An injection molding machine oil cylinder control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose an injection molding machine oil cylinder control method and device, electronic equipment and storage medium. The method comprises: for an injection molding machine oil cylinder to be controlled and a preset motion trajectory of the injection molding machine oil cylinder, obtaining oil cylinder information of the injection molding machine oil cylinder associated with the preset motion trajectory; based on the oil cylinder information, determining the motion planning applied by the injection molding machine oil cylinder when moving on the preset motion trajectory, so as to control the motion of the injection molding machine oil cylinder based on the motion planning; wherein the oil cylinder information comprises at least one of the initial position, the target position, the target slope, the target control parameter and the target control parameter value. The technical scheme of the embodiments of the present application can improve the consistency and stability of the injection molding machine oil cylinder control.

Description

Technical Field

[0001] The present invention relates to the field of injection molding machine control technology, and in particular to an injection molding machine hydraulic cylinder control method, device, electronic device and storage medium. Background Technology

[0002] Currently, injection molding machine cylinder control is divided into two types: single-stage control and multi-stage control. Single-stage control involves setting a pressure and speed range and using limit switches or time to control the cylinder. Multi-stage control involves setting multiple pressure and speed ranges and using position or time to control the cylinder.

[0003] However, current methods for controlling hydraulic cylinders in injection molding machines suffer from poor consistency and stability, which need to be addressed. Summary of the Invention

[0004] This invention provides a method, device, electronic device, and storage medium for controlling the hydraulic cylinder of an injection molding machine, thereby improving the consistency and stability of hydraulic cylinder control in injection molding machines.

[0005] According to one aspect of the present invention, a method for controlling the hydraulic cylinder of an injection molding machine is provided, which may include:

[0006] For the injection molding machine cylinder to be motion controlled and the preset motion trajectory of the injection molding machine cylinder, obtain the cylinder information of the injection molding machine cylinder associated with the preset motion trajectory;

[0007] Based on the cylinder information, determine the motion plan to be applied when the injection molding machine cylinder moves on the preset motion trajectory, so as to perform motion control on the injection molding machine cylinder based on the motion plan;

[0008] The cylinder information includes at least one of the following: initial position, target position, target slope, target control parameters, and target control parameter values.

[0009] The initial position is the starting position on the preset motion trajectory;

[0010] The target position is the position where the trajectory terminates on the preset motion trajectory;

[0011] The target slope is the slope applied when the injection molding machine cylinder moves along the preset motion trajectory;

[0012] The target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves on the preset motion trajectory.

[0013] According to another aspect of the present invention, a hydraulic cylinder control device for an injection molding machine is provided, which may include:

[0014] The cylinder information acquisition module is used to acquire cylinder information of the injection molding machine cylinder associated with the preset motion trajectory, for the injection molding machine cylinder to be motion controlled and the preset motion trajectory of the injection molding machine cylinder.

[0015] The motion planning determination module is used to determine the motion plan to be applied when the injection molding machine cylinder moves on a preset motion trajectory based on the cylinder information, so as to perform motion control on the injection molding machine cylinder based on the motion plan;

[0016] The cylinder information includes at least one of the following: initial position, target position, target slope, target control parameters, and target control parameter values.

[0017] The initial position is the starting position on the preset motion trajectory;

[0018] The target position is the position where the trajectory terminates on the preset motion trajectory;

[0019] The target slope is the slope applied when the injection molding machine cylinder moves along the preset motion trajectory;

[0020] The target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves on the preset motion trajectory.

[0021] According to another aspect of the present invention, an electronic device is provided, which may include:

[0022] At least one processor; and

[0023] A memory that is communicatively connected to at least one processor; wherein,

[0024] The memory stores a computer program that can be executed by at least one processor, such that when the at least one processor executes the program, it implements the injection molding machine cylinder control method provided in any embodiment of the present invention.

[0025] According to another aspect of the present invention, a computer-readable storage medium is provided having computer instructions stored thereon for causing a processor to execute and implement the injection molding machine cylinder control method provided in any embodiment of the present invention.

[0026] The technical solution of this invention involves acquiring cylinder information associated with the preset motion trajectory of an injection molding machine cylinder to be motion controlled; based on the cylinder information, determining the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory, and performing motion control on the injection molding machine cylinder based on the motion plan; wherein, the cylinder information includes at least one of initial position, target position, target slope, target control parameter, and target control parameter value; the initial position is the starting position on the preset motion trajectory; the target position is the ending position on the preset motion trajectory; the target slope is the slope applied when the injection molding machine cylinder moves on the preset motion trajectory; and the target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves on the preset motion trajectory. The above technical solution can improve the consistency and stability of injection molding machine cylinder control by using motion planning applied to the injection molding machine cylinder when it moves on a preset motion trajectory, based on cylinder information determined by at least one of the initial position, target position, target slope, target control parameters, and target control parameter values.

[0027] It should be understood that the description in this section is not intended to identify key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a flowchart of a hydraulic cylinder control method for an injection molding machine according to an embodiment of the present invention;

[0030] Figure 2 This is a flowchart of another injection molding machine hydraulic cylinder control method provided by an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the planning curve corresponding to pressure in another injection molding machine cylinder control method provided by an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the speed-corresponding planning curve in another injection molding machine cylinder control method provided by an embodiment of the present invention;

[0033] Figure 5This is a flowchart of another injection molding machine hydraulic cylinder control method provided by an embodiment of the present invention;

[0034] Figure 6 This is a flowchart of an optional example of another injection molding machine cylinder control method provided according to an embodiment of the present invention;

[0035] Figure 7 This is a structural block diagram of an injection molding machine hydraulic cylinder control device according to an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of an electronic device that implements the injection molding machine cylinder control method according to an embodiment of the present invention. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. The same applies to "target," "original," etc., and will not be repeated here. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] Figure 1 This is a flowchart illustrating a method for controlling the hydraulic cylinder of an injection molding machine, as provided in an embodiment of the present invention. This embodiment is applicable to the control of hydraulic cylinders in injection molding machines. The method can be executed by the hydraulic cylinder control device provided in this embodiment of the invention. This device can be implemented in software and / or hardware, and can be integrated into an electronic device, which can be various user terminals or servers.

[0040] See Figure 1 The method of this invention specifically includes the following steps:

[0041] S110. For the injection molding machine cylinder to be motion controlled and its preset motion trajectory, obtain cylinder information associated with the preset motion trajectory. The cylinder information includes at least one of initial position, target position, target slope, target control parameter, and target control parameter value. The initial position is the starting position on the preset motion trajectory, the target position is the ending position on the preset motion trajectory, the target slope is the slope applied when the injection molding machine cylinder moves on the preset motion trajectory, and the target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves on the preset motion trajectory.

