JP2787470B2 - Control method of injection molding machine - Google Patents
Control method of injection molding machineInfo
- Publication number
- JP2787470B2 JP2787470B2 JP1150505A JP15050589A JP2787470B2 JP 2787470 B2 JP2787470 B2 JP 2787470B2 JP 1150505 A JP1150505 A JP 1150505A JP 15050589 A JP15050589 A JP 15050589A JP 2787470 B2 JP2787470 B2 JP 2787470B2
- Authority
- JP
- Japan
- Prior art keywords
- injection molding
- injection
- resin
- molding machine
- control
- 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 - Fee Related
Links
Classifications
-
- 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
- B29C45/77—Measuring, controlling or regulating of velocity or pressure of moulding material
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明は，射出成形機の制御装置，特に射出成形機の
射出速度制御および圧力制御に関する。Description: TECHNICAL FIELD The present invention relates to a control device for an injection molding machine, and more particularly to an injection speed control and a pressure control of an injection molding machine.
［従来の技術］ 射出成形機で樹脂成形品を整形する場合，例えば，特
開昭63−3928号公報に示されているように，樹脂の射
出，充填，保圧および冷却の順で制御が行なわれる。射
出整形機の射出プロセスおよび保圧プロセスでは，樹脂
の流動および冷却，固化に伴なって,1サイクル（射出成
形サイクル）における樹脂の負荷特性が大きく変化す
る。[Related Art] When a resin molded product is shaped by an injection molding machine, for example, as shown in JP-A-63-3928, control is performed in the order of resin injection, filling, holding pressure and cooling. Done. In the injection process and pressure-holding process of an injection shaping machine, the load characteristics of the resin in one cycle (injection molding cycle) greatly change as the resin flows, cools, and solidifies.
ここで，従来の速度制御および圧力制御について第４
図を参照して説明する。Here, the conventional speed control and pressure control are described in the fourth.
This will be described with reference to the drawings.
従来，射出成形機の射出速度・保圧を制御する際に
は，第４図に示すように,PID調節計１を用いて閉ループ
を構成した制御装置が使用されている。例えば，射出速
度を制御する場合,PID調節計１とサーボ弁２とを連結
し，射出成形機３のスクリュー速度検出値５をフィーバ
ックして，スクリュー速度指令値４との偏差を求め，こ
の偏差に基づいてPID調節計１から出力される速度操作
量によって，サーボ弁２の開度を調節して，射出機３の
スクリュー速度を制御している。このとき，定数制御パ
ラメータKP,TI,TDは，パージング時あるいは特定の成形
品に対する調整手順によって調整，決定され，固定され
る。Conventionally, when controlling the injection speed and the holding pressure of an injection molding machine, a control device having a closed loop using a PID controller 1 is used as shown in FIG. For example, when controlling the injection speed, the PID controller 1 and the servo valve 2 are connected, the screw speed detection value 5 of the injection molding machine 3 is fed back, and the deviation from the screw speed command value 4 is obtained. The opening degree of the servo valve 2 is adjusted by the speed operation amount output from the PID controller 1 based on the deviation, and the screw speed of the injection machine 3 is controlled. At this time, the constant control parameters K P , T I , and T D are adjusted, determined, and fixed at the time of purging or by an adjustment procedure for a specific molded product.
［発明が解決しようとする課題］ ところが，これらの手順によって制御パラメータを計
算したとき，成形する品物が異なると，樹脂の粘性やキ
ャビティの形状に依存して，調整時の制御特性（立ち上
がり時間，定数偏差など）や，オペレータの指示通りに
動くこと（操作性）を実現することが不可能となる。[Problems to be Solved by the Invention] However, when the control parameters are calculated by these procedures, if the article to be molded is different, the control characteristics at the time of adjustment (rise time, rise time, etc.) depend on the viscosity of the resin and the shape of the cavity. It is impossible to realize a constant deviation or the like, or to move according to the instruction of the operator (operability).
