JP3245684B2 - Pressure control device for electric injection molding machine - Google Patents
Pressure control device for electric injection molding machineInfo
- Publication number
- JP3245684B2 JP3245684B2 JP10854892A JP10854892A JP3245684B2 JP 3245684 B2 JP3245684 B2 JP 3245684B2 JP 10854892 A JP10854892 A JP 10854892A JP 10854892 A JP10854892 A JP 10854892A JP 3245684 B2 JP3245684 B2 JP 3245684B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- pressure
- value
- unit
- screw
- 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
Landscapes
- Injection Moulding Of Plastics Or The Like (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、電動式射出成形機の圧
力制御装置に係わり、特に計量工程時の背圧並びに射出
工程時の保圧の圧力制御を、一定の制限速度下で行うこ
とを可能とした電動式射出成形機の圧力制御装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pressure control device for an electric injection molding machine, and more particularly to controlling a back pressure in a measuring process and a pressure control of a holding pressure in an injection process at a constant speed limit. The present invention relates to a pressure control device of an electric injection molding machine which enables the pressure control.
【０００２】[0002]
【従来の技術】図３に、電動式射出成形機の射出機構１
０の構成と従来の圧力制御装置３０の構成を示す。射出
機構１０で、参照符号１１はシリンダであり、１２はシ
リンダ１１内にある樹脂を混練、加圧、射出するための
スクリュー、１３はスクリュー１２を前進あるいは後退
させるためのボールネジ、１４はボールネジ１３を回転
させるためのモータ、１５はスクリュー１２の位置を検
出する位置検出器である。圧力制御装置３０で、参照符
号３１は圧力を指令する圧力指令部であり、３３は圧力
トルク変換部であり圧力指令部３１から指令された圧力
に対応したトルクの上限値と下限値を求めトルク指令出
力部３６へ出力しリミット値として設定値する。３２は
スクリュー１２の移動速度を指令出力する速度指令部で
あり、加算器３４では、速度指令部３２から指令された
速度と、フィードバック速度として位置検出器１５で検
出された位置信号を微分器３８で微分して得た速度との
差を求め、得られた速度差を速度制御ゲインωｃの速度
トルク変換部３５へ入力し、速度トルク変換部３５で速
度差に対応したトルク指令値を得てトルク指令出力部３
６へ出力する。トルク指令出力部３６では速度トルク変
換部３５から入力された指令値が圧力トルク変換部３３
から入力されたトルクの上限値と下限値の範囲以内にあ
るとき入力された指令値をそのまま増幅器３７へ指令出
力し、上限値あるいは下限値の範囲外になるとき上限値
あるいは下限値を指令値として増幅器３７へ指令出力す
る。増幅器３７は指令入力されたトルクに対応した電流
によりモータ１５を駆動する。すなわち従来では、圧力
の指令値を速度制御ループ内のトルクリミット値に変換
しモータの発生トルクを指令圧力に対応した値で制限す
ることにより圧力制御を行なっている。2. Description of the Related Art FIG. 3 shows an injection mechanism 1 of an electric injection molding machine.
0 and the configuration of the conventional pressure control device 30 are shown. In the injection mechanism 10, reference numeral 11 is a cylinder, 12 is a screw for kneading, pressurizing, and injecting resin in the cylinder 11, 13 is a ball screw for moving the screw 12 forward or backward, and 14 is a ball screw 13 A motor 15 for rotating the screw 12; and a position detector 15 for detecting the position of the screw 12. In the pressure control device 30, reference numeral 31 denotes a pressure command unit for instructing pressure, and 33 denotes a pressure torque conversion unit for obtaining an upper limit value and a lower limit value of torque corresponding to the pressure commanded by the pressure command unit 31. Output to the command output unit 36 and set as a limit value. Reference numeral 32 denotes a speed command unit for commanding the moving speed of the screw 12, and an adder 34 uses the speed command from the speed command unit 32 and the position signal detected by the position detector 15 as a feedback speed to a differentiator 38. The difference between the obtained speed and the obtained speed is obtained, and the obtained speed difference is input to the speed torque converter 35 of the speed control gain ωc, and the speed torque converter 35 obtains a torque command value corresponding to the speed difference. Torque command output unit 3
Output to 6. In the torque command output unit 36, the command value input from the speed torque conversion unit 35 is converted to the pressure torque conversion unit 33.