[0042] The preset motion trajectory is the path between the preset start and end positions of the injection molding machine cylinder's motion requirements. Cylinder information refers to relevant information about the injection molding machine cylinder associated with the preset motion trajectory; it can also be understood as information related to the control of the injection molding machine cylinder. Cylinder information may include at least one of the following: initial position, target position, target slope, target control parameters, and target control parameter values. It may also include information such as the time taken for the injection molding machine cylinder to complete the required motion according to the preset motion trajectory. The initial position is the starting position on the preset motion trajectory; the starting position can be the current position of the injection molding machine cylinder or the starting position for the required motion. The target position is the ending position on the preset motion trajectory; the target position can be the position the injection molding machine cylinder is required to reach. The target slope is the slope applied when the injection molding machine cylinder moves along a preset motion trajectory. The target slope can be applied to a mathematical formula corresponding to the target control parameter. The target slope can be a meaningless slope value, or it can have a certain physical meaning, such as acceleration. In this embodiment of the invention, the specific meaning of the target slope is not specifically limited; the target slope can be set according to requirements. The target control parameter is the parameter that needs to be planned when controlling the injection molding machine cylinder. The target control parameter can be, for example, pressure and / or speed. The number of target control parameters can be one or more. The target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves along the preset motion trajectory. For example, when the target control parameter is pressure, the target control parameter value can be the pressure value.

[0043] It should be noted that the target slope can be the slope applied when the injection molding machine cylinder moves to the target position, that is, the target slope that can be applied when the injection molding machine cylinder moves to the target position. When the injection molding machine cylinder moves to other positions, the target slope can be applied, or other slopes can be applied. The target slope can also be the slope applied when the injection molding machine cylinder moves, that is, the target slope is applied throughout the entire movement of the injection molding machine cylinder on the preset motion trajectory.

[0044] In this embodiment of the invention, the target control parameter value can be the parameter value that needs to be achieved at the target position when the injection molding machine cylinder moves on the preset motion trajectory under the target control parameters; the target control parameter value can also be the parameter value that needs to be achieved at a preset position on the preset motion trajectory under the target control parameters when the injection molding machine cylinder moves on the preset motion trajectory; and so on.

[0045] S120. Based on the cylinder information, determine the motion plan to be applied when the injection molding machine cylinder moves on the preset motion trajectory, so as to perform motion control on the injection molding machine cylinder based on the motion plan.

[0046] Among them, motion planning is the planning of the injection molding machine cylinder's movement on a preset motion trajectory; motion planning can be, for example, the planning of the injection molding machine cylinder's movement on a preset motion trajectory in response to a target control parameter. For example, when the target control parameter is pressure, motion planning can be, for example, the planning of the required pressure magnitude at each position of the injection molding machine cylinder on the preset motion trajectory.

[0047] In this embodiment of the invention, the motion planning applied when the injection molding machine cylinder moves on a preset motion trajectory is determined based on cylinder information. For example, it can be based on the initial position, target position, and target control parameter values, and determined according to a direct proportional function obtained based on the target slope, to determine the trajectory control parameter values ​​at each trajectory position on the preset motion trajectory, etc. In this embodiment of the invention, no specific limitation is made on the method of determining the motion planning applied when the injection molding machine cylinder moves on a preset motion trajectory based on cylinder information.

[0048] In this embodiment of the invention, motion control of the injection molding machine cylinder is performed based on motion planning. For example, the injection molding machine cylinder can be controlled according to the planned trajectory control parameter values ​​at each trajectory position in the motion plan, so as to control the injection molding machine cylinder to reach the planned trajectory control parameter values ​​at each trajectory position, and so on. In this embodiment of the invention, the specific method of motion control of the injection molding machine cylinder based on motion planning is not limited.

[0049] The technical solution of this invention can achieve smoother transitions between multiple control time periods. The technical solution of this invention can also achieve early deceleration at the end of the cylinder's action, resulting in better consistency of the ending action point, thereby improving the consistency and stability of the injection molding machine's cylinder control.

[0050] The technical solution of this invention involves acquiring cylinder information associated with the preset motion trajectory of an injection molding machine cylinder to be motion controlled; based on the cylinder information, determining the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory, and performing motion control on the injection molding machine cylinder based on the motion plan; wherein, the cylinder information includes at least one of initial position, target position, target slope, target control parameter, and target control parameter value; the initial position is the starting position on the preset motion trajectory; the target position is the ending position on the preset motion trajectory; the target slope is the slope applied when the injection molding machine cylinder moves on the preset motion trajectory; and the target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves on the preset motion trajectory. The above technical solution can improve the consistency and stability of injection molding machine cylinder control by using motion planning applied to the injection molding machine cylinder when it moves on a preset motion trajectory, based on cylinder information determined by at least one of the initial position, target position, target slope, target control parameters, and target control parameter values.

[0051] Figure 2 This is a flowchart of another injection molding machine cylinder control method provided in this embodiment of the invention. This embodiment is an optimization based on the above-mentioned technical solutions. In this embodiment, optionally, determining the motion plan applied when the injection molding machine cylinder moves on a preset motion trajectory based on cylinder information includes: determining at least one trajectory position on the preset motion trajectory based on cylinder information, and the trajectory control parameter values ​​applied under target control parameters when the injection molding machine cylinder moves to at least one trajectory position; determining the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory according to the at least one trajectory position and the trajectory control parameter values ​​corresponding to the at least one trajectory position. The explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

[0052] See Figure 2 The method in this embodiment may specifically include the following steps:

[0053] S210. For the injection molding machine cylinder to be motion controlled and its preset motion trajectory, obtain cylinder information associated with the preset motion trajectory. The cylinder information includes at least one of initial position, target position, target slope, target control parameter, and target control parameter value. The initial position is the starting position on the preset motion trajectory, the target position is the ending position on the preset motion trajectory, the target slope is the slope applied when the injection molding machine cylinder moves on the preset motion trajectory, and the target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves on the preset motion trajectory.

[0054] S220. Based on the cylinder information, determine at least one trajectory position on the preset motion trajectory, and the trajectory control parameter value applied under the target control parameters when the injection molding machine cylinder moves to at least one trajectory position.

[0055] Here, the trajectory position is the position on the preset motion trajectory. The trajectory control parameter value is the parameter value that the injection molding machine cylinder needs to achieve under the target control parameters when it moves to the trajectory position corresponding to the trajectory control parameter value on the preset motion trajectory.

[0056] In this embodiment of the invention, at least one trajectory position on a preset motion trajectory can be determined based on cylinder information. For example, at least one trajectory position can be determined based on a preset position distance interval for the preset motion trajectory and a target position in the cylinder information. In this embodiment of the invention, at least one trajectory position on the preset motion trajectory can also be preset one by one. In this embodiment of the invention, the method for determining at least one trajectory position on the preset motion trajectory based on cylinder information is not specifically limited.

[0057] In this embodiment of the invention, the trajectory control parameter values ​​applied under the target control parameters can be determined based on the cylinder information when the injection molding machine cylinders move to at least one trajectory position. In this embodiment of the invention, the method for determining the trajectory control parameter values ​​applied under the target control parameters when the injection molding machine cylinders move to at least one trajectory position based on the cylinder information is not specifically limited.

[0058] S230. Based on at least one trajectory position and the trajectory control parameter value corresponding to each trajectory position, determine the motion plan to be applied when the injection molding machine cylinder moves on the preset motion trajectory, so as to perform motion control on the injection molding machine cylinder based on the motion plan.

[0059] In this embodiment of the invention, the motion plan applied when the injection molding machine cylinder moves on a preset motion trajectory can be determined based on at least one trajectory position and the trajectory control parameter values ​​corresponding to each trajectory position. For example, the motion plan can be determined by connecting at least one trajectory position and at least one trajectory point represented by the trajectory control parameter values ​​corresponding to each trajectory position to obtain at least one curve, and then determining the motion plan based on the curve. In this embodiment of the invention, the method of determining the motion plan applied when the injection molding machine cylinder moves on a preset motion trajectory based on at least one trajectory position and the trajectory control parameter values ​​corresponding to each trajectory position is not specifically limited.

