed, the first calculation formula for calculating the actual operating speed of the open/close die is:
wherein m is the mass of the mold; vdIs the dead zone speed; f0Is a set pressure value; Δ t is a control period; vrThe actual running speed of the opening and closing mold;
in the step of calculating the actual running speed of the open-close die according to the maximum pressure value of the open-close die, the mass of the die and the dead zone speed, the second calculation formula for calculating the actual running speed of the open-close die is as follows:
wherein m is the mass of the mold; vdIs the dead zone speed; fmaxIs the maximum pressure value of the opening and closing mold; Δ t is a control period; vrThe actual running speed of the opening and closing mold.
Further preferably, the step of calculating the actual inertial displacement of the mold based on the dead zone speed of the mold and the actual operating speed of the opening and closing mold includes the step of calculating the actual inertial displacement of the mold based on the dead zone speed of the mold and the actual operating speed of the opening and closing mold, and the step of calculating the actual inertial displacement of the mold based on the dead zone speed of
Calculating the inertia displacement of the die according to the dead zone speed of the die;
judging whether the error between the end position of the mold operation and the inertial displacement meets the error requirement, if so, taking the inertial displacement as the actual inertial displacement of the mold, and executing the step of controlling the mold opening and closing according to the actual inertial displacement of the mold; otherwise, executing the next step;
correcting the dead zone speed of the die by adopting an iterative algorithm according to the error between the running end point position of the die and the inertial displacement;
and recalculating the inertial displacement of the mold according to the corrected dead zone speed, and returning to the step of judging whether the error between the end position of the mold operation and the inertial displacement meets the error requirement or not until the error between the end position of the mold operation and the inertial displacement meets the error requirement.
In a further preferred embodiment, the step of controlling the opening/closing mold based on the actual inertial displacement of the mold includes the steps of:
calculating the accurate position of the opening and closing die according to the actual running speed and the actual inertia displacement of the opening and closing die, wherein the calculation formula of the accurate position of the opening and closing die is as follows:
wherein S isrThe precise position of the opening and closing die; vrThe actual running speed of the opening and closing mold; Δ t (i) is the ith control period; smIs the actual inertial displacement of the mold; n is the number of iterations;
and accurately controlling the opening and closing die according to the dead zone speed and the actual inertia displacement of the die.
Corresponding to the method of fig. 1, the mold opening and closing control system of the injection molding control system of the invention comprises:
the first calculation module is used for calculating the mass and the dead zone speed of the mold according to the mold opening and closing speed set by the injection molding machine controller;
the second calculation module is used for calculating the actual running speed of the opening and closing die according to the mass of the die and the dead zone speed;
the third calculation module is used for calculating the actual inertia displacement of the mold according to the dead zone speed of the mold and the actual running speed of the opening and closing mold;
and the control module is used for controlling the opening and closing of the die according to the actual inertia displacement of the die.
Further as a preferred embodiment, the first calculation module includes:
the setting unit is used for setting the mold opening and closing speed through the injection molding machine controller;
the detection unit is used for detecting the pushing pressure applied to the die through the pressure sensor;
the time calculation unit is used for calculating the mold opening and closing time of the mold;
and the mass calculating unit is used for calculating the mass of the die through momentum theorem according to the die opening and closing speed, the pushing pressure and the die opening and closing time.
Further as a preferred embodiment, the second calculation module includes:
the pressure value calculation unit is used for calculating the maximum pressure value of the opening and closing die according to the mass of the die and the dead zone speed;
the judgment unit is used for judging whether the maximum pressure value of the mold opening and closing is greater than a set pressure value or not, and if so, calculating the actual running speed of the mold opening and closing according to the set pressure value, the mass of the mold and the dead zone speed; and otherwise, calculating the actual running speed of the opening and closing die according to the maximum pressure value of the opening and closing die, the mass of the die and the dead zone speed.
Corresponding to the method of fig. 1, the mold opening and closing control device of the injection molding control system of the invention comprises:
a memory for storing a program;
and the processor is used for loading the program to execute the mold opening and closing control method of the injection molding control system.