したがって，本発明の目的は，成形する品物に関係な
く，良好な成形品を得ることのできる射出成形機の制御
方法を提供することにある。Therefore, an object of the present invention is to provide a control method of an injection molding machine that can obtain a good molded product regardless of a molded product.
［課題を解決するための手段］ 本発明によれば、金型内に規定された射出成形キャビ
ティに溶融樹脂を射出する射出部を備えた射出部を備え
た射出成形機の射出成形プロセスにおける制御パラメー
タを求め、前記制御パラメータを用いて前記射出部を制
御する射出成形機の制御方法において、前記射出成形プ
ロセスの１サイクルを複数のストロークに区分し、各ス
トロークにおける金型の寸法情報を参照して、各ストロ
ークの樹脂流動の特性を計算することにより、当該樹脂
流動の特性から各ストロークの制御パラメータを決定す
る射出成形機の制御方法が得られる。[Means for Solving the Problems] According to the present invention, control in an injection molding process of an injection molding machine having an injection section having an injection section for injecting a molten resin into an injection molding cavity defined in a mold. In a control method for an injection molding machine that determines parameters and controls the injection unit using the control parameters, one cycle of the injection molding process is divided into a plurality of strokes, and dimensional information of a mold in each stroke is referred to. By calculating the characteristics of the resin flow of each stroke, a control method for an injection molding machine that determines the control parameters of each stroke from the characteristics of the resin flow can be obtained.
［作用］ 射出過程および保圧過程では，調整時の制御特性や操
作性は，樹脂の流動特性によって左右される。すなわ
ち，金型のキャビティ形状や樹脂の粘性などに依存す
る。このため本発明においては，射出速度・保圧を制御
するパラメータを算出する際に，樹脂の粘性やキャビテ
ィ形状の特徴を反映し，それぞれの成形品に最適な制御
パラメータを選択している。[Operation] In the injection process and the dwelling process, the control characteristics and operability at the time of adjustment depend on the flow characteristics of the resin. That is, it depends on the cavity shape of the mold and the viscosity of the resin. For this reason, in the present invention, when calculating the parameters for controlling the injection speed and the holding pressure, the characteristics of the viscosity of the resin and the characteristics of the cavity shape are reflected, and the optimum control parameters for each molded product are selected.
［実施例］ 次に，本発明の一実施例を示した図面を参照して，詳
細に説明する。Example Next, an example of the present invention will be described in detail with reference to the drawings.
第１図を参照すると，本発明の一実施例は，加熱シリ
ンダ６および射出シリンダ７を有する射出成形機と，速
度センサ８と，油圧圧力センサ９と，樹脂圧圧力センサ
10と，金型内圧圧力センサ11と，スクリュー位置センサ
12と，射出用サーボ弁13と，制御装置14とから構成され
ている。制御装置14は,D/A変換器15と，スクリュー位置
検出用PGカウンタ16と,A/D変換器17と，パソコン端末用
インタフェイス18と，メモリ19と，パソコン20とを有し
ている。Referring to FIG. 1, one embodiment of the present invention is an injection molding machine having a heating cylinder 6 and an injection cylinder 7, a speed sensor 8, a hydraulic pressure sensor 9, and a resin pressure sensor.
10, mold pressure sensor 11, screw position sensor
It comprises a servo valve 12, an injection servo valve 13, and a control device 14. The control device 14 has a D / A converter 15, a PG counter 16 for screw position detection, an A / D converter 17, an interface 18 for a personal computer terminal, a memory 19, and a personal computer 20. .
射出成形作業に先立って，制御装置14に接続されたパ
ソコン20に，樹脂の種類，加熱温度および金型温
度，金型の寸法情報（ゲートの位置，体積，代表厚
さ，流路長など）をデータとして入力する。パソコン中
には樹脂の物性値のデータベースと，制御パラメータ計
算用プログラムとが内蔵されており，上記データ〜
を基にして，樹脂および金型に最適な制御パラメータを
計算する。その計算結果はインタフェイス18を通して，
制御装置14へ送られる。Prior to the injection molding operation, the type of resin, heating temperature and mold temperature, mold dimensional information (gate position, volume, representative thickness, flow path length, etc.) are stored in a personal computer 20 connected to the control device 14. Is input as data. The personal computer has a built-in database of resin property values and a control parameter calculation program.