When the torque is within the range between the upper limit value and the lower limit value of the torque, the command value input is output to the amplifier 37 as it is. As a command to the amplifier 37. The amplifier 37 drives the motor 15 with a current corresponding to the command input torque. That is, in the related art, pressure control is performed by converting a pressure command value into a torque limit value in a speed control loop and limiting the generated torque of the motor to a value corresponding to the command pressure.
【０００３】[0003]
【発明が解決しようとする課題】従来の圧力制御装置に
は以下のような問題がある。 スクリューに力が伝達されるまでにボールネジ等の力
伝達機構による伝達ロスが存在し圧力誤差が生じる。 スクリューの移動時の摩擦等により圧力誤差が生じ
る。 トルク制限値を０にしても存在する圧力以下の圧力は
制御できない。これはトルクを抑える事により圧力を制
御するため、背圧制御のようにスクリューを後退させな
がら圧力制御を行なう場合に、モータ発生トルクを０と
してもスクリューからモータまでの摩擦により樹脂圧が
発生してしまう。従ってこの値より小さな圧力を指令し
ても制御できない。等の問題があった。これらの問題を
解決するために、図４に示すようにスクリュー駆動機構
とスクリュー１２の間に圧力センサー４１を設けてスク
リュー１２の軸推力を測定しこれをフィードバックし、
圧力指令との差に基づいて圧力・トルク変換器３３によ
りトルク指令値に変換し、圧力制御ゲインＫｐの比例要
素３９で対応した電流の値を求め、増幅器３７で増幅し
た電流によりモータ１４を駆動することが行われてい
る。この様にすることにより上記の、の問題は解決
することができるが、の問題は依然として解決されな
い。またこの場合には、新たに、 速度の制限が出来なくなる。問題が生じる。即ち、圧
力が指令値に達しない場合は速度がどんどん上がること
になる。図５に示す様に、シリンダ部に樹脂圧力を検出
する樹脂圧力検出部４３を設けて、直接検出した樹脂圧
をフィードバック値として用いると、上記の、並び
にの問題は解決されるがの速度の制限が出来なくな
る問題は依然として解決されないままである。The conventional pressure control device has the following problems. By the time the force is transmitted to the screw, there is a transmission loss due to a force transmitting mechanism such as a ball screw, and a pressure error occurs. A pressure error occurs due to friction or the like during the movement of the screw. Even if the torque limit value is set to 0, a pressure lower than the existing pressure cannot be controlled. This is to control the pressure by suppressing the torque, so when performing pressure control while retracting the screw like back pressure control, even if the motor generated torque is 0, resin pressure is generated due to friction from the screw to the motor. Would. Therefore, even if a pressure smaller than this value is commanded, control cannot be performed. And so on. In order to solve these problems, as shown in FIG. 4, a pressure sensor 41 is provided between the screw drive mechanism and the screw 12, the axial thrust of the screw 12 is measured and fed back,
Based on the difference from the pressure command, the pressure / torque converter 33 converts the torque command value into a torque command value, obtains a current value corresponding to the proportional element 39 of the pressure control gain Kp, and drives the motor 14 with the current amplified by the amplifier 37. That is being done. By doing so, the above-mentioned problem can be solved, but the problem is still not solved. In this case, the speed cannot be newly limited. Problems arise. That is, if the pressure does not reach the command value, the speed will increase steadily. As shown in FIG. 5, when the resin pressure detecting unit 43 for detecting the resin pressure is provided in the cylinder unit, and the directly detected resin pressure is used as a feedback value, the above-mentioned problems are solved, but the speed is increased. The problem of being unrestricted remains unresolved.
【０００４】本発明は、上記の〜問題を解決するた
めに成されたものであり、従って本発明の目的は、スク
リューの移動速度に制限を与えた状態で圧力を精密に制
御することを可能とした電動式射出成形機の圧力制御装
置を提供することにある。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to enable precise control of pressure while limiting the moving speed of a screw. To provide a pressure control device for an electric injection molding machine.