Referring to fig. 2, the injection control system of the present invention comprises an injection molding machine controller, a servo driver, a gear pump and a mold, wherein the servo driver comprises a servo motor and a motor controller, the servo motor is provided with an encoder, the gear pump is provided with a pressure sensor, and the mold is provided with a displacement sensor, wherein:
the injection molding machine controller is used for setting control parameters such as speed, pressure value and position of opening and closing the mold;
the servo driver is used for controlling the servo motor to operate according to a set speed and controlling the servo motor to reach a set pressure value and position;
the encoder is used for detecting the operation angle of the servo motor and sending the detection result to the motor controller;
the motor controller is used for controlling the running displacement and the running speed of the servo motor according to the detection result sent by the encoder;
the gear pump is used for driving the hydraulic oil to move according to the rotation of the servo motor;
the pressure sensor is used for detecting the pressure of the oil way in real time and feeding back a detection result to the servo driver;
a mold for performing opening and closing movements according to the movement of the hydraulic oil;
the displacement sensor is used for detecting the displacement of the mold in real time and feeding back the detection result to the injection molding machine controller, so that closed-loop control is implemented, and the final displacement position of the mold is ensured to be close to a set value and stay within an allowable range;
the specific flow of the mold opening and closing control method of the invention is described in detail as follows:
s1, calculating the mass and the dead zone speed of the mold according to the mold opening and closing speed set by the injection molding machine controller;
wherein, step S1 specifically includes the following steps:
s11, setting the mold opening and closing speed through the injection molding machine controller;
s12, detecting the pushing pressure applied to the die through a pressure sensor;
s13, calculating the mold opening and closing time of the mold;
s14, calculating the mass of the mold through momentum theorem according to the mold opening and closing speed, the pushing pressure and the mold opening and closing time, wherein the calculation formula of the mold mass specifically comprises the following steps:
Ft＝mv，
wherein F is the pressure exerted on the mold; t is the pressure duration acting time, namely the mold opening and closing time of the mold; m is the weight of the die; v is the mold running speed.
The invention only needs to set the speed of opening and closing the mold in the injection molding machine controller, and the servo driver controls the servo motor to implement closed-loop control, so that the mold can move in the opening and closing manner according to the set speed; then, the pressure for pushing the die to move is detected through the pressure sensor, and the die opening and closing time is calculated, so that the quality of the die can be calculated. In addition, in the invention, in order to obtain more accurate mould quality, the mould opening and closing operation can be controlled circularly, relevant parameters are measured and learned and calculated for multiple times, and finally the average value is taken to obtain the accurate quality of the mould.
And S15, acquiring a corresponding speed feedback value according to the set mold opening and closing speed, and then obtaining the dead zone speed. The speed set value of the opening and closing die of the invention is changed from large to small in a continuous cycle, and once the feedback value of the speed is detected to deviate more than 10% from the set value, the speed is considered as a dead zone speed value.
S2, calculating the actual running speed of the opening and closing die according to the mass of the die and the dead zone speed;
the mold opening and closing parameters set by the controller of the injection molding machine generally comprise speed, pressure and position, so as to ensure that the mold opening and closing operation reaches the set position at the set maximum speed or pressure.
Step S2 specifically includes the following steps:
s21, calculating the maximum pressure value of the opening and closing die according to the mass of the die and the dead zone speed, wherein the calculation formula of the maximum pressure value of the opening and closing die is as follows:
wherein m is the mass of the mold; s is the end point position of the mold operation; vmaxIs the maximum operating speed of the mold; vdIs the dead zone speed;
s22, judging whether the maximum pressure value of the mold opening and closing is larger than a set pressure value or not, and if so, calculating the actual running speed of the mold opening and closing according to the set pressure value, the mass of the mold and the dead zone speed; and otherwise, calculating the actual running speed of the opening and closing die according to the maximum pressure value of the opening and closing die, the mass of the die and the dead zone speed.
In the step of calculating the actual operating speed of the opening and closing die according to the set pressure value, the mass of the die and the dead zone speed, the first calculation formula for calculating the actual operating speed of the opening and closing die is as follows:
wherein m is the mass of the mold; vdIs the dead zone speed; f0Is a set pressure value; Δ t is a control period; vrThe actual running speed of the opening and closing mold;
in the step of calculating the actual running speed of the open-close die according to the maximum pressure value of the open-close die, the mass of the die and the dead zone speed, the second calculation formula for calculating the actual running speed of the open-close die is as follows:
wherein m is the mass of the mold; vdIs the dead zone speed; fmaxIs the maximum pressure value of the opening and closing mold; Δ t is a control period; vrThe actual running speed of the opening and closing mold.
The invention can make the opening and closing die reach the vicinity of the set position under the condition of meeting the set speed and pressure values.