[0060] In this embodiment of the invention, when there are multiple target control parameters and / or multiple target control parameters, or when there are multiple target control parameters and they correspond one-to-one, the determined result may be at least one trajectory position on the preset motion trajectory corresponding to each target control parameter, and the trajectory control parameter value applied under the target control parameters when the injection molding machine cylinder moves to at least one trajectory position. For each target control parameter, a parameter plan corresponding to the target control parameter can be determined based on the at least one trajectory position corresponding to the target control parameter and the trajectory control parameter value corresponding to the at least one trajectory position. The parameter plan is the motion plan of the injection molding machine cylinder on the preset motion trajectory for the target control parameters. The motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory can be determined based on the parameter plans corresponding to multiple target control parameters.

[0061] The technical solution of this invention, based on cylinder information, determines at least one trajectory position on a preset motion trajectory, and the trajectory control parameter values ​​applied under target control parameters when the injection molding machine cylinder moves to each of the at least one trajectory position. Based on the at least one trajectory position and the corresponding trajectory control parameter values, the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory is determined. This technical solution, by determining the at least one trajectory position and the corresponding trajectory control parameter values, can achieve higher accuracy, better consistency, and better stability in the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory.

[0062] An optional technical solution involves determining a motion plan for an injection molding machine cylinder to move along a preset motion trajectory based on at least one trajectory position and the trajectory control parameter values ​​corresponding to each trajectory position. This includes: arranging at least one trajectory position in reverse order according to a predetermined time corresponding to each trajectory position to obtain at least one inverted position; determining a planning curve based on the at least one inverted position and the trajectory control parameter values ​​corresponding to each inverted position; and determining the motion plan for the injection molding machine cylinder to move along the preset motion trajectory based on the planning curve.

[0063] The reversed position is the position on the preset motion trajectory obtained by reversing at least one trajectory position.

[0064] It is understandable that at least one trajectory position may be determined sequentially over time. For example, each trajectory position may be determined based on its previous trajectory position and / or the trajectory control parameter values ​​of the previous trajectory position. Therefore, at least one trajectory position may be determined sequentially over time. The planning curve is a curve determined based on at least one inverted position and the trajectory control parameter values ​​corresponding to each inverted position.

[0065] It is understandable that the target position is the trajectory position that terminates on the preset motion trajectory. Determining at least one trajectory position and the trajectory control parameter value corresponding to each trajectory position may involve taking the target position as the first determined trajectory position and determining the subsequent trajectory positions one by one based on the target position. However, when performing motion control on the injection molding machine cylinder based on motion planning, the injection molding machine cylinder starts moving from the initial position. Therefore, in the embodiments of the present invention, at least one trajectory position can be arranged in reverse according to the determined time corresponding to each of the at least one trajectory position to obtain at least one reversed position, so that the initial position is the first position in the motion planning and the target position is the last position in the motion planning, so that the injection molding machine cylinder can be motion controlled based on the motion planning.

[0066] In this embodiment of the invention, a planned curve can be determined based on at least one inverted position and the trajectory control parameter values ​​corresponding to each inverted position. For example, the trajectory points represented by each set of inverted positions and their corresponding trajectory control parameter values ​​can be connected to obtain a curve, which serves as the planned curve. In this embodiment of the invention, the method for determining the planned curve based on at least one inverted position and its corresponding trajectory control parameter values ​​is not specifically limited.

[0067] In this embodiment of the invention, the motion plan applied when the injection molding machine cylinder moves along a preset motion trajectory is determined based on the planning curve diagram. For example, the planning curve diagram can be used as the motion plan, or the motion plan can be constructed based on the planning curve diagram, and so on. In this embodiment of the invention, no specific limitation is made on the method of determining the motion plan applied when the injection molding machine cylinder moves along the preset motion trajectory based on the planning curve diagram.

[0068] For example, when the target control parameters are pressure and speed, at least one trajectory position on a preset motion trajectory corresponding to each pressure and speed is determined, and the trajectory control parameter values ​​applied under the target control parameters are determined when the injection molding machine cylinder moves to each of the at least one trajectory position; see [link to relevant documentation]. Figure 3According to the determined time corresponding to at least one trajectory position corresponding to the pressure, at least one trajectory position can be arranged in reverse to obtain at least one reversed position. Based on the at least one reversed position and the trajectory control parameter values ​​corresponding to the at least one reversed position, the planning curve corresponding to the pressure can be determined; based on the planning curve corresponding to the pressure, the pressure planning corresponding to the pressure can be determined; see [link to relevant documentation]. Figure 4 The process involves reversing at least one trajectory position according to the time corresponding to each speed, resulting in at least one reversed position. Based on this reversed position and the corresponding trajectory control parameter values, a speed-related planning curve is determined. This speed-related planning curve is then used to determine the speed plan. Finally, based on the pressure and speed plans, a motion plan is determined for the injection molding machine cylinder moving along a preset trajectory. This motion plan enables flexible motion control of the injection molding machine cylinder. Figure 3 and Figure 4 The horizontal axis represents the trajectory position, and the vertical axis represents the trajectory control parameter value.

[0069] In this embodiment of the invention, at least one trajectory position can be arranged in reverse order according to a predetermined time corresponding to each trajectory position, resulting in at least one inverted position. A planning curve is determined based on the at least one inverted position and the trajectory control parameter values ​​corresponding to each inverted position. Based on the planning curve, a motion plan is determined for the injection molding machine cylinder to move along a preset motion trajectory. This technical solution, by using the planning curve obtained from the inverted arrangement of at least one trajectory position to determine the motion plan, makes the obtained motion plan applicable to motion control of the injection molding machine cylinder, further improving the consistency and stability of the injection molding machine cylinder control.

[0070] Figure 5This is a flowchart of another injection molding machine cylinder control method provided in this embodiment of the invention. This embodiment is based on the above-mentioned technical solutions and optimized. In this embodiment, optionally, the target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves to the target position; based on the cylinder information, determining at least one trajectory position on the preset motion trajectory, and the trajectory control parameter value applied under the target control parameter when the injection molding machine cylinder moves to at least one trajectory position respectively, includes: determining the mathematical relationship corresponding to the target control parameter; obtaining the preset position distance interval for the preset motion trajectory; obtaining the current position and the current control parameter value of the current position, wherein the current position is a trajectory position on the preset motion trajectory determined according to the target position, and the current control parameter value is the trajectory control parameter value representing the current position determined according to the target control parameter value; based on the position distance interval, the current position and the initial position, the method is further optimized. The process involves determining adjacent positions, where an adjacent position is a trajectory position on a preset motion trajectory located between the current position and the initial position, and adjacent to the current position. Based on mathematical relationships, adjacent positions, the current position, the current control parameter value, and the target slope, adjacent control parameter values ​​are determined, where adjacent control parameter values ​​characterize the trajectory control parameter values ​​of adjacent positions. The process of determining adjacent positions based on position distance intervals, the current position, and the initial position is repeated, using the adjacent position as the current position and the adjacent control parameter value as the current control parameter value. If no adjacent position is determined, at least one trajectory position on the preset motion trajectory is obtained, along with the trajectory control parameter values ​​applied under the target control parameters when the injection molding machine cylinder moves to at least one trajectory position. Explanations of terms identical or corresponding to those in the above embodiments are not repeated here.

