Intelligent mold opening control method for hydraulic injection molding machine

Abstract

The invention discloses an intelligent mold opening control method for a hydraulic injection molding machine, which comprises the following steps of: setting a driving rotating speed instruction rising slope of a mold opening action and a deceleration coefficient of the mold opening action, setting a feedback mechanism through a position sensor, and collecting the position of a template in real time for feedback; a deceleration point is intelligently calculated based on the deceleration coefficient, the rotating speed of the motor and the position of the template, the mold opening speed is planned in real time according to the deceleration coefficient and the position feedback of the template in the deceleration process, the deceleration process is intelligently planned, and mold opening control is achieved; the method has the advantages that the mold opening parameter debugging process is simple, the difficulty is low, and the stability of the mold opening process is high.

Description

Technical Field

[0001] The invention relates to a mold opening control method, in particular to an intelligent mold opening control method for a hydraulic injection molding machine. Background Art

[0002] The traditional hydraulic injection molding machine mold opening control method is a five-stage mold opening method, which divides the entire mold opening process into five stages, and each stage independently sets parameters such as mold opening speed and mold opening position, and then the mold opening process of this stage is executed according to its set parameters. Since the parameters of each stage are set independently, each parameter of each stage needs to be debugged independently to obtain. There are too many debugging parameters, and the debugging personnel often need to frequently debug and test the parameters based on personal experience. The debugging process is relatively cumbersome, and due to the differences in mold structure and hydraulic injection molding machine performance, the debugging of mold opening parameters is often difficult. In addition, in the traditional hydraulic injection molding machine mold opening control method, the switching of mold opening speed between stages is in the form of a broken line. During the mold opening process, the mold opening speed planning of each stage is strictly executed according to the set value, which can easily lead to impact, vibration and mold damage during the mold opening process, and the stability of the mold opening process is poor. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent mold opening control method for a hydraulic injection molding machine, which has a simple mold opening parameter debugging process, low difficulty, and high mold opening process stability.

[0004] The technical solution adopted by the present invention to solve the above technical problems is: an intelligent mold opening control method for a hydraulic injection molding machine. After setting the rising slope of the driving speed instruction of the mold opening action and the deceleration coefficient of the mold opening action, a feedback mechanism is set through a position sensor to collect the position of the template in real time for feedback, and the deceleration point is intelligently calculated based on the deceleration coefficient, the speed of the motor and the position of the template. In the deceleration process, the mold opening speed is planned in real time according to the deceleration coefficient and the position feedback of the template, and the deceleration process is intelligently planned to realize mold opening control.

[0005] The intelligent mold opening control method of a hydraulic injection molding machine comprises the following steps:

[0006] Step 1: Set the mold opening control cycle T in the controller of the hydraulic injection molding machine c , the rising slope k of the driving speed command of the mold opening action, the deceleration coefficient a of the mold opening action, and the setting speed v of the mold opening set And the target position x of mold opening end , where the mold opening control period T c The value of is 0.5ms, the value range of the rising slope k is 1-1000ms, which is selected according to the actual needs of mold opening control, and the deceleration coefficient a is debugged and determined in the value range of 1-100 according to the actual needs of mold opening control. set and xend According to the actual production process setting; the initial speed command in the controller of the hydraulic injection molding machine is recorded as v(0), and the initial speed command v(0)=0, so that the controller of the hydraulic injection molding machine controls the motor driver to drive the motor to rotate according to the speed command v(0), that is, the speed of the motor is v(0);

[0007] Step 2, set the mold opening control cycle variable, record it as t, initialize t, and set t=0;

[0008] Step 3: Start the hydraulic injection molding machine, and the hydraulic injection molding machine begins to open the mold. The controller of the hydraulic injection molding machine synchronously enters the acceleration and uniform speed stages of the hydraulic injection molding machine's mold opening control, and detects in real time whether it enters the deceleration stage of the hydraulic injection molding machine's mold opening control. The specific control process is:

[0009] Step 3-1, update the value of t by the sum of the current value of t and 1, and enter the tth mold opening control cycle;

[0010] Step 3-2, collect the actual position of the current mold opening control cycle template through the position sensor, and record it as x(t);

[0011] Step 3-3: If the hydraulic injection molding machine enters the deceleration stage of mold opening control during the current mold opening control cycle, the deceleration distance of the template during the deceleration stage of mold opening control of the hydraulic injection molding machine is estimated. The estimated deceleration distance of the template during the current mold opening control cycle is recorded as y(t). Formula (1) is used to calculate y(t):

[0012]

[0013] Wherein, ﹒ is the multiplication symbol. When t is greater than or equal to 2, v(t-1) represents the speed command of the t-1th mold opening control cycle. M is the conversion coefficient between the cylinder speed and the drive speed, which is calculated using formula (2):

[0014]