S3, calculating the actual inertia displacement of the die according to the dead zone speed of the die and the actual running speed of the opening and closing die;
because the opening and closing die has a certain dead zone speed, and the dead zone speed can cause corresponding inertial displacement, the method ensures the subsequent accuracy of the positioning of the opening and closing die by calculating the actual inertial displacement of the die. In the actual operation of the opening and closing die, once the actual speed is lower than the dead zone speed, the operation of the opening and closing die is considered to be in an uncontrollable state, and at the moment, an operation instruction of a system is required to be turned off. When the speed of the mold opening and closing process reaches the dead zone speed, the input of the servo driver is 0, and the mold completes the final displacement operation by means of the inertia of the mold. Because the mold opening and closing process of the injection molding machine has certain repeatability within a period of time, the inertial displacement can be calculated by adopting an iterative learning algorithm, and the step S3 specifically comprises the following steps:
s31, calculating the inertia displacement of the die according to the dead zone speed of the die;
s32, judging whether the error between the end position of the mold operation and the inertial displacement meets the error requirement, if so, taking the inertial displacement as the actual inertial displacement of the mold, and executing the step of controlling the mold opening and closing according to the actual inertial displacement of the mold; otherwise, executing the next step;
s33, correcting the dead zone speed of the die by adopting an iterative algorithm according to the error between the running end position of the die and the inertial displacement;
the calculation formula for correcting the dead zone speed is as follows:
Vd(i+1)＝Vd(i)+ke(i) i＝1,2,3,…n
vd (i +1) is the dead zone speed obtained by the i +1 th learning; vd (i) is the dead zone speed obtained by the ith learning; k is the learning rate; and e (i) is the error between the ith inertial displacement and the end position.
And S34, recalculating the inertial displacement of the mold according to the corrected dead zone speed, and returning to the step of judging whether the error between the end position of the mold operation and the inertial displacement meets the error requirement until the error between the end position of the mold operation and the inertial displacement meets the error requirement.
And S4, controlling the opening and closing of the mold according to the actual inertia displacement of the mold.
Step S4 specifically includes the following steps:
s41, calculating the accurate position of the opening and closing die according to the actual running speed and the actual inertia displacement of the opening and closing die, wherein the calculation formula of the accurate position of the opening and closing die is as follows:
wherein S isrThe precise position of the opening and closing die; vrThe actual running speed of the opening and closing mold; Δ t (i) is the ith control period; smIs the actual inertial displacement of the mold; n is the number of iterations;
and S42, accurately controlling the opening and closing die according to the dead zone speed and the actual inertia displacement of the die.
In summary, compared with the prior art, the mold opening and closing control method, system and device of the injection molding control system of the invention have the following advantages:
1) the injection molding machine controller sends the relevant parameters of mold opening and closing to the servo driver in a bus communication mode, has high responsiveness and real-time performance, can effectively reduce the dead zone speed value, and performs higher-precision speed planning and control;
2) according to the mold opening and closing parameters set by the injection molding machine controller, the mold opening and closing process is divided into two processes: a linear controllable region and a non-linear "dead zone". The linear controllable area realizes the accurate displacement control of the opening and closing die by setting the speed, the pressure and the position; the nonlinear 'dead zone' obtains the actual inertial displacement of the running of the die by adopting an iterative algorithm, the running position of the die can be accurately controlled, the error of uncertain inertial running is reduced, the noise and abrasion caused by speed step running impact in the running process of the die are greatly reduced, and the precision is high and the practicability is high.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The mold opening and closing control method of the injection molding control system is characterized in that: the method comprises the following steps:
calculating the mass and the dead zone speed of the mold according to the mold opening and closing speed set by the injection molding machine controller;
calculating the actual running speed of the opening and closing die according to the mass of the die and the dead zone speed;
calculating the actual inertia displacement of the die according to the dead zone speed of the die and the actual running speed of the opening and closing die;
and controlling the opening and closing of the mold according to the actual inertia displacement of the mold.
2. The mold opening and closing control method of an injection molding control system according to claim 1, characterized in that: the step of calculating the mass of the mold and the dead zone speed according to the mold opening and closing speed set by the injection molding machine controller comprises the following steps of:
setting the mold opening and closing speed through an injection molding machine controller;
detecting the pushing pressure applied to the die through a pressure sensor;
calculating the mold opening and closing time of the mold;
calculating the mass of the die through a momentum theorem according to the die opening and closing speed, the pushing pressure and the die opening and closing time;
and acquiring a corresponding speed feedback value according to the set mold opening and closing speed, and then obtaining the dead zone speed.
3. The mold opening and closing control method of an injection molding control system according to claim 2, characterized in that: the step of calculating the actual running speed of the opening and closing die according to the mass of the die and the dead zone speed comprises the following steps:
calculating the maximum pressure value of the opening and closing die according to the mass of the die and the dead zone speed, wherein the calculation formula of the maximum pressure value of the opening and closing die is as follows:
wherein m is the mass of the mold; fmaxIs the maximum pressure value of the opening and closing mold; s is the end point position of the mold operation; vmaxIs the maximum operating speed of the mold; vdIs the dead zone speed;
judging whether the maximum pressure value of the opening and closing mold is greater than a set pressure value, if so, calculating the actual running speed of the opening and closing mold according to the set pressure value, the mass of the mold and the dead zone speed; and otherwise, calculating the actual running speed of the opening and closing die according to the maximum pressure value of the opening and closing die, the mass of the die and the dead zone speed.
