JP2681795B2 - Drive controller for electric injection molding machine - Google Patents
Drive controller for electric injection molding machineInfo
- Publication number
- JP2681795B2 JP2681795B2 JP7311488A JP7311488A JP2681795B2 JP 2681795 B2 JP2681795 B2 JP 2681795B2 JP 7311488 A JP7311488 A JP 7311488A JP 7311488 A JP7311488 A JP 7311488A JP 2681795 B2 JP2681795 B2 JP 2681795B2
- Authority
- JP
- Japan
- Prior art keywords
- value
- electric
- electric motors
- deviation
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
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- Injection Moulding Of Plastics Or The Like (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は電動機駆動の射出成形機に関し，特に駆動機
構が複数の電動機で駆動される射出成形機の駆動制御装
置に関する。The present invention relates to an electric motor driven injection molding machine, and more particularly to a drive control device for an injection molding machine in which a drive mechanism is driven by a plurality of electric motors.
この種の複数の電動機（例えば，電動サーボモータ）
で駆動される射出成形機が知られている（例えば，特開
昭61-237615号公報，特開昭61-244520号公報）。これら
の電動射出成形機では，複数のサーボモータを用いて，
例えば，スクリューを進退させることにより駆動機構の
安価な射出成形機を提供している。Multiple electric motors of this type (eg electric servomotors)
There is known an injection molding machine which is driven by the above (for example, JP-A-61-237615 and JP-A-61-244520). These electric injection molding machines use multiple servo motors,
For example, we provide an injection molding machine with a cheap drive mechanism by moving the screw back and forth.
ところで，複数のサーボモータによって，例えば，ス
クリューを駆動する場合，単にサーボモータに電源を投
入したのでは，一方のサーボモータの回転数と他方のサ
ーボモータの回転数が微妙に異なり，スクリューを安定
して稼動することができない。By the way, when a screw is driven by a plurality of servomotors, for example, if the servomotors are simply powered on, the rotational speed of one servomotor and the rotational speed of the other servomotor may differ slightly, thus stabilizing the screw. And cannot operate.
このため，特開昭62-128724号公報に記載されている
如く，複数のモータを歯車機構による位相保持手段によ
って連結して互に同調させるようにしたものもすでに提
案されているが，この場合，位相保持手段の慣性が大き
く応答性が悪くなるという問題点があった。Therefore, as described in Japanese Patent Laid-Open No. 62-128724, there has already been proposed a structure in which a plurality of motors are connected by phase holding means by a gear mechanism so that they are synchronized with each other. However, there was a problem that the inertia of the phase holding means was large and the responsiveness deteriorated.
本発明によれば、駆動機構が複数の電動機で駆動され
る電動射出成形機において、前記複数の電動機の夫々に
ついて回転速度を検出して速度検出値として出力する第
１の検出手段、前記複数の電動機のトルクをそれぞれ検
出してトルク検出値として出力する第２の検出手段、及
び前記複数の電動機の回転位置をそれぞれ検出して位置
検出値として出力する第３の検出手段を備え、前記各電
動機の回転速度設定値と前記速度検出値との偏差を夫々
求めて第１の偏差値として出力する第１の手段、該第１
の偏差値を前記トルク検出値に基づいて補正して第２の
偏差値とする第２の手段、及び前記位置検出値に基づい
て各電動機相互間の位相ズレを表す第３の偏差値を求め
る第３の手段を有し、前記第２の偏差値に基づいて前記
複数の電動機の一つを駆動制御し前記第２の偏差値に応
じて前記複数の電動機の残りを駆動制御するとともに前
記第３の偏差値に基づいて前記複数の電動機の残りを前
記複数の電動機の一つに同調制御するようにしたことを
特徴とする電動射出成形機の駆動制御装置が得られる。According to the present invention, in an electric injection molding machine in which a drive mechanism is driven by a plurality of electric motors, a first detection unit that detects a rotation speed of each of the plurality of electric motors and outputs the detected rotation speed as a speed detection value. Each of the electric motors is provided with a second detecting means for detecting a torque of the electric motor and outputting the detected torque value as a detected torque value, and a third detecting means for detecting a rotational position of each of the plurality of electric motors and outputting a detected position value. Means for obtaining the deviation between the rotational speed setting value and the speed detection value, and outputting the deviation as a first deviation value.