[0015] Among them, q is the oil pump displacement, R is the radius of the oil cylinder, r is the radius of the piston rod, and π is the pi;

[0016] Step 3-4: Determine whether x(t)+y(t) is greater than x end If it is greater than, the estimated deceleration distance y(t) of the template in the current mold opening control cycle is used as the actual deceleration distance value of the mold opening process, and the motor speed of the current mold opening control cycle is used as the initial speed of the deceleration stage of the hydraulic injection molding machine mold opening control. The actual deceleration distance of the mold opening process is recorded as y0, and the initial speed of the deceleration stage of the hydraulic injection molding machine mold opening control is recorded as v0, and then go to step 4; if it is less than, first use formula (3) to calculate the initial speed command v'(t) of the current mold opening control cycle:

[0017]

[0018] Then determine whether v'(t) is less than v set If it is less than, let the speed command v(t) of the current mold opening control cycle be equal to v'(t); if it is not less than, let the speed command v(t) of the current mold opening control cycle be equal to v set Then the controller of the hydraulic injection molding machine sends the speed command v(t) of the current mold opening control cycle to the motor driver, so that the motor driver controls the motor to rotate according to the speed command v(t) of the current mold opening control cycle, that is, the speed of the motor is v(t), and at the end of the current mold opening control cycle, returns to step 3-1 and enters the next mold opening control cycle;

[0019] Step 4: Enter the deceleration stage of the hydraulic injection molding machine mold opening control. The specific control process is:

[0020] Step 4-1, update the value of t by the sum of the current value of t and 1, and enter the tth mold opening control cycle;

[0021] Step 4-2: Use the position sensor to collect the actual position of the current mold opening control cycle template and record it as x(t). If x(t) is less than x end , then go to step 4-3, if x(t) is not less than x end , it indicates that the target position of mold opening has been reached and the mold opening work of the hydraulic injection molding machine is completed;

[0022] Step 4-3: record the distance between the actual position of the current mold opening control cycle template and the target position of the mold opening as Δx(t), and use formula (4) to calculate Δx(t):

[0023] Δx(t)=x end -x(t) (4)

[0024] Step 4-4: Use formula (5) to calculate the speed command v(t) of the current mold opening control cycle:

[0025]

[0026] Step 4-5, the controller of the hydraulic injection molding machine sends the speed command v(t) of the current mold opening control cycle to the motor driver, so that the motor driver controls the motor rotation according to the speed command v(t) of the current mold opening control cycle, and at the end of the current mold opening control cycle, returns to step 4-1 and enters the next mold opening control cycle.

[0027] Compared with the prior art, the advantage of the present invention is that after setting the rising slope of the driving speed instruction of the mold opening action and the deceleration coefficient of the mold opening action, a feedback mechanism is set through a position sensor, the position of the template is collected in real time for feedback, the deceleration point is intelligently calculated based on the deceleration coefficient, the motor speed and the position of the template, and the mold opening speed (i.e., the motor speed) is planned in real time according to the deceleration coefficient and the position feedback of the template during the deceleration process, the deceleration process is intelligently planned to realize mold opening control, and the rising slope is generally a fixed value after setting. The debugging personnel only need to debug the key parameter of the deceleration coefficient, that is, the number of parameters that the debugging personnel need to debug is reduced to only one, thereby greatly reducing the complexity of the debugging operation, the possibility of error and the difficulty, and the debugging personnel can quickly adjust the parameters according to the actual situation. At the same time, the feedback mechanism is realized based on the position sensor, and the mold opening speed can be planned in real time according to the deceleration coefficient and the position feedback of the template during the deceleration process. By using a continuous closed-loop speed curve, a smoother mold opening process is achieved and mechanical shock is reduced. Therefore, the mold opening parameter debugging process of the present invention is simple, the difficulty is low, and the mold opening process has a high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a control process comparison diagram of the intelligent mold opening control method of the hydraulic injection molding machine of the present invention and the traditional five-stage mold opening method. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below with reference to the accompanying drawings.

[0030] Embodiment 1: A method for intelligent mold opening control of a hydraulic injection molding machine. After setting the rising slope of the driving speed command of the mold opening action and the deceleration coefficient of the mold opening action, a feedback mechanism is set through a position sensor to collect the position of the template in real time for feedback. The deceleration point is intelligently calculated based on the deceleration coefficient, the speed of the motor and the position of the template. During the deceleration process, the mold opening speed is planned in real time according to the deceleration coefficient and the position feedback of the template. The deceleration process is intelligently planned to realize mold opening control.

[0031] In this embodiment, the rising slope is generally fixed after setting, and the debugging personnel only need to debug the key parameter of the deceleration coefficient, that is, the number of parameters that the debugging personnel need to debug is reduced to only one, thereby greatly reducing the complexity, possibility of error and difficulty of the debugging operation. The debugging personnel can quickly adjust the parameters according to the actual situation. At the same time, a feedback mechanism is implemented based on the position sensor, and the mold opening speed can be planned in real time according to the deceleration coefficient and the position feedback of the template during the deceleration process. By using a continuous closed-loop speed curve, a smoother mold opening process can be achieved and mechanical shock can be reduced.

