2D controller design method for interval time lag in injection modeling process
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A design method and controller technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems affecting system stability, system performance, poor anti-interference ability, and high product defective rate
Active Publication Date: 2014-04-09
GUANGZHOU HKUST FOK YING TUNG RES INST
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Problems solved by technology
However, the injection molding process produces products in a batch mode, and the operating states of each stage often need to be adjusted in a large range, so it is difficult to obtain a simplified / approximate model that is suitable for traditional controller design and can guarantee control performance requirements
[0006] (2) The anti-interference ability of the intermittent process is generally poor, mainly because the capacity of the intermittent production equipment is generally small, and external interference, switching of production stages and changes in process characteristics may have an impact on the control performance of the system
[0007] (3) Control performance is difficult to guarantee and cannot be improved
[0009] However, the time lag phenomenon is inevitable in the injection molding process, and its existence may affect the stability and performance of the system, resulting in a higher defective rate in the product
When the system has time-delay, if the controller designed for no time-delay is used for control, the control performance (such as tracking performance) and system stability of the system will be deteriorated
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Embodiment 1
[0061] This embodiment describes the specific process of converting the constructed state space model into a 2D error augmented model by using the design method of the 2D-FM model.
[0062] The concrete process that the present invention converts the state-space model of construction into 2D error augmentation model is as follows:
[0063] First, according to the repetitive characteristics of the injection molding process, the iterative learning control law is designed as:
[0064] ∑ ilc u (t,k)=u(t,k-1)+r(t,k)(u(t,0)=0,t=0,1,2,...,T)...(1):
[0065] Then, define the current batch output error as:
[0066] e(t,k)=y(t,k)-y d (t)...(2)
[0067] And define the batch direction error as:
[0068] x Δ (t,k)=x(t,k)-x(t,k-1)...(3)
[0069] According to formulas (1), (2) and (3), it can be obtained:
[0070] x Δ (t+1,k)
[0071] =x(t+1,k)-x(t+1,k-1)
[0072] =(A 1 +Δ a (t,k))(x(t,k)-x(t,k-1))+(A d +Δ d (t,k))(x(t-d(t),k)-x(t-d(t),k-1)) ...(4)+(B+Δ b (t,k))r(t,k)+Iω(t,k...
Embodiment 2
[0083] This embodiment describes the specific process of solving a given stability criterion (that is, solving the gain K of the controller in the form of linear matrix inequality).
[0084] The specific method is as follows:
[0085] First minimize γ, and let L i >0, Q - 1 > 0 , W - 1 > 0 , W ~ 1 > 0 , x 1>01, R ~ 1 L ~ 1 L ~ ...
Embodiment 3
[0088] This embodiment is an embodiment of the present invention applied to injection speed control.
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Abstract
The invention discloses a 2D controller design method for interval time lag in the injection modeling process. The method comprises the steps that A, a state space model is established according to a control requirement of parametric variables in the injection modeling process; B, according to the repeated operation characteristic of the injection modeling process, the established state space model is converted to be a 2D error augmentation model by a 2D-FM model design method; C, a controller meeting a control law r (tk) is designed according to the 2D error augmentation model; D, a linear matrix inequation mode is used for solve the gain K of the controller. The 2D controller design method directs at the time lag phenomenon existing in the injection modeling process to establish the state space model based on a two-dimensional system theory, a 2D-FM model is used for designing the controller, the system can be quickly stabled in the injection modeling process, tracking can be conducted quickly, and the system can be still kept in good control performance even though the system is influenced by time lag. The 2D controller design method for interval time lag in the injection modeling process can be widely applied to the technical field of injection modeling.
Description
technical field [0001] The invention relates to the technical field of injection molding, in particular to a 2D controller design method aiming at interval time lag in the injection molding process. Background technique [0002] The injection molding process is a complex industrial manufacturing process, and the quality of injection molded products depends on material parameters, machine parameters, process parameters and the interaction of these parameters. The quality of injection molded products includes many aspects, such as appearance quality, dimensional accuracy and mechanical (optical, electrical) performance and so on. These quality indicators are jointly determined by the materials used in the processing process, the mold and the control accuracy of the process parameters. At the same time, there are various interference factors in different links of the injection molding process. [0003] The injection molding process is a typical batch production process with a...
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