Based on the above, the optimal control parameters for the resin and the mold are calculated. The calculation result is passed through the interface 18
It is sent to the control device 14.
なお，樹脂の流動経路は，次の原則によって分割され
る。The flow path of the resin is divided according to the following principle.
（１）加熱シリンダのリザーバ（シリンダの先端の樹脂
溜り）は１個のブロックとみなす。(1) The reservoir of the heating cylinder (resin pool at the tip of the cylinder) is regarded as one block.
（２）スプルー，ランナーにおいては，流路を絞る点
（ゲート）毎に１個のブロックとみなす。(2) In sprues and runners, each block (gate) that narrows the flow path is regarded as one block.
（３）１個取りの成形品については，流路断面積の変化
点毎に分割を行ない，多数個取りの場合には，樹脂はキ
ャビティの上下・左右のいずれの方向へも同時に充填さ
れるものと仮定する。(3) For a single-piece molded product, division is performed at each change point in the flow path cross-sectional area. Suppose
以上の前提のもとで，第ｋブロックまで充填が完了し
たときの射出プロセスにおける樹脂流動は，次の方程式
によって記述される。Under the above premise, the resin flow in the injection process when filling up to the k-th block is completed is described by the following equation.
ここで,Asはスクリュー断面積,Zはスクリュー速度で
あり,pj,qj,δj,βｊおよびvjは，それぞれ金型の第ｊ
ブロックにおける樹脂の圧力，流量，抵抗係数，体積弾
性係数および体積である。なお，樹脂の流動は，レイノ
ルズ数を計算することによって層流とみなすことができ
る。そこで，（１）式のパラメータδｊをHagen−Poise
uilleの式を用いて表す。 Here, A s is the screw cross section, Z is screw speed, p j, q j, [delta] j, beta j and v j are the j each mold
These are the pressure, flow rate, resistance coefficient, bulk modulus and volume of the resin in the block. The flow of the resin can be regarded as a laminar flow by calculating the Reynolds number. Therefore, the parameter δ j in equation (1) is changed to Hagen-Poise
Expressed using the uille equation.
ここで,d,μ,l,mおよびＴは，第ｊブロックにおける
流路の直径，樹脂の見掛け粘性係数，流路長，樹脂の温
度依存係数および樹脂温度である。T0は樹脂の物性値の
基準温度である。 Here, d, μ, l, m and T are the diameter of the flow path in the j-th block, the apparent viscosity coefficient of the resin, the flow path length, the temperature dependence coefficient of the resin, and the resin temperature. T 0 is a reference temperature for the physical properties of the resin.
ゲートの位置は，例えば第２図に示すような成形品の
場合には,V1〜V4で示した体積の部分が充填されるスト
ローク長を計算することによって与える。例えば， S1＝V1/As, S2＝（V1＋2V2）/As, S3＝（V1＋2V2＋2V3）/As, S4＝（V1＋2V2＋2V3＋4V4）/As となる。ここにS1はストローク長,Asはスクリューの断
面積を示す。したがって，最適の制御パラメータは,S0
（スタート）からS1,S1からS2というように，各ストロ
ーク間毎に，動的に変化していることになる。Position of the gate, for example in the case of a molded article as shown in FIG. 2, provided by the volume of the portion indicated by V 1 ~V 4 calculates the stroke length to be filled. For example, S 1 = V 1 / A s, S 2 = (V 1 + 2V 2) / A s, S 3 = (V 1 + 2V 2 + 2V 3) / A s, S 4 = (V 1 + 2V 2 + 2V 3 + 4V 4 ) / A s . Here S 1 stroke length, A s represents the cross-sectional area of the screw. Therefore, the optimal control parameter is S 0
From (start) and so S 2 from S 1, S 1, for each between each stroke, the fact that change dynamically.