4. The mold opening and closing control method of an injection molding control system according to claim 3, characterized in that: in the step of calculating the actual running speed of the opening and closing die according to the set pressure value, the mass of the die and the dead zone speed, the first calculation formula for calculating the actual running speed of the opening and closing die is as follows:
wherein m is the mass of the mold; vdIs the dead zone speed; f0Is a set pressure value; Δ t is a control period; vrThe actual running speed of the opening and closing mold;
in the step of calculating the actual running speed of the open-close die according to the maximum pressure value of the open-close die, the mass of the die and the dead zone speed, the second calculation formula for calculating the actual running speed of the open-close die is as follows:
wherein m is the mass of the mold; vdIs the dead zone speed; fmaxIs the maximum pressure value of the opening and closing mold; Δ t is a control period; vrThe actual running speed of the opening and closing mold.
5. The mold opening and closing control method of an injection molding control system according to claim 3, characterized in that: the step of calculating the actual inertia displacement of the mold according to the dead zone speed of the mold and the actual running speed of the opening and closing mold comprises the following steps:
calculating the inertia displacement of the die according to the dead zone speed of the die;
judging whether the error between the end position of the mold operation and the inertial displacement meets the error requirement, if so, taking the inertial displacement as the actual inertial displacement of the mold, and executing the step of controlling the mold opening and closing according to the actual inertial displacement of the mold; otherwise, executing the next step;
correcting the dead zone speed of the die by adopting an iterative algorithm according to the error between the running end point position of the die and the inertial displacement;
and recalculating the inertial displacement of the mold according to the corrected dead zone speed, and returning to the step of judging whether the error between the end position of the mold operation and the inertial displacement meets the error requirement or not until the error between the end position of the mold operation and the inertial displacement meets the error requirement.
6. The mold opening and closing control method of an injection molding control system according to claim 5, characterized in that: the step of controlling the opening and closing of the mold according to the actual inertial displacement of the mold includes the steps of:
calculating the accurate position of the opening and closing die according to the actual running speed and the actual inertia displacement of the opening and closing die, wherein the calculation formula of the accurate position of the opening and closing die is as follows:
wherein S isrThe precise position of the opening and closing die; vrThe actual running speed of the opening and closing mold; Δ t (i) is the ith control period; smIs the actual inertial displacement of the mold; n is the number of iterations;
and accurately controlling the opening and closing die according to the dead zone speed and the actual inertia displacement of the die.
7. Control system's mould opening and shutting control system moulds plastics, its characterized in that: the method comprises the following steps:
the first calculation module is used for calculating the mass and the dead zone speed of the mold according to the mold opening and closing speed set by the injection molding machine controller;
the second calculation module is used for calculating the actual running speed of the opening and closing die according to the mass of the die and the dead zone speed;
the third calculation module is used for calculating the actual inertia displacement of the mold according to the dead zone speed of the mold and the actual running speed of the opening and closing mold;
and the control module is used for controlling the opening and closing of the die according to the actual inertia displacement of the die.
8. An injection molding control system of claim 7, wherein: the first computing module includes:
the setting unit is used for setting the mold opening and closing speed through the injection molding machine controller;
the detection unit is used for detecting the pushing pressure applied to the die through the pressure sensor;
the time calculation unit is used for calculating the mold opening and closing time of the mold;
and the mass calculating unit is used for calculating the mass of the die through momentum theorem according to the die opening and closing speed, the pushing pressure and the die opening and closing time.
9. An injection molding control system of claim 8, wherein: the second calculation module includes:
the pressure value calculation unit is used for calculating the maximum pressure value of the opening and closing die according to the mass of the die and the dead zone speed;
the judgment unit is used for judging whether the maximum pressure value of the mold opening and closing is greater than a set pressure value or not, and if so, calculating the actual running speed of the mold opening and closing according to the set pressure value, the mass of the mold and the dead zone speed; and otherwise, calculating the actual running speed of the opening and closing die according to the maximum pressure value of the opening and closing die, the mass of the die and the dead zone speed.
10. Injection molding control system's mould controlling means that opens and shuts, its characterized in that: the method comprises the following steps:
a memory for storing a program;
a processor for loading the program to execute the mold opening and closing control method of the injection control system according to any one of claims 1 to 6.
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| CN112895363B (en) * | 2021-01-18 | 2022-05-20 | 杭州电子科技大学 | Low-pressure mold protection self-adaptive control method and device of injection molding machine |
| CN114318955B (en) * | 2021-12-31 | 2024-01-30 | 珠海格力智能装备有限公司 | Mold clamping force adjusting method of forming mold |
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