【０００５】[0005]
【課題を解決するための手段】前記の目的を達するため
に、本発明の電動式射出成形機の圧力制御装置は、スク
リューの前後進を、モータによって行う電動式射出成形
機の圧力制御装置において、シリンダ内の樹脂圧力を設
定する樹脂圧力設定部と、シリンダ内の樹脂圧力を検出
する樹脂圧力検出部と、スクリューの移動速度の正の上
限値と負の下限値を設定する速度設定部と、前記樹脂圧
力設定部で設定した圧力と樹脂圧力検出部で検出した圧
力との差に基づいて指令すべきスクリューの移動速度の
値を求める速度演算部と、同速度演算部で求めた指令す
べき速度の値が前記速度設定部で設定した正の上限値と
負の下限値の間にあるときその値を速度の指令値とし、
前記正の上限値あるいは負の下限値をこえるとき正の上
限値あるいは負の下限値を速度の指令値とする速度指令
部とを、スクリューの移動速度を検出する速度検出手段
と、指令された速度なるように前記速度検出手段により
検出した速度によりフィードバック制御を行う速度制御
部とを、具備することを特徴とする。In order to achieve the above-mentioned object, a pressure control device for an electric injection molding machine according to the present invention comprises a pressure control device for an electric injection molding machine in which a screw is moved forward and backward by a motor. A resin pressure setting unit for setting the resin pressure in the cylinder, a resin pressure detection unit for detecting the resin pressure in the cylinder, and a speed setting unit for setting a positive upper limit value and a negative lower limit value of the moving speed of the screw. A speed calculator for calculating the value of the screw moving speed to be commanded based on the difference between the pressure set by the resin pressure setting unit and the pressure detected by the resin pressure detector, and a command calculated by the speed calculator. When the value of the power speed is between the positive upper limit value and the negative lower limit value set by the speed setting unit, the value is set as a speed command value,
A speed command unit that sets the positive upper limit or the negative lower limit to a speed command value when the positive upper limit or the negative lower limit is exceeded, a speed detecting unit that detects a moving speed of the screw, and a command is issued. A speed control unit that performs feedback control based on the speed detected by the speed detecting means so that the speed becomes the speed.
【０００６】[0006]
【作用】本発明に係わる電動式射出成形機の圧力制御装
置では、樹脂圧力設定部で設定された圧力と、樹脂圧力
検出部で検出された圧力との差に基づいて、圧力差を無
くするように、速度演算部でスクリューの移動速度の指
令値が求められ、求められた移動速度の指令値が速度設
定部で設定したスクリューの移動速度の正の上限値と負
の下限値の範囲内にあるとき、スクリューの移動速度が
指令値になるようにフィードバック制御され、指令値が
正の上限値と負の下限値の範囲外になったとき、正の上
限値あるいは負の下限値を指令速度としてフィードバッ
ク制御される。したがって、所定制限速度内で圧力を精
度良く制御することができる。In the pressure control device of the electric injection molding machine according to the present invention, the pressure difference is eliminated based on the difference between the pressure set by the resin pressure setting unit and the pressure detected by the resin pressure detection unit. Thus, the command value of the moving speed of the screw is obtained by the speed calculating unit, and the obtained command value of the moving speed is within the range of the positive upper limit value and the negative lower limit value of the screw moving speed set by the speed setting unit. When the command value is outside the range between the positive upper limit value and the negative lower limit value, a positive upper limit value or a negative lower limit value is commanded. Feedback control is performed as speed. Therefore, the pressure can be accurately controlled within the predetermined speed limit.
【０００７】[0007]
【実施例】以下、本発明の一実施例について図面を参照
しながら説明する。図１に、電動式射出成形機の射出機
構１０の構成と本発明の圧力制御装置３０の構成を示
す。同図において図３、図４、図５と同じ参照符号を付
した部分は同様の機能を持つ部分を表す。図１で、圧力
指令部３１から出力された圧力の指令値と樹脂圧力検出
部４３で検出した圧力のフィードバック値との差が加算
器３４で求められ、比例要素３９で求めた圧力差に圧力
制御ゲインを掛けて、圧力差を無くすための速度値が求
められる。参照符号４１はスクリュー１２の移動速度の
正の上限値と負の下限値を速度指令出力部４２に設定す
る速度設定部である。参照符号４２は速度指令出力部で
あり、比例要素３９から入力された速度の値が設定され
た正の上限値と負の下限値との範囲以内にあるとき入力
された速度の値を速度の指令値として速度制御部４３に
入力し、速度制御部４３では指令された速度と位置検出
器１６により検出した位置データに基づいて得た速度と
により指令された速度になるようにフィードバック制御
を行う。図２は、本発明の他の実施例を示すものであ
り、図１の場合の加算器３４と比例要素３９の間に積分
補償折れ点周波数ωａの積分補償要素４４を設け定常偏
差を抑えるようにし、さらに微分補償ゲインＫｄの微分
補償要素４５を設け、比例要素３９から出力される圧力
差に基づいて定められる速度の値から速度の検出値を微
分したものを減算することにより、オーバーシュート、