Second deviation value is obtained by correcting the deviation value of the electric motor based on the detected torque value, and a third deviation value representing the phase deviation between the electric motors is obtained based on the position detected value. A third means for driving and controlling one of the plurality of electric motors based on the second deviation value, and drivingly controlling the rest of the plurality of electric motors according to the second deviation value; A drive control device for an electric injection molding machine is obtained in which the rest of the plurality of electric motors are controlled to be synchronized with one of the plurality of electric motors based on the deviation value of 3.
本発明では，複数の電動機の夫々の回転速度トルク及
び位置を検出し，速度検出値と設定速度値との第１の偏
差値を求める。次に、この第１の偏差値を各電動機のト
ルク検出値で補正してそれぞれ補正値を求め、この補正
値を第２の偏差値とする。そして、この第２の偏差値に
基づいて各電動機を制御し，各電動機の位置検出値から
の第３の偏差値により各電動機の相対的な位相のズレを
制御する。即ち，上記複数の電動機の回転速度を互いに
同調させている。In the present invention, the rotational speed torque and the position of each of the plurality of electric motors are detected, and the first deviation value between the speed detection value and the set speed value is obtained. Next, the first deviation value is corrected by the torque detection value of each electric motor to obtain a correction value, and this correction value is set as the second deviation value. Then, each electric motor is controlled based on the second deviation value, and the relative phase shift of each electric motor is controlled by the third deviation value from the position detection value of each electric motor. That is, the rotation speeds of the plurality of electric motors are synchronized with each other.
以下本発明について実施例によって説明する。 Hereinafter, the present invention will be described with reference to examples.
まず，第１図を参照して，本発明が適用される射出成
形機の射出機構について概説する。First, an injection mechanism of an injection molding machine to which the present invention is applied will be outlined with reference to FIG.
射出シリンダー1aを備える射出シリンダー筐体１には
スクリューシャフト（ネジ軸）2a及び2bが回転可能に支
持されている。スクリューシャフト2a及び2bにはナット
部材3a及び3bによってスクリュー支持部材３が支持され
ており，このスクリュー支持部材３には射出シリンダー
1a内に延びるスクリュー４が回転可能に取り付けられて
いる。射出シリンダー筐体１の外壁面には電動サーボモ
ータ5a及び5bが配設されており，電動サーボモータ5a及
び5bの回転軸にはそれぞれスクリューシャフト2a及び2b
が連結されている。Screw shafts (screw shafts) 2a and 2b are rotatably supported in an injection cylinder housing 1 including an injection cylinder 1a. A screw support member 3 is supported by nut members 3a and 3b on the screw shafts 2a and 2b. The screw support member 3 has an injection cylinder.
A screw 4 extending in 1a is rotatably mounted. Electric servomotors 5a and 5b are arranged on the outer wall surface of the injection cylinder casing 1, and screw shafts 2a and 2b are respectively provided on the rotating shafts of the electric servomotors 5a and 5b.
Are connected.
さらに，第１図（ｂ）に示すように，スクリュー支持
部材３には上方に延びる取付部材６が設けられており，
この取付部材６には電動サーボモータ5cが支持されてい
る。そして，この電動サーボモータ5cはベルト７を介し
てスクリュー４に連結されている。Further, as shown in FIG. 1 (b), the screw supporting member 3 is provided with a mounting member 6 extending upward,
An electric servomotor 5c is supported on the mounting member 6. The electric servomotor 5c is connected to the screw 4 via the belt 7.
スクリュー４を回転させる際には，電動サーボモータ
5cが駆動される。一方，スクリュー４を進退させるに
は，電動サーボモータ5a及び5bを駆動する。電動サーボ
モータ5a及び5bの駆動によりそれぞれスクリューシャフ
ト2a及び2bを回転させると，ネジナット部材3a及び3bが
スクリューシャフト2a及び2bの回転方向に対応した方向
にそれぞれスクリューシャフト2a及び2b上を動く。これ
によって，スクリュー支持部材３に支持されたスクリュ
ー４を進退させる。When rotating the screw 4, an electric servomotor
5c is driven. On the other hand, to move the screw 4 back and forth, the electric servomotors 5a and 5b are driven. When the screw shafts 2a and 2b are rotated by driving the electric servomotors 5a and 5b, the screw nut members 3a and 3b move on the screw shafts 2a and 2b in the directions corresponding to the rotation directions of the screw shafts 2a and 2b, respectively. As a result, the screw 4 supported by the screw support member 3 is moved back and forth.
