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Hybrid 2D Tracking Control Method for Injection Molding Process Based on Time-varying Delay and Disturbance
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A technology of time-varying time-delay and tracking control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as system performance degradation and instability
Active Publication Date: 2020-08-07
LIAONING UNIVERSITY OF PETROLEUM AND CHEMICAL TECHNOLOGY +1
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[0005] In order to solve the above existing technical problems, the present invention provides a hybrid 2D tracking control method for injection molding process based on time-varying delay and disturbance, mainly to develop a control that can make the process run stably and significantly improve production efficiency and control accuracy At the same time, it can effectively solve the problems of system performance degradation or even instability caused by hysteresis
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Embodiment 1
[0101] Such as figure 1 As shown, a hybrid 2D tracking control method for injection molding process based on time-varying delay and disturbance, including the following steps:
[0102] Step 1: Establish a state-space model of an equivalent 2D switched discrete system:
[0103] 1.1 The injection molding process is represented by a typical multi-stage batch process, and the model is expressed by formula (1):
[0104]
[0105] Among them, k and t respectively represent the batch of the injection molding process and the running time in the batch, x(t,k), y(t,k), u(t,k) respectively represent the k batch t The system state, system output and system input at any time; d(t) represents the state delay along the direction of time t; ρ(t,k)∈{1,2,…,q} represents the switching signal, and q represents the injection process every The total number of stages in a batch, x 0,k is the initial state of the kth duty cycle, ω ρ(t,k) (t,k) is an unknown external disturbance;
[0106] The i...
Embodiment 2
[0194] The mathematical model of the injection section and the pressure-holding section in the injection molding process is as follows:
[0195] Mathematical model of injection section:
[0196] Mathematical model of pressure-holding section:
[0197] Among them, IV stands for injection speed, NP stands for cavity pressure, VO stands for valve opening;
[0198] Given the following definitions:
[0199]
[0200]
[0201]
[0202]
[0203] Among them, IV(t,k), NP(t,k), and VO(t,k) represent the injection speed, cavity pressure and valve opening of batch k at time t, respectively;
[0204] Establish the state space model of injection speed and packing pressure in the injection molding process:
[0205] State-space model of injection velocity:
[0206]
[0207] State-space model of packing pressure:
[0208]
[0209] Among them, δ(t,k+1)∈[0,1] defines the injection section as stage 1, and the pressure-holding section as stage 2; the disturbance of the sy...
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Abstract
The invention, which belongs to the advanced control field of the industrial process, relates to a time-varying-delay-and-interference-based hybrid 2D tracking control method of an injection molding process. An injection molding process is represented by a typical multi-stage batch process; an error is introduced and an injection molding process two-dimensional augmentation model is built to obtain a two-dimensional state space time-delay system model; a state space model of an equivalent 2D switching time-delay discrete system is established; according to different stages, a segmented Lyapunov function with time-delay information is selected; on the basis of a 2D stability theory, an anti-jamming 2D controller that has extension information and depends on the upper limit and lower limit of the time delay as well as switching time is calculated. According to the invention, a control method enabling the process to be operated stably and the control precision to be improved obviously isdeveloped, so that objectives of reducing the cost investment and improving the production efficiency are achieved; and a problem that the system performance is reduced and even is not stable becauseof the delay phenomenon is solved.
Description
technical field [0001] The invention belongs to the technical field of advanced control of industrial processes, in particular to a mixed 2D tracking control method for injection molding process based on time-varying delay and disturbance. Background technique [0002] The injection molding process is widely used in plastic processing and other related fields. Although there have been some studies on the injection molding process, it is still a challenge in the high-precision control of modern plastic processing. The main reason lies in its complex dynamic characteristics and changing process conditions. The injection molding process is a typical multi-stage batch process. Each batch mainly includes two stages of injection and pressure holding. The variables that need to be controlled in the injection section and pressure holding section are injection speed and holding pressure respectively. The variables are different, switching will occur when the system is running, and t...
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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王立敏刘冰李平张日东于晶贤施惠元
Owner LIAONING UNIVERSITY OF PETROLEUM AND CHEMICAL TECHNOLOGY
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