振動を抑えるようにしている。An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a configuration of an injection mechanism 10 of an electric injection molding machine and a configuration of a pressure control device 30 of the present invention. In the same figure, the parts denoted by the same reference numerals as those in FIGS. 3, 4 and 5 represent the parts having the same functions. In FIG. 1, the difference between the command value of the pressure output from the pressure command unit 31 and the feedback value of the pressure detected by the resin pressure detection unit 43 is calculated by the adder 34, and the pressure difference is calculated by the pressure element 39. A speed value for eliminating the pressure difference is obtained by multiplying the control gain. Reference numeral 41 denotes a speed setting unit that sets a positive upper limit value and a negative lower limit value of the moving speed of the screw 12 in the speed command output unit 42. Reference numeral 42 denotes a speed command output unit, and when the value of the speed input from the proportional element 39 is within the range between the set positive upper limit value and the negative lower limit value, the input speed value is converted to the speed. The command value is input to the speed control unit 43, and the speed control unit 43 performs feedback control so that the commanded speed and the speed obtained based on the position data detected by the position detector 16 become the commanded speed. . FIG. 2 shows another embodiment of the present invention, in which an integral compensation element 44 of the integral compensation break point frequency ωa is provided between the adder 34 and the proportional element 39 in the case of FIG. Further, a differential compensation element 45 for the differential compensation gain Kd is provided, and by subtracting the value obtained by differentiating the detected value of the speed from the value of the speed determined based on the pressure difference output from the proportional element 39, overshoot,
Vibration is suppressed.
【０００８】[0008]
【発明の効果】 以上にのべたように、本発明の電動式
射出成形機の圧力制御装置押出機の樹脂温度制御装置に
よると、スクリューの移動速度が一定範囲内にあるよう
に制限を与えた状態で、シリンダ内の樹脂圧を指令され
た圧力に従って高精度に制御することが可能となる。As described above, according to the pressure control device for the electric injection molding machine and the resin temperature control device for the extruder of the present invention, the screw moving speed is limited so as to be within a certain range. In this state, the resin pressure in the cylinder can be controlled with high accuracy in accordance with the commanded pressure.
【図１】電動式射出成形機の射出機構の構成と本発明の
一実施例である圧力制御装置の構成を示す図である。FIG. 1 is a diagram illustrating a configuration of an injection mechanism of an electric injection molding machine and a configuration of a pressure control device according to an embodiment of the present invention.
【図２】本発明の一実施例である図１に示した圧力制御
装置に積分補償要素と微分補償要素を付加した場合の構
成を示す図である。FIG. 2 is a diagram showing a configuration in a case where an integral compensation element and a differential compensation element are added to the pressure control device shown in FIG. 1 which is one embodiment of the present invention.
【図３】電動式射出成形機の射出機構の構成と従来の圧
力制御装置で圧力フィーバックを行わない場合の構成を
示す図である。FIG. 3 is a diagram showing a configuration of an injection mechanism of an electric injection molding machine and a configuration in a case where pressure feedback is not performed by a conventional pressure control device.
【図４】電動式射出成形機の射出機構の構成と従来の圧
力制御装置で圧力フィーバック値としてスクリューの軸
推力を測定しこれをフィードバックする場合の構成を示
す図である。FIG. 4 is a diagram showing a configuration of an injection mechanism of an electric injection molding machine and a configuration in a case where an axial thrust of a screw is measured as a pressure feedback value by a conventional pressure control device and fed back.
【図５】電動式射出成形機の射出機構の構成と従来の圧
力制御装置で樹脂圧を測定してフィードバックを行った
場合の構成を示す図である。FIG. 5 is a diagram illustrating a configuration of an injection mechanism of an electric injection molding machine and a configuration in a case where a resin pressure is measured by a conventional pressure control device and feedback is performed.