ここで，第２図も併せて参照して，電動サーボモータ
5aには夫々速度検出器８及び13,電流検出器９及び10及
び位置検出器14及び15が配置されている。Here, also referring to FIG. 2, refer to FIG.
Speed detectors 8 and 13, current detectors 9 and 10 and position detectors 14 and 15 are arranged at 5a, respectively.
サーボモータ駆動制御装置は各電動サーボモータ5a,5
bに対応する上記の速度検出器8,13と電流検出器9,10と
位置検出器14,15及び制御器11とから構成されている。
そして，制御器11は減算器11a,11b及び11c,11d,電流補
償器11h及び11i,速度補償器11f及び11gと位置補償器11j
を備えており，この制御器11には速度設定器12が連結さ
れている。Servo motor drive controller is for each electric servo motor 5a, 5
It is composed of the speed detectors 8 and 13, the current detectors 9 and 10, the position detectors 14 and 15 and the controller 11 corresponding to b.
The controller 11 includes subtractors 11a, 11b and 11c, 11d, current compensators 11h and 11i, speed compensators 11f and 11g, and position compensator 11j.
The speed setting device 12 is connected to the controller 11.
次に電動サーボモータ5a及び5bの駆動制御について説
明する。Next, drive control of the electric servomotors 5a and 5b will be described.
速度設定器12に電動サーボモータの回転速度が設定さ
れ，該設定器12に設定された回転速度で電動サーボモー
タ5a及び5bが駆動される。この電動サーボモータ5a,5b
の回転速度は速度検出器8,13で夫々検出され，回転速度
に対応した電圧値（以下速度電圧値という）Ａ及びＢと
して出力される。一方，電動サーボモータ5a及び5bに流
れる駆動電流がそれぞれ電流検出器９及び10によって検
出され，駆動電流に対応した電圧値（以下駆動電圧値と
いう）Ｃ及びＤとして出力される（なお，各電動サーボ
モータのトルクは駆動電流に比例するから，結局トルク
を検出していることになる）。The rotation speed of the electric servomotor is set in the speed setter 12, and the electric servomotors 5a and 5b are driven at the rotation speed set in the setter 12. This electric servo motor 5a, 5b
The rotational speeds are detected by the speed detectors 8 and 13, respectively, and are output as voltage values (hereinafter referred to as speed voltage values) A and B corresponding to the rotational speeds. On the other hand, the drive currents flowing in the electric servomotors 5a and 5b are detected by the current detectors 9 and 10, respectively, and output as voltage values (hereinafter referred to as drive voltage values) C and D corresponding to the drive currents (each electric drive Since the torque of the servo motor is proportional to the drive current, it means that the torque is detected after all).
更に，位置検出器14及び15によって電動サーボモータ
5a及び5bの回転角に対応した電圧値（以下位置電圧値と
いう）Ｅ及びＦとして出力される。Further, the position detectors 14 and 15 are used to drive the electric servomotor.
The voltage values (hereinafter referred to as position voltage values) E and F corresponding to the rotation angles of 5a and 5b are output.