[0071] See Figure 5 The method in this embodiment may specifically include the following steps:

[0072] S310. For the injection molding machine cylinder to be motion controlled and its preset motion trajectory, obtain cylinder information associated with the preset motion trajectory. The cylinder information includes at least one of initial position, target position, target slope, target control parameter, and target control parameter value. The initial position is the starting position on the preset motion trajectory; the target position is the ending position on the preset motion trajectory; the target slope is the slope applied when the injection molding machine cylinder moves on the preset motion trajectory; the target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves on the preset motion trajectory; and the target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves to the target position.

[0073] In this embodiment of the invention, the target control parameter value can be the parameter value that the injection molding machine cylinder is expected to achieve and apply under the target control parameters when it moves to the target position.

[0074] S320. Determine the mathematical relationship corresponding to the target control parameters.

[0075] In this embodiment of the invention, a mathematical relationship corresponding to the target control parameter can be determined. The mathematical relationship can be a mathematical relationship that can characterize the relationship between adjacent control parameter values ​​and at least one of adjacent positions, current positions, current control parameter values, and current slopes. For example, when the target control parameter is pressure, the mathematical relationship can be a mathematical relationship that can characterize the relationship between pressure value and current position.

[0076] It is important to note that the mathematical relationship corresponding to the target control parameters can be determined in advance. For example, it can be determined based on experimental experience, or an existing mathematical relationship can be directly used as the mathematical relationship corresponding to the target control parameters, and so on. When using it, the mathematical relationship corresponding to the target control parameters can be directly obtained.

[0077] For example, when the target control parameter is pressure, the mathematical relationship could be y = ax, where y is the trajectory control parameter value applied under pressure, x is the adjacent position, and a is the acceleration determined by the target slope; the mathematical relationship could be... y 当前位置 , where y 相邻位置 It refers to the adjacent control parameter values ​​at adjacent locations when applied under pressure, P. max This refers to the segmented control parameter value corresponding to the second target segmented trajectory at the current position, which is also the maximum value that adjacent control parameter values ​​can reach. T is the target slope, and x is the value of the segmented control parameter. 相邻位置 It is an adjacent position, x 当前位置 This is the current position, y 当前位置 This is the current control parameter value. When the target control parameter is speed, the mathematical relationship could be, for example,... Where y is the trajectory control parameter value applied at the velocity, y0 is the current control parameter value, a is the acceleration determined by the target slope, and Δs is the position distance interval; the mathematical relationship can be, for example, as follows: Among them, y 相邻位置 It refers to the adjacent control parameter values ​​at adjacent positions applied at a given speed, V. max This refers to the segmented control parameter value corresponding to the second target segmented trajectory at the current position, which is also the maximum value that adjacent control parameter values ​​can reach. T is the target slope, and x is the value of the segmented control parameter. 相邻位置 It is an adjacent position, x 当前位置 This is the current position, y 当前位置This is the current control parameter value.

[0078] S330: Obtain the preset position distance interval for the preset motion trajectory.

[0079] In this embodiment of the invention, a position distance interval can be preset in advance for a preset motion trajectory as needed. The position distance interval is the trajectory length between each pair of trajectory positions in at least one trajectory position on the preset motion trajectory.

[0080] S340. Obtain the current position and the current control parameter value of the current position, wherein the current position is a trajectory position on a preset motion trajectory determined based on the target position, and the current control parameter value is a trajectory control parameter value representing the current position determined based on the target control parameter value.

[0081] Here, the current position is the position on the preset motion trajectory used to determine its next trajectory position. The current control parameter value is the trajectory control parameter value for the current position.

[0082] In this embodiment of the invention, a trajectory position on a preset motion trajectory can be determined as the current position based on the target position, for example, the target position can be used as the current position; the current control parameter value can be determined based on the target control parameter value, for example, the target control parameter value can be used as the current control parameter value.

[0083] Importantly, the current position can be one of at least one trajectory position, and the current control parameter value of the current position can be used as the trajectory control parameter value corresponding to that trajectory position. In this case, the current position can be the first determined trajectory position among at least one trajectory position.

[0084] S350. Determine adjacent positions based on the position distance interval, the current position, and the initial position. The adjacent position is a trajectory position on the preset motion trajectory that is located between the current position and the initial position and is adjacent to the current position.

[0085] In this embodiment of the invention, adjacent positions can be determined based on the position distance interval, the current position, and the initial position. For example, the position of the current position in the direction between the initial position and the current position, at a distance of the position distance interval, can be taken as an adjacent position.

[0086] It should be noted that, in order to avoid determining multiple adjacent positions, as well as the situation of infinitely determining invalid adjacent positions, the adjacent position can be a position on the preset motion trajectory that is between the current position and the initial position.

[0087] It should be noted that an adjacent position can be considered as at least one trajectory position that is adjacent to the trajectory position corresponding to the current position.

[0088] S360. Based on mathematical relationships, adjacent positions, current position, current control parameter values, and target slope, determine the adjacent control parameter values ​​of adjacent positions, where the adjacent control parameter values ​​represent the trajectory control parameter values ​​of adjacent positions.

[0089] In this embodiment of the invention, the adjacent control parameter values ​​of adjacent positions are determined based on mathematical relationships, adjacent positions, the current position, the current control parameter value, and the target slope. For example, the adjacent positions, the current position, the current control parameter value, and the target slope can be substituted into the mathematical relationship to determine the adjacent control parameter values, and so on. In this embodiment of the invention, there is no specific limitation on the method of determining the adjacent control parameter values ​​of adjacent positions based on mathematical relationships, adjacent positions, the current position, the current control parameter value, and the target slope.

[0090] It should be noted that the adjacent control parameter value is the trajectory control parameter value of the trajectory position represented by the adjacent position. That is, the adjacent position is a trajectory position, and the adjacent control parameter value is the trajectory control parameter value of that trajectory position.

[0091] S370: Set the adjacent position as the current position and the adjacent control parameter value as the current control parameter value, then return to execute S350.

[0092] In this embodiment of the invention, adjacent positions can be used as the current position and adjacent control parameter values ​​can be used as the current control parameter values. This is used to repeatedly execute the step of determining adjacent positions based on position distance interval, current position and initial position, so as to determine the adjacent positions of adjacent positions based on the current position and the current control parameter values, and the adjacent control parameter values ​​of the adjacent positions of adjacent positions, as the next set of determined trajectory positions and trajectory control parameter values ​​of the trajectory positions.

[0093] S380. Without determining adjacent positions, obtain at least one trajectory position on the preset motion trajectory, and the trajectory control parameter value applied under the target control parameters when the injection molding machine cylinder moves to at least one trajectory position.

[0094] In this embodiment of the invention, if the adjacent positions are not determined, it means that at least one trajectory position and the trajectory control parameter value corresponding to at least one trajectory position have been determined. It is possible to obtain at least one trajectory position on the preset motion trajectory obtained in the above steps, and the trajectory control parameter value applied under the target control parameter when the injection molding machine cylinder moves to at least one trajectory position.