したがって，射出動作を行なうにあたっては，スクリ
ューが前進し，各ストローク位置S1,S2…を通過する毎
に，メモリ19から予め計算した制御パラメータを切り換
えながら，射出サーボ弁13への操作量を計算しておき，
当該操作量にしたがって制御を行なえば，最適な成形を
行なうことができる。Therefore, in performing the injection operation, the operation amount to the injection servo valve 13 is changed while switching the control parameter calculated in advance from the memory 19 every time the screw moves forward and passes through each stroke position S 1 , S 2 . Calculate,
If the control is performed according to the operation amount, the optimum molding can be performed.
操作量の計算に際しては，油圧，樹脂圧，金型内圧，
射出速度などの必要な情報をそれぞれセンサ9,10,11,8
によって検出し,A/D変換器17を通して制御装置14内に取
り込むことになる。When calculating the manipulated variable, the hydraulic pressure, resin pressure, mold internal pressure,
Necessary information such as injection speed is stored in sensors 9, 10, 11, and 8, respectively.
And is taken into the control device 14 through the A / D converter 17.
保圧時についても，先に入力したデータ〜によっ
て，樹脂の冷却プロフィールを推定し，樹脂の溶解部体
積の時間変化に応じて制御パラメータを切り換える。Also at the time of pressure holding, the cooling profile of the resin is estimated based on the previously input data (1), and the control parameters are switched according to the time change of the volume of the melted portion of the resin.
以後，射出成形プロセスを繰り返す毎に，射出・保圧
プロセスそれぞれにおいてスクリュー位置，時間によっ
て制御パラメータの切り換え動作を行なう。Thereafter, every time the injection molding process is repeated, the switching operation of the control parameters is performed according to the screw position and time in each of the injection and pressure-holding processes.
次に，本実施例の動作を説明する。成形作業を開始す
るにあたって，第３図に示すように，パソコン20に，
樹脂の種類，加熱温度および金型温度，金型の寸法
情報を入力する。パソコン20によって，これらの情報か
ら樹脂流動の動特性の式（１）〜（４）を計算し，それ
を用いてパソコン内のプログラムに予め内蔵された望ま
しい特性を実現するように制御パラメータを計算する
（この計算には，制御理論の分野で用いられる極配置
法，最適レギュレータ法などいくつかの手法を用いるこ
とができる）。制御パラメータの計算結果は，第４図に
示すように，ゲート間で区切られた区間（第３図のI,I
I,III）毎に計算されたあと，コントローラ14のインタ
フェース18へ転送される。Next, the operation of this embodiment will be described. Before starting the molding operation, as shown in FIG.
Enter the type of resin, heating temperature and mold temperature, and mold dimension information. The personal computer 20 calculates equations (1) to (4) of the dynamic characteristics of the resin flow from the information, and uses the information to calculate the control parameters so as to realize desired characteristics pre-installed in a program in the personal computer. (For this calculation, several methods such as pole placement method and optimal regulator method used in the field of control theory can be used). As shown in FIG. 4, the calculation results of the control parameters are divided into sections (I, I in FIG. 3) divided between gates.
After being calculated for each of (I, III), it is transferred to the interface 18 of the controller 14.
制御パラメータが設定されると，成形作業を開始し，
制御パラメータおよびセンサ9,10,11,8によって検出さ
れたデータを用いて操作量の計算を行ない，サーボバル
ブ13の操作を行なう。Once the control parameters are set, the molding operation starts,
An operation amount is calculated using the control parameters and data detected by the sensors 9, 10, 11, and 8, and the servo valve 13 is operated.
［発明の効果］ 以上説明したように，本発明によれば，種々の樹脂や
成形品に対して最適な制御パラメータを計算することに
よって， （１）成形品に要求される精度を実現すること， （２）機械をオペレータの指示通りに動かすこと， が可能になり，精度面・操作性の面で性能を向上させる
ことができる。[Effects of the Invention] As described above, according to the present invention, by calculating optimal control parameters for various resins and molded products, (1) achieving the accuracy required for molded products (2) It is possible to move the machine as instructed by the operator, and the performance can be improved in terms of accuracy and operability.