そして，速度設定器12から設定回転速度に対応する電
圧値（以下設定電圧値という）Ｇが出力され，減算器11
a及び11cで設定電圧値Ｇと速度電圧値A,Bとの偏差がと
られ，第１の偏差電圧値Ｈ及びＩが出力され，速度補償
器11f及び11gでゲイン補償される。このゲイン補償され
た第１の偏差電圧値（以下第１のゲイン電圧値という）
Ｊ及びＫは減算器11b及び11dに入力される。減算器11b
及び11dで第１のゲイン電圧値Ｊ及びＫがそれぞれ電流
検出器９及び10からの駆動電圧値Ｃ及びＤで補正して補
正電圧値として出力する。例えば、減算器11b及び11dで
は第１のゲイン電圧値Ｊ及びＫと駆動電圧値Ｃ及びＤと
の差を求めて補正電圧値を得、補正電圧値を第２の偏差
電圧値Ｌ及びＭとして出力する。これら第２の偏差電圧
値Ｌ及びＭはそれぞれ電流補償器11h及び11iでゲイン補
償される。このゲイン補償された第２の偏差電圧値（以
下第２のゲイン電圧値という）Ｎ及びＰが電動サーボモ
ータ5a及び5bに与えられる。即ち，第２のゲイン電圧値
Ｎ及びＰに対応して電動サーボモータ5a及び5bに流れる
駆動電流が増減され，トルクが増減される。電動サーボ
モータ5a及び5bの回転速度が設定値に制御される。Then, a voltage value (hereinafter referred to as a set voltage value) G corresponding to the set rotational speed is output from the speed setter 12 and the subtractor 11
The deviations between the set voltage value G and the speed voltage values A and B are taken at a and 11c, the first deviation voltage values H and I are output, and the gains are compensated at the speed compensators 11f and 11g. This gain-compensated first deviation voltage value (hereinafter referred to as the first gain voltage value)
J and K are input to the subtractors 11b and 11d. Subtractor 11b
And 11d, the first gain voltage values J and K are corrected by the drive voltage values C and D from the current detectors 9 and 10, respectively, and output as corrected voltage values. For example, in the subtractors 11b and 11d, the difference between the first gain voltage values J and K and the driving voltage values C and D is obtained to obtain the correction voltage value, and the correction voltage value is set as the second deviation voltage values L and M. Output. These second deviation voltage values L and M are gain-compensated by the current compensators 11h and 11i, respectively. The gain-compensated second deviation voltage values (hereinafter referred to as second gain voltage values) N and P are given to the electric servomotors 5a and 5b. That is, the drive current flowing through the electric servomotors 5a and 5b is increased / decreased corresponding to the second gain voltage values N and P, and the torque is increased / decreased. The rotation speeds of the electric servomotors 5a and 5b are controlled to a set value.
しかし，速度検出器8,13の精度或いは制御回路のオフ
セット等で常にサーボモータ5a及び5bの回転数が等しく
なるとは限らない。However, the rotation speeds of the servomotors 5a and 5b are not always equal due to the accuracy of the speed detectors 8 and 13 or the offset of the control circuit.
このため，例えば，電動サーボモータ5bの回転速度が
電動サーボモータ5aの回転速度よりも下がると，位置検
出器14と15の出力電圧値に差が生ずる。Therefore, for example, when the rotation speed of the electric servomotor 5b becomes lower than the rotation speed of the electric servomotor 5a, a difference occurs in the output voltage values of the position detectors 14 and 15.
この位置検出器14及び15からの出力電圧を減算器11e
に入力し，該減算器11eからの出力を位置補償器11jを介
して前記減算器11cに入力して，前記設定電圧値G,速度
電圧値Ｂ及び位置補償器11jからの入力信号Ｒとを減算
して電動サーボモータ5bの回転速度を増加する方向の偏
差電圧Ｉを出力して電動サーボモータ5bの回転速度と電
動サーボモータ5aの回転速度が等しくなるように制御す
る。The output voltage from the position detectors 14 and 15 is subtracted from the subtractor 11e.
Input to the subtractor 11c via the position compensator 11j and the set voltage value G, the speed voltage value B and the input signal R from the position compensator 11j. The deviation voltage I in the direction of increasing the rotation speed of the electric servomotor 5b by subtraction is output to control so that the rotation speed of the electric servomotor 5b and the rotation speed of the electric servomotor 5a become equal.
以上説明したように本発明では，複数の電動機のうち
の一つの電動機の回転速度を設定回転速度に維持して，
この一つの電動機の回転速度に同調させて他の電動機の
回転速度が前記一つの電動機の回転速度と等しくなるよ
うに電気的に制御し，複数の電動機を設定回転速度で駆
動することができる。従って複数の電動機で駆動される
駆動機構を安定して稼動することができると共に，位相
保持用歯車等，機械的な同調機構を設ける必要がない。
しかも駆動系の慣性も小さくなるので速度設定を変更し
た時の応答性も向上する等の効果を有する。As described above, in the present invention, the rotation speed of one of the plurality of motors is maintained at the set rotation speed,
The plurality of electric motors can be driven at the set rotational speed by synchronizing with the rotational speed of the one electric motor and electrically controlling the rotational speeds of the other electric motors to be equal to the rotational speed of the one electric motor. Therefore, it is possible to stably operate a drive mechanism driven by a plurality of electric motors, and it is not necessary to provide a mechanical tuning mechanism such as a phase holding gear.