[0095] S390. Based on at least one trajectory position and the trajectory control parameter value corresponding to each trajectory position, determine the motion plan to be applied when the injection molding machine cylinder moves on the preset motion trajectory, so as to perform motion control on the injection molding machine cylinder based on the motion plan.

[0096] The technical solution of this invention includes: a target control parameter value, which is the parameter value applied under the target control parameter when the injection molding machine cylinder moves to the target position; determining the mathematical relationship corresponding to the target control parameter; obtaining a preset position distance interval for a preset motion trajectory; obtaining the current position and the current control parameter value of the current position, wherein the current position is a trajectory position on the preset motion trajectory determined based on the target position, and the current control parameter value is the trajectory control parameter value representing the current position determined based on the target control parameter value; and determining adjacent positions based on the position distance interval, the current position, and the initial position, wherein the adjacent positions are those located on the preset motion trajectory between the current position and the initial position. The process involves determining a trajectory position adjacent to the current position; based on mathematical relationships, adjacent positions, the current position, current control parameter values, and the target slope, determining adjacent control parameter values ​​for the adjacent positions, where the adjacent control parameter values ​​represent the trajectory control parameter values ​​for the adjacent positions; using the adjacent positions as the current positions and the adjacent control parameter values ​​as the current control parameter values, repeatedly executing the step of determining adjacent positions based on position distance intervals, the current position, and the initial position; if adjacent positions are not determined, obtaining at least one trajectory position on the preset motion trajectory, and the trajectory control parameter values ​​applied under the target control parameters when the injection molding machine cylinder moves to at least one trajectory position. This technical solution can determine at least one trajectory position and the corresponding trajectory control parameter values ​​for each trajectory position more accurately, thereby increasing the accuracy of the motion planning applied when the injection molding machine cylinder moves on the preset motion trajectory, and further improving the consistency and stability of the injection molding machine cylinder control.

[0097] An optional technical solution, a hydraulic cylinder control method for an injection molding machine, further includes: acquiring the current curve relationship applied at the current position; determining adjacent control parameter values ​​for adjacent positions based on a mathematical relationship, adjacent positions, the current position, the current control parameter value, and the target slope, including: determining adjacent control parameter values ​​for adjacent positions based on the current curve relationship, the mathematical relationship, adjacent positions, the current control parameter value, the current position, and the target slope; the method further includes: updating the current curve relationship according to the current control parameter value and the adjacent control parameter value.

[0098] The current curve relationship can represent the relationship between the current position and the previous trajectory position, which was determined before the current position and is adjacent to the current position. For example, if the trajectory control parameter value corresponding to the current position is 60 and the trajectory control parameter value corresponding to the previous trajectory position is 80, then the current curve relationship is a falling edge; as another example, if the trajectory control parameter value corresponding to the current position is 80 and the trajectory control parameter value corresponding to the previous trajectory position is 60, then the current curve relationship is a rising edge; the current curve relationship can include a rising edge, a falling edge, or a straight line.

[0099] It should be noted that if the trajectory position represented by the current position is the first determined trajectory position, there is no previous trajectory position determined before the current position and adjacent to the current position. Therefore, a current curve relationship can be preset for the current position and applied at the current position. The current curve relationship can be, for example, a straight line.

[0100] It is important to note that in some cases, based on mathematical relationships, adjacent positions, the current position, the current control parameter value, and the target slope, multiple adjacent control parameter values ​​may be determined, or the determined adjacent control parameter values ​​may not meet the requirements and cannot be used directly. Therefore, the current curve relationship can also be used as one of the factors in determining the adjacent control parameter values. That is, based on the current curve relationship, mathematical relationships, adjacent positions, the current control parameter value, the current position, and the target slope, the adjacent control parameter values ​​of adjacent positions are determined, thereby obtaining adjacent control parameter values ​​that conform to the current situation. For example, if adjacent control parameter values ​​greater than and less than the current control parameter value are determined, and the current curve relationship is on the rising edge, the final adjacent control parameter value is determined to be the adjacent control parameter value greater than the current control parameter value, and so on.

[0101] In this embodiment of the invention, no specific limitation is made on the method of determining the adjacent control parameter values ​​of adjacent positions based on the current curve relationship, mathematical relationship, adjacent positions, current control parameter values, current position and target slope.

[0102] In this embodiment of the invention, the current curve relationship can be updated based on the current control parameter value and the adjacent control parameter values. For example, if the current control parameter value is greater than the adjacent control parameter value, the current curve relationship can be updated to a falling edge.

[0103] In this embodiment of the invention, the current curve relationship applied at the current position can be obtained; based on the current curve relationship, mathematical formula, adjacent positions, current control parameter values, current position, and target slope, adjacent control parameter values ​​for adjacent positions are determined; and the current curve relationship is updated according to the current control parameter values ​​and adjacent control parameter values. This technical solution can improve the accuracy of at least one trajectory position and the trajectory control parameter values ​​corresponding to each trajectory position.

[0104] Another optional technical solution, where the target slope is the slope applied when the injection molding machine cylinder moves to the target position, further includes: obtaining the current slope at the current position, wherein the current slope is determined based on the target slope; determining the adjacent control parameter values ​​of adjacent positions based on mathematical relationships, adjacent positions, the current position, the current control parameter values, and the target slope, including: determining the adjacent control parameter values ​​of adjacent positions based on mathematical relationships, adjacent positions, the current position, the current control parameter values, and the current slope; the method further includes: obtaining at least one first segmented trajectory obtained by segmenting a preset motion trajectory, and determining a first target segmented trajectory containing the current position from the at least one first segmented trajectory according to the first segmented positions corresponding to the at least one first segmented trajectory; updating the segmented slope corresponding to the first target segmented trajectory to the current slope.

[0105] The current slope is the slope applied when the injection molding machine cylinder moves to its current position. The current slope can also be understood as the slope used to determine the values ​​of adjacent control parameters for adjacent positions. The first segment position is the position corresponding to the first segment trajectory; the first segment position can be represented, for example, by the position interval of the first segment trajectory within a preset motion trajectory, or by the maximum position of the first segment trajectory within the preset motion trajectory, and so on. The segment slope is the slope corresponding to the first segment trajectory.

[0106] It should be noted that if the trajectory position represented by the current position is the first determined trajectory position or the current position is the target position, the current slope can be determined based on the target slope. For example, the target slope can be used as the current slope, and so on.

[0107] It should be noted that the slope used to determine adjacent control parameter values ​​can remain constant or change according to requirements. In this embodiment of the invention, adjacent control parameter values ​​at adjacent positions can be determined based on mathematical relationships, adjacent positions, the current position, the current control parameter value, and the current slope, which may change. This embodiment of the invention does not impose specific limitations on the method of determining adjacent control parameter values ​​at adjacent positions based on mathematical relationships, adjacent positions, the current position, the current control parameter value, and the current slope.

[0108] In this embodiment of the invention, at least one first segmented trajectory can be obtained by segmenting a preset motion trajectory. This first segmented trajectory is the trajectory obtained by segmenting the preset motion trajectory according to requirements. For each of the at least one first segmented trajectory, a corresponding first segment position and segment slope can be set. At least one first segmented trajectory obtained by segmenting the preset motion trajectory is acquired, and based on the first segment positions corresponding to the at least one first segmented trajectory, a first target segmented trajectory containing the current position is determined from the at least one first segmented trajectory. This first target segmented trajectory is the first segmented trajectory containing the current position among the at least one first segmented trajectory; the first target segmented trajectory can also be understood as the first segmented trajectory where the current position is located. The segment slope corresponding to the first target segmented trajectory is updated to the current slope. The above technical solution, by segmenting the preset motion trajectory and using the segment slope of the first target segmented trajectory where the current position is located when determining the adjacent control parameter values ​​of adjacent positions, can make the determined adjacent control parameter values ​​of adjacent positions more consistent with current requirements.