１０ 電動式射出成形機の射出機構 １１ シリンダー １２ スクリュー １３ ボールネジ １４ モータ １５ 位置検出器 ３０ 圧力制御装置 ３８ 微分器 ３９ 比例要素 ４１ 速度設定部 ４２ 速度指令出力部 ４３ 速度制御部 ４４ 積分補償要素 ４５ 微分補償要素 Reference Signs List 10 Injection mechanism of electric injection molding machine 11 Cylinder 12 Screw 13 Ball screw 14 Motor 15 Position detector 30 Pressure controller 38 Differentiator 39 Proportional element 41 Speed setting unit 42 Speed command output unit 43 Speed control unit 44 Integral compensation element 45 Differentiation Compensation factor
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) B29C 45/76 - 45/82 B29C 45/50,45/57 B22D 17/32 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. 7 , DB name) B29C 45/76-45/82 B29C 45/50, 45/57 B22D 17/32
Claims (3)
行う電動式射出成形機の圧力制御装置において、シリン
ダ内の樹脂圧力を設定する樹脂圧力設定部と、シリンダ
内の樹脂圧力を検出する樹脂圧力検出部と、スクリュー
の移動速度の正の上限値と負の下限値を設定する速度設
定部と、前記樹脂圧力設定部で設定した圧力と樹脂圧力
検出部で検出した圧力との差に基づいて指令すべきスク
リューの移動速度の値を求める速度演算部と、同速度演
算部で求めた指令すべき速度の値が前記速度設定部で設
定した正の上限値と負の下限値の間にあるときその値を
速度の指令値とし、前記正の上限値あるいは負の下限値
を越えるとき正の上限値あるいは負の下限値を速度の指
令値とする速度指令部と、スクリューの移動速度を検出
する速度検出手段と、指令された速度になるように前記
速度検出手段により検出した速度によりフィードバック
制御を行う速度制御部とを、具備することを特徴とした
電動式射出成形機の圧力制御装置。In a pressure control device of an electric injection molding machine for moving a screw back and forth by a motor, a resin pressure setting section for setting a resin pressure in a cylinder, and a resin pressure detection for detecting a resin pressure in the cylinder. Unit, a speed setting unit for setting a positive upper limit and a negative lower limit of the moving speed of the screw, and a command based on a difference between the pressure set by the resin pressure setting unit and the pressure detected by the resin pressure detecting unit. A speed calculating unit for calculating the value of the moving speed of the screw to be performed, and when the value of the speed to be commanded obtained by the speed calculating unit is between the positive upper limit value and the negative lower limit value set by the speed setting unit. A speed command unit that sets the value as a speed command value and, when exceeding the positive upper limit value or the negative lower limit value, sets a positive upper limit value or a negative lower limit value as a speed command value, and detects a moving speed of the screw. Speed detection means A speed control unit for performing feedback control based on the speed detected by the speed detecting means so as to attain a commanded speed.
力検出部で検出した圧力との差を積分補償要素により補
償したものを速度演算部の入力としたことを特徴とする
請求項１記載の電動式射出成形機の圧力制御装置。2. The speed calculation unit according to claim 1, wherein a difference between a pressure set by the resin pressure setting unit and a pressure detected by the resin pressure detection unit is compensated by an integral compensation element. Pressure control device for electric injection molding machine.
の値を、速度の検出値を微分する微分補償要素により得
た値により補償することを特徴とした請求項１記載の電
動式射出成形機の圧力制御装置。3. The electric injection according to claim 1, wherein the value of the speed to be commanded input to the speed command unit is compensated by a value obtained by a differential compensation element for differentiating the detected value of the speed. Pressure control device for molding machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10854892A JP3245684B2 (en) | 1992-04-01 | 1992-04-01 | Pressure control device for electric injection molding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10854892A JP3245684B2 (en) | 1992-04-01 | 1992-04-01 | Pressure control device for electric injection molding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05278089A JPH05278089A (en) | 1993-10-26 |
| JP3245684B2 true JP3245684B2 (en) | 2002-01-15 |
Family
ID=14487630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10854892A Expired - Fee Related JP3245684B2 (en) | 1992-04-01 | 1992-04-01 | Pressure control device for electric injection molding machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3245684B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3917459B2 (en) | 2002-05-16 | 2007-05-23 | 住友重機械工業株式会社 | Control device and control method for injection molding machine |
| JP4540597B2 (en) * | 2005-11-28 | 2010-09-08 | 日精樹脂工業株式会社 | Injection control method and apparatus for injection molding machine |
| JP7317476B2 (en) * | 2018-09-19 | 2023-07-31 | 住友重機械工業株式会社 | Injection molding machine |
| JP7281996B2 (en) * | 2019-08-02 | 2023-05-26 | 東洋機械金属株式会社 | Molding machine |
-
1992
- 1992-04-01 JP JP10854892A patent/JP3245684B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05278089A (en) | 1993-10-26 |
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