Moreover, since the inertia of the drive system is also reduced, the response when the speed setting is changed is improved.
第１図は本発明が適用される射出装置を概略的に示す
図，第２図は本発明による制御装置による制御を説明す
るための図である。 １……射出シリンダー筐体,2a,2b……スクリューシャフ
ト,3a,3b……ナット部材,3……スクリュー支持部材,4…
…スクリュー,5a,5b,5c……電動サーボモータ,6……取
付部材,7……ベルト,8,13……速度検出器,9,10……電流
検出器,11……制御器,12……速度設定器,14,15……位置
検出器。FIG. 1 is a diagram schematically showing an injection device to which the present invention is applied, and FIG. 2 is a diagram for explaining control by a control device according to the present invention. 1 ... Injection cylinder housing, 2a, 2b ... Screw shaft, 3a, 3b ... Nut member, 3 ... Screw support member, 4 ...
… Screw, 5a, 5b, 5c …… Electric servomotor, 6 …… Mounting member, 7 …… Belt, 8,13 …… Speed detector, 9,10 …… Current detector, 11 …… Controller, 12 ...... Speed setter, 14,15 …… Position detector.
Claims (1)
射出成形機において、前記複数の電動機の夫々について
回転速度を検出して速度検出値として出力する第１の検
出手段、前記複数の電動機のトルクをそれぞれ検出して
トルク検出値として出力する第２の検出手段、及び前記
複数の電動機の回転位置をそれぞれ検出して位置検出値
として出力する第３の検出手段を備え、前記各電動機の
回転速度設定値と前記速度検出値との偏差を夫々求めて
第１の偏差値として出力する第１の手段、該第１の偏差
値を前記トルク検出値に基づいて補正して第２の偏差値
とする第２の手段、及び前記位置検出値に基づいて各電
動機相互間の位相ズレを表す第３の偏差値を求める第３
の手段を有し、前記第２の偏差値に基づいて前記複数の
電動機の一つを駆動制御し前記第２の偏差値に応じて前
記複数の電動機の残りを駆動制御するとともに前記第３
の偏差値に基づいて前記複数の電動機の残りを前記複数
の電動機の一つに同調制御するようにしたことを特徴と
する電動射出成形機の駆動制御装置。1. An electric injection molding machine in which a drive mechanism is driven by a plurality of electric motors, wherein first detecting means for detecting a rotation speed of each of the plurality of electric motors and outputting it as a speed detection value, the plurality of electric motors. Of the respective electric motors, and second detection means for respectively detecting the torques of the respective motors and outputting the detected torques as torque detection values, and third detection means for respectively detecting the rotational positions of the plurality of electric motors and outputting them as the position detection values. A first means for obtaining a deviation between the rotational speed setting value and the speed detection value and outputting the deviation as a first deviation value, and a second deviation by correcting the first deviation value based on the torque detection value. A second means for setting a value, and a third deviation value that represents a phase shift between the electric motors based on the position detection value.
Means for driving and controlling one of the plurality of electric motors based on the second deviation value, and drivingly controlling the rest of the plurality of electric motors according to the second deviation value.
A drive control device for an electric injection molding machine, characterized in that the rest of the plurality of electric motors are synchronously controlled to one of the plurality of electric motors based on the deviation value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7311488A JP2681795B2 (en) | 1988-03-29 | 1988-03-29 | Drive controller for electric injection molding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7311488A JP2681795B2 (en) | 1988-03-29 | 1988-03-29 | Drive controller for electric injection molding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01247128A JPH01247128A (en) | 1989-10-03 |
| JP2681795B2 true JP2681795B2 (en) | 1997-11-26 |
Family
ID=13508917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7311488A Expired - Lifetime JP2681795B2 (en) | 1988-03-29 | 1988-03-29 | Drive controller for electric injection molding machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2681795B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1582332B1 (en) | 2002-10-31 | 2011-02-02 | Sumitomo Heavy Industries, Ltd. | Forming machine and method of controlling the same |
| JP4274532B2 (en) * | 2003-07-31 | 2009-06-10 | 三菱重工プラスチックテクノロジー株式会社 | Multi-axis control system for injection molding machine |
-
1988
- 1988-03-29 JP JP7311488A patent/JP2681795B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01247128A (en) | 1989-10-03 |
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