[0109] Another optional technical solution, after determining the trajectory control parameter value of a trajectory position based on mathematical relationships, adjacent positions, current control parameter values, current position, and target slope, the injection molding machine cylinder control method further includes: acquiring at least one second segment trajectory on a preset motion trajectory, and determining a second target segment trajectory containing the current position from at least one second segment according to the second segment positions corresponding to the at least one second segment trajectory; and updating adjacent control parameter values ​​according to the segment control parameter values ​​corresponding to the second target segment trajectory.

[0110] The second segment trajectory is obtained by dividing the preset motion trajectory into segments according to requirements. The second segment position is the position corresponding to the second segment trajectory; the second segment position can be represented by the position range of the second segment trajectory in the preset motion trajectory, or by the maximum position of the second segment trajectory in the preset motion trajectory, etc. The segment control parameter value is the maximum trajectory control parameter value or the adjacent control parameter value corresponding to the second segment trajectory.

[0111] It should be noted that the trajectory control parameter values ​​or adjacent control parameter values ​​are not infinitely large. In order to control the size of the trajectory control parameter values ​​or adjacent control parameter values, in this embodiment of the invention, at least one second segment trajectory can be obtained by segmenting the preset motion trajectory. For each second segment trajectory in the at least one second segment trajectory, its corresponding second segment position and segment control parameter value are set. At least one second segment trajectory on the preset motion trajectory is obtained, and according to the second segment positions corresponding to the at least one second segment trajectory, a second target segment trajectory containing the current position is determined from the at least one second segment. The second target segment trajectory is the second segment trajectory containing the current position in the at least one second segment trajectory. The second target segment trajectory can also be understood as the second segment trajectory where the current position is located. According to the segment control parameter value corresponding to the second target segment trajectory, the adjacent control parameter value is updated. For example, if the adjacent control parameter value is greater than the segment control parameter value corresponding to the second target segment trajectory, the segment control parameter value corresponding to the second target segment trajectory is updated to the adjacent control parameter value. The above technical solution can determine the second target segmented trajectory by segmenting the preset motion trajectory, and update the adjacent control parameter values ​​according to the segmented control parameter values ​​corresponding to the second target segmented trajectory, so that the obtained adjacent control parameter values ​​are more reasonable and meet the requirements.

[0112] To better understand the technical solutions of the embodiments of the present invention described above, an optional example is provided here. For example, see Table 1 below.

[0113] Table 1 Data settings

[0114]

[0115]

[0116] When the target control parameters are pressure and velocity, target pressure and target velocity can be set as target control parameter values, along with target slope and target position. The preset motion trajectory can be segmented into four segmented trajectories. For each segmented trajectory, its corresponding segment position, segment pressure, segment velocity, and segment slope can be set. Initial pressure, initial velocity, initial slope, and initial position can also be set. The target control parameter values, target slope, target position, initial pressure, initial velocity, initial slope, and... The initial position is used as the cylinder information. For the injection molding machine cylinder to be motion controlled and its preset motion trajectory, the cylinder information associated with the preset motion trajectory is obtained, as well as the segment position, segment pressure, segment speed, and segment slope corresponding to each segment of the trajectory. Based on the cylinder information and the segment position, segment pressure, segment speed, and segment slope corresponding to each segment of the trajectory, the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory is determined, so as to perform motion control on the injection molding machine cylinder based on the motion plan.

[0117] To better understand the technical solutions of the above embodiments of the present invention, an optional example is provided herein. For example, see... Figure 6For the injection molding machine cylinder to be motion controlled and its preset motion trajectory, the following steps are taken: First, cylinder information associated with the preset motion trajectory is acquired. This cylinder information includes initial position, target position, target slope, target control parameters, and target control parameter values. Second, a mathematical relationship corresponding to the target control parameters is determined, and a preset position distance interval for the preset motion trajectory is obtained. Third, the trajectory control parameter values ​​are obtained, using the target position as the first determined trajectory position and the target position as the current position, and using the target control parameter values ​​as the first determined trajectory position. The target control parameter value is used as the current control parameter value for the current position, and the current curve relationship applied at the current position is obtained. The target slope is used as the current slope for the current position. Based on the position distance interval, the current position, and the initial position, adjacent positions are determined. An adjacent position is a trajectory position on the preset trajectory located between the current position and the initial position, and adjacent to the current position. Based on the current curve relationship, mathematical formula, adjacent positions, current control parameter values, the current position, and the current slope, adjacent control parameter values ​​are determined. These adjacent control parameter values ​​characterize the trajectory control of the adjacent positions. The parameters are updated as follows: Based on the first segment position and segment slope corresponding to at least one first segment trajectory, and the current position, the current slope is updated; Based on the second segment position and segment control parameter value corresponding to at least one second segment trajectory, and the current position, the adjacent control parameter value is updated; According to the current control parameter value and the adjacent control parameter value, the current curve relationship is updated, and the adjacent position is used as the current position and the adjacent control parameter value is used as the current control parameter value. The step of determining the adjacent position based on the position distance interval, the current position, and the initial position is repeated; If the adjacent position is not determined, at least one trajectory position on the preset motion trajectory is obtained, and the trajectory control parameter value applied under the target control parameter is obtained when the injection molding machine cylinder moves to at least one trajectory position; According to the determined time corresponding to at least one trajectory position, at least one trajectory position is arranged in reverse order to obtain at least one inverted position; According to at least one inverted position and the trajectory control parameter value corresponding to at least one inverted position, the planning curve is determined; According to the planning curve, the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory is determined, so as to perform motion control on the injection molding machine cylinder based on the motion plan.

[0118] Figure 7 This is a structural block diagram of an injection molding machine cylinder control device provided in an embodiment of the present invention. This device is used to execute the injection molding machine cylinder control method provided in any of the above embodiments. This device and the injection molding machine cylinder control methods of the above embodiments belong to the same inventive concept. Details not described in detail in the embodiments of the injection molding machine cylinder control device can be found in the embodiments of the injection molding machine cylinder control method described above. See also... Figure 7Specifically, the device may include: a cylinder information acquisition module 410 and a motion planning determination module 420.

[0119] Among them, the cylinder information acquisition module 410 is used to acquire the cylinder information of the injection molding machine cylinder associated with the preset motion trajectory for the injection molding machine cylinder to be motion controlled and the preset motion trajectory of the injection molding machine cylinder.

[0120] The motion planning determination module 420 is used to determine the motion plan to be applied when the injection molding machine cylinder moves on a preset motion trajectory based on the cylinder information, so as to perform motion control on the injection molding machine cylinder based on the motion plan.

[0121] The cylinder information includes at least one of the following: initial position, target position, target slope, target control parameters, and target control parameter values.

[0122] The initial position is the starting position on the preset motion trajectory;

[0123] The target position is the position where the trajectory terminates on the preset motion trajectory;

[0124] The target slope is the slope applied when the injection molding machine cylinder moves along the preset motion trajectory;

[0125] The target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves on the preset motion trajectory.