第１図は本発明の一実施例のブロック図，第２図は成形
品を分割してブロック化することを説明するための図，
第３図は本実施例の動作を説明するための図，第４図は
従来の射出器の制御方法を示すブロック図である。 １……PID調節計,2……サーボアンプ,3……射出成形機,
4……スクリュー速度指令値,5……スクリュー速度検出
値,6……加熱シリンダ,7……射出シリンダ,8……速度セ
ンサ,9……油圧圧力センサ,10……樹脂圧圧力センサ,11
……金型圧力センサ,12……スクリュー位置センサ,13…
…射出用サーボ弁,14……制御装置,15……D/A変換器,16
……位置検出用PGカウンタ,17……A/D変換器,18……パ
ソコン端末用インタフェイス,19……メモリ,20……パソ
コン。FIG. 1 is a block diagram of one embodiment of the present invention, and FIG. 2 is a diagram for explaining that a molded product is divided into blocks.
FIG. 3 is a diagram for explaining the operation of the present embodiment, and FIG. 4 is a block diagram showing a conventional injector control method. 1… PID controller, 2… Servo amplifier, 3… Injection molding machine,
4 ... screw speed command value, 5 ... screw speed detection value, 6 ... heating cylinder, 7 ... injection cylinder, 8 ... speed sensor, 9 ... hydraulic pressure sensor, 10 ... resin pressure sensor, 11
…… Mold pressure sensor, 12 …… Screw position sensor, 13…
… Injection servo valve, 14 …… Control device, 15 …… D / A converter, 16
… Position detection PG counter, 17… A / D converter, 18… Interface for personal computer terminal, 19… Memory, 20… PC.
Claims (1)
溶融樹脂を射出する射出部を備えた射出部を備えた射出
成形機の射出成形プロセスにおける制御パラメータを求
め、前記制御パラメータを用いて前記射出部を制御する
射出成形機の制御方法において、前記射出成形プロセス
の１サイクルを複数のストロークに区分し、各ストロー
クにおける金型の寸法情報を参照して、各ストロークの
樹脂流動の特性を計算することにより、当該樹脂流動の
特性から各ストロークの制御パラメータを決定すること
を特徴とする射出成形機の制御方法。1. A control parameter in an injection molding process of an injection molding machine having an injection section having an injection section for injecting a molten resin into an injection molding cavity defined in a mold is obtained, and the control parameter is used. In the control method of the injection molding machine for controlling the injection unit, one cycle of the injection molding process is divided into a plurality of strokes, and by referring to the dimensional information of the mold in each stroke, the characteristic of the resin flow of each stroke is determined. A control method for an injection molding machine, wherein a control parameter for each stroke is determined from the characteristics of the resin flow by calculation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1150505A JP2787470B2 (en) | 1989-06-15 | 1989-06-15 | Control method of injection molding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1150505A JP2787470B2 (en) | 1989-06-15 | 1989-06-15 | Control method of injection molding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0316712A JPH0316712A (en) | 1991-01-24 |
| JP2787470B2 true JP2787470B2 (en) | 1998-08-20 |
Family
ID=15498333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1150505A Expired - Fee Related JP2787470B2 (en) | 1989-06-15 | 1989-06-15 | Control method of injection molding machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2787470B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5473298B2 (en) * | 2008-11-14 | 2014-04-16 | 株式会社日本製鋼所 | Temperature control device for injection machine heating cylinder |
| CZ306925B6 (en) * | 2014-03-24 | 2017-09-20 | Výzkumný a zkušební letecký ústav, a.s. | A device for non-invasive monitoring of the dielectric matrix flow during the RTM process |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60139422A (en) * | 1983-12-28 | 1985-07-24 | Fanuc Ltd | Injection molding machine |
| JPS6382724A (en) * | 1986-09-26 | 1988-04-13 | Nissei Plastics Ind Co | Control of injection molding machine |
-
1989
- 1989-06-15 JP JP1150505A patent/JP2787470B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0316712A (en) | 1991-01-24 |
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