[0126] Optionally, the motion planning and determination module 420 may include:

[0127] The trajectory control parameter value determination submodule is used to determine at least one trajectory position on the preset motion trajectory based on the cylinder information, and the trajectory control parameter value applied under the target control parameters when the injection molding machine cylinder moves to at least one trajectory position respectively.

[0128] The motion planning determination submodule is used to determine the motion planning applied when the injection molding machine cylinder moves on a preset motion trajectory, based on at least one trajectory position and the trajectory control parameter values ​​corresponding to at least one trajectory position.

[0129] Optionally, based on the above device, the target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves to the target position;

[0130] The trajectory control parameter value determination submodule may include:

[0131] The mathematical relation determination unit is used to determine the mathematical relation corresponding to the target control parameters;

[0132] The position distance interval acquisition unit is used to acquire the preset position distance interval for the preset motion trajectory;

[0133] The current control parameter value acquisition unit is used to acquire the current position and the current control parameter value of the current position. The current position is a trajectory position on a preset motion trajectory determined based on the target position, and the current control parameter value is a trajectory control parameter value representing the current position determined based on the target control parameter value.

[0134] The adjacent position determination unit is used to determine adjacent positions based on the position distance interval, the current position, and the initial position. The adjacent position is a trajectory position on the preset motion trajectory that is located between the current position and the initial position and is adjacent to the current position.

[0135] The adjacent control parameter value determination unit is used to determine the adjacent control parameter values ​​of adjacent positions based on mathematical relationships, adjacent positions, current position, current control parameter values, and target slope, wherein the adjacent control parameter values ​​represent the trajectory control parameter values ​​of adjacent positions;

[0136] The step repetition unit is used to repeatedly execute the step of determining the adjacent position based on the position distance interval, the current position, and the initial position, taking the adjacent position as the current position and the adjacent control parameter value as the current control parameter value;

[0137] The trajectory control parameter value acquisition unit is used to obtain at least one trajectory position on the preset motion trajectory when adjacent positions are not determined, and the trajectory control parameter value applied under the target control parameters when the injection molding machine cylinder moves to at least one trajectory position respectively.

[0138] Optionally, the injection molding machine cylinder control method device may further include:

[0139] The current curve relationship acquisition module is used to acquire the current curve relationship applied at the current position;

[0140] The adjacent control parameter value determination unit may include:

[0141] The adjacent control parameter value determination subunit is used to determine the adjacent control parameter values ​​of adjacent positions based on the current curve relationship, mathematical relationship, adjacent positions, current control parameter values, current position, and target slope.

[0142] The injection molding machine hydraulic cylinder control device may further include:

[0143] The current curve relationship update module is used to update the current curve relationship based on the current control parameter value and adjacent control parameter values.

[0144] Optionally, based on the above-mentioned device, where the target slope is the slope applied when the injection molding machine cylinder moves to the target position, the injection molding machine cylinder control method device may further include:

[0145] The current slope acquisition module is used to acquire the current slope at the current position, wherein the current slope is determined based on the target slope;

[0146] The adjacent control parameter value determination unit may include:

[0147] The adjacent control parameter value determination subunit is used to determine the adjacent control parameter values ​​of adjacent positions based on mathematical relationships, adjacent positions, current positions, current control parameter values, and current slopes.

[0148] The injection molding machine hydraulic cylinder control device may further include:

[0149] The first target segment trajectory determination module is used to acquire at least one first segment trajectory obtained by segmenting a preset motion trajectory, and to determine the first target segment trajectory containing the current position from the at least one first segment trajectory according to the first segment position corresponding to the at least one first segment trajectory.

[0150] The current slope update module is used to update the segmented slope corresponding to the segmented trajectory of the first target to the current slope.

[0151] Optionally, based on the above-mentioned device, the injection molding machine cylinder control method device may further include:

[0152] The second target segment trajectory determination module is used to determine the trajectory control parameter value of a trajectory position based on mathematical relationships, adjacent positions, current control parameter values, current position and target slope, then obtain at least one second segment trajectory on the preset motion trajectory, and determine the second target segment trajectory including the current position from at least one second segment according to the second segment positions corresponding to the at least one second segment trajectory.

[0153] The adjacent control parameter value update module is used to update the adjacent control parameter values ​​according to the segmented control parameter values ​​corresponding to the segmented trajectory of the second target.

[0154] Optionally, based on the above-described device, the motion planning and determination submodule may include:

[0155] The inverted position acquisition unit is used to arrange at least one trajectory position in reverse order according to the determined time corresponding to each of the at least one trajectory position, thereby obtaining at least one inverted position;

[0156] The planning curve determination unit is used to determine the planning curve based on at least one inverted position and the trajectory control parameter values ​​corresponding to at least one inverted position.

[0157] The motion planning determination unit is used to determine the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory based on the planning curve diagram.

[0158] The injection molding machine cylinder control device provided in this embodiment of the invention acquires cylinder information associated with the preset motion trajectory of the injection molding machine cylinder to be motion controlled, through a cylinder information acquisition module; and determines the motion plan to be applied when the injection molding machine cylinder moves on the preset motion trajectory based on the cylinder information through a motion planning determination module, so as to perform motion control on the injection molding machine cylinder based on the motion plan. The cylinder information includes at least one of an initial position, a target position, a target slope, a target control parameter, and a target control parameter value; the initial position is the starting position on the preset motion trajectory; the target position is the ending position on the preset motion trajectory; the target slope is the slope applied when the injection molding machine cylinder moves on the preset motion trajectory; and the target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves on the preset motion trajectory. The aforementioned device can improve the consistency and stability of injection molding machine cylinder control by using motion planning applied when the injection molding machine cylinder moves on a preset motion trajectory, based on cylinder information determined by at least one of the initial position, target position, target slope, target control parameters, and target control parameter values.

[0159] The injection molding machine cylinder control device provided in this embodiment of the invention can execute the injection molding machine cylinder control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0160] It is worth noting that in the embodiments of the injection molding machine cylinder control device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0161] Figure 8 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0162] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0163] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0164] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the injection molding machine cylinder control method.

[0165] In some embodiments, the injection molding machine cylinder control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the injection molding machine cylinder control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the injection molding machine cylinder control method by any other suitable means (e.g., by means of firmware).

[0166] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0167] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0168] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0169] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0170] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0171] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0172] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0173] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the hydraulic cylinder of an injection molding machine, characterized in that, include: For the injection molding machine cylinder to be motion controlled and the preset motion trajectory of the injection molding machine cylinder, obtain the cylinder information of the injection molding machine cylinder associated with the preset motion trajectory; Based on the cylinder information, a motion plan is determined for the injection molding machine cylinder to move on the preset motion trajectory, so as to perform motion control on the injection molding machine cylinder based on the motion plan; The cylinder information includes at least one of the following: initial position, target position, target slope, target control parameters, and target control parameter values. The initial position is the starting position on the preset motion trajectory; The target position is the trajectory position where the preset motion trajectory terminates; The target slope is the slope applied by the injection molding machine cylinder when it moves on the preset motion trajectory, and the target slope is applied in the mathematical relationship corresponding to the target control parameter; The step of determining the motion planning applied when the injection molding machine cylinder moves along the preset motion trajectory based on the cylinder information includes: Based on the cylinder information, at least one trajectory position on the preset motion trajectory is determined, and the trajectory control parameter value applied under the target control parameters is determined when the injection molding machine cylinder moves to the at least one trajectory position. Based on the at least one trajectory position and the trajectory control parameter values ​​corresponding to the at least one trajectory position, the motion planning applied by the injection molding machine cylinder when it moves on the preset motion trajectory is determined; The target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves to the target position on the preset motion trajectory; The determination of at least one trajectory position on the preset motion trajectory based on the cylinder information, and the trajectory control parameter values ​​applied under the target control parameters when the injection molding machine cylinders move to the at least one trajectory position, include: Determine the mathematical relationship corresponding to the target control parameters; Obtain the preset position distance interval for the preset motion trajectory; Obtain the current position and the current control parameter value of the current position, wherein the current position is a trajectory position on the preset motion trajectory determined based on the target position, and the current control parameter value is a trajectory control parameter value representing the current position determined based on the target control parameter value; Based on the position distance interval, the current position, and the initial position, adjacent positions are determined, wherein the adjacent position is a trajectory position on the preset motion trajectory that is located between the current position and the initial position and is adjacent to the current position; Based on the mathematical relationship, the adjacent positions, the current position, the current control parameter value, and the target slope, the adjacent control parameter value of the adjacent position is determined, wherein the adjacent control parameter value represents the trajectory control parameter value of the adjacent position; The adjacent positions are used as the current position, and the adjacent control parameter values ​​are used as the current control parameter values. The step of determining the adjacent positions based on the position distance interval, the current position, and the initial position is repeated. Without determining the adjacent positions, at least one trajectory position on the preset motion trajectory is obtained, and the trajectory control parameter value applied under the target control parameters is obtained when the injection molding machine cylinder moves to the at least one trajectory position.

2. The method according to claim 1, characterized in that, Also includes: Obtain the current curve relationship applied at the current position; The step of determining the adjacent control parameter values ​​of the adjacent positions based on the mathematical relation, the adjacent positions, the current position, the current control parameter value, and the target slope includes: Based on the current curve relationship, the mathematical formula, the adjacent positions, the current control parameter values, the current position, and the target slope, determine the adjacent control parameter values ​​for the adjacent positions; The method further includes: The current curve relationship is updated based on the current control parameter value and the adjacent control parameter values.

3. The method according to claim 1, characterized in that, The target slope is the slope applied when the injection molding machine cylinder moves to the target position on the preset motion trajectory. The method further includes: Obtain the current slope at the current position, wherein the current slope is determined based on the target slope; The step of determining the adjacent control parameter values ​​of the adjacent positions based on the mathematical relation, the adjacent positions, the current position, the current control parameter value, and the target slope includes: Based on the mathematical relationship, the adjacent positions, the current position, the current control parameter value, and the current slope, determine the adjacent control parameter value of the adjacent position; The method further includes: Obtain at least one first segment trajectory obtained by segmenting the preset motion trajectory, and determine a first target segment trajectory containing the current position from the at least one first segment trajectory according to the first segment position corresponding to the at least one first segment trajectory; Update the segment slope corresponding to the first target segment trajectory to the current slope.

4. The method according to claim 1, characterized in that, After determining the adjacent control parameter values ​​of the adjacent positions based on the mathematical relation, the adjacent positions, the current position, the current control parameter value, and the target slope, the method further includes: Obtain at least one second segment trajectory on the preset motion trajectory, and determine a second target segment trajectory containing the current position from the at least one second segment trajectory according to the second segment positions corresponding to the at least one second segment trajectory; Update the adjacent control parameter values ​​based on the segmented control parameter values ​​corresponding to the second target segmented trajectory.

5. The method according to claim 1, characterized in that, The step of determining the motion planning applied by the injection molding machine cylinder when it moves on the preset motion trajectory based on the at least one trajectory position and the trajectory control parameter values ​​corresponding to the at least one trajectory position includes: According to the determined time corresponding to each of the at least one trajectory position, the at least one trajectory position is arranged in reverse order to obtain at least one reversed position; The planning curve is determined based on the at least one inverted position and the trajectory control parameter values ​​corresponding to the at least one inverted position; Based on the planning curve, determine the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory.

6. A hydraulic cylinder control device for an injection molding machine, characterized in that, include: The hydraulic cylinder information acquisition module is used to acquire hydraulic cylinder information associated with the preset motion trajectory of the injection molding machine hydraulic cylinder for the injection molding machine hydraulic cylinder to be motion controlled and the preset motion trajectory of the injection molding machine hydraulic cylinder. The motion planning determination module is used to determine the motion plan applied when the injection molding machine cylinder moves on the preset motion trajectory based on the cylinder information, so as to perform motion control on the injection molding machine cylinder based on the motion plan; The cylinder information includes at least one of the following: initial position, target position, target slope, target control parameters, and target control parameter values. The initial position is the starting position on the preset motion trajectory; The target position is the trajectory position where the preset motion trajectory terminates; The target slope is the slope applied by the injection molding machine cylinder when it moves on the preset motion trajectory, and the target slope is applied in the mathematical relationship corresponding to the target control parameter; The motion planning and determination module includes: The trajectory control parameter value determination submodule is used to determine at least one trajectory position on the preset motion trajectory based on the cylinder information, and the trajectory control parameter value applied under the target control parameters when the injection molding machine cylinder moves to the at least one trajectory position respectively. The motion planning determination submodule is used to determine the motion planning applied when the injection molding machine cylinder moves on the preset motion trajectory based on the at least one trajectory position and the trajectory control parameter values ​​corresponding to the at least one trajectory position. The target control parameter value is the parameter value applied under the target control parameter when the injection molding machine cylinder moves to the target position on the preset motion trajectory; The trajectory control parameter value determination submodule includes: A mathematical relation determination unit is used to determine the mathematical relation corresponding to the target control parameter; The position distance interval acquisition unit is used to acquire a preset position distance interval for the preset motion trajectory; The current control parameter value acquisition unit is used to acquire the current position and the current control parameter value of the current position, wherein the current position is a trajectory position on the preset motion trajectory determined according to the target position, and the current control parameter value is a trajectory control parameter value representing the current position determined according to the target control parameter value; The adjacent position determination unit is used to determine adjacent positions based on the position distance interval, the current position, and the initial position, wherein the adjacent position is a trajectory position on the preset motion trajectory that is located between the current position and the initial position and is adjacent to the current position; The adjacent control parameter value determination unit is used to determine the adjacent control parameter value of the adjacent position based on the mathematical relationship, the adjacent position, the current position, the current control parameter value and the target slope, wherein the adjacent control parameter value represents the trajectory control parameter value of the adjacent position; The step repeat execution unit is used to repeatedly execute the step of determining the adjacent positions based on the position distance interval, the current position, and the initial position, taking the adjacent positions as the current positions and the adjacent control parameter values ​​as the current control parameter values; The trajectory control parameter value acquisition unit is used to obtain at least one trajectory position on the preset motion trajectory when the adjacent positions are not determined, and the trajectory control parameter value applied under the target control parameters when the injection molding machine cylinder moves to the at least one trajectory position.

7. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the injection molding machine cylinder control method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the injection molding machine cylinder control method as described in any one of claims 1-5.

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