[0032] Embodiment 2: A method for intelligent mold opening control of a hydraulic injection molding machine, comprising the following steps:

[0033] Step 1: Set the mold opening control cycle T in the controller of the hydraulic injection molding machine c , the rising slope k of the driving speed command of the mold opening action, the deceleration coefficient a of the mold opening action, and the setting speed v of the mold opening set And the target position x of mold opening end , where the mold opening control period T c The value of is 0.5ms, the value range of the rising slope k is 1-1000ms, which is selected according to the actual needs of mold opening control, and the general value is 200ms. The deceleration coefficient a is debugged and determined in the value range of 1-100 according to the actual needs of mold opening control, v set and x end According to the actual production process setting; the initial speed command in the controller of the hydraulic injection molding machine is recorded as v(0), and the initial speed command v(0)=0, so that the controller of the hydraulic injection molding machine controls the motor driver to drive the motor to rotate according to the speed command v(0), that is, the speed of the motor is v(0);

[0034] Step 2, set the mold opening control cycle variable, record it as t, initialize t, and set t=0;

[0035] Step 3: Start the hydraulic injection molding machine, and the hydraulic injection molding machine begins to open the mold. The controller of the hydraulic injection molding machine synchronously enters the acceleration and uniform speed stages of the hydraulic injection molding machine's mold opening control, and detects in real time whether it enters the deceleration stage of the hydraulic injection molding machine's mold opening control. The specific control process is:

[0036] Step 3-1, update the value of t by the sum of the current value of t and 1, and enter the tth mold opening control cycle;

[0037] Step 3-2, collect the actual position of the current mold opening control cycle template through the position sensor, and record it as x(t);

[0038] Step 3-3: If the hydraulic injection molding machine enters the deceleration stage of mold opening control during the current mold opening control cycle, the deceleration distance of the template during the deceleration stage of mold opening control of the hydraulic injection molding machine is estimated. The estimated deceleration distance of the template during the current mold opening control cycle is recorded as y(t). Formula (1) is used to calculate y(t):

[0039]

[0040] Wherein, ﹒ is the multiplication symbol. When t is greater than or equal to 2, v(t-1) represents the speed command of the t-1th mold opening control cycle. M is the conversion coefficient between the cylinder speed and the drive speed, which is calculated using formula (2):

[0041]

[0042] Among them, q is the oil pump displacement, R is the radius of the oil cylinder, r is the radius of the piston rod, and π is the pi;

[0043] Step 3-4: Determine whether x(t)+y(t) is greater than x end If it is greater than, the estimated deceleration distance y(t) of the template in the current mold opening control cycle is used as the actual deceleration distance value of the mold opening process, and the motor speed of the current mold opening control cycle is used as the initial speed of the deceleration stage of the hydraulic injection molding machine mold opening control. The actual deceleration distance of the mold opening process is recorded as y0, and the initial speed of the deceleration stage of the hydraulic injection molding machine mold opening control is recorded as v0, and then go to step 4; if it is less than, first use formula (3) to calculate the initial speed command v'(t) of the current mold opening control cycle:

[0044]

[0045] Then determine whether v'(t) is less than v set If it is less than, let the speed command v(t) of the current mold opening control cycle be equal to v'(t); if it is not less than, let the speed command v(t) of the current mold opening control cycle be equal to v set Then the controller of the hydraulic injection molding machine sends the speed command v(t) of the current mold opening control cycle to the motor driver, so that the motor driver controls the motor to rotate according to the speed command v(t) of the current mold opening control cycle, that is, the speed of the motor is v(t), and at the end of the current mold opening control cycle, returns to step 3-1 and enters the next mold opening control cycle;

[0046] Step 4: Enter the deceleration stage of the hydraulic injection molding machine mold opening control. The specific control process is:

[0047] Step 4-1, update the value of t by the sum of the current value of t and 1, and enter the tth mold opening control cycle;

[0048] Step 4-2: Use the position sensor to collect the actual position of the current mold opening control cycle template and record it as x(t). If x(t) is less than x end , then go to step 4-3, if x(t) is not less than x end , it indicates that the target position of mold opening has been reached and the mold opening work of the hydraulic injection molding machine is completed;

[0049] Step 4-3: record the distance between the actual position of the current mold opening control cycle template and the target position of the mold opening as Δx(t), and use formula (4) to calculate Δx(t):

[0050] Δx(t)=x end -x(t) (4)

[0051] Step 4-4: Use formula (5) to calculate the speed command v(t) of the current mold opening control cycle:

[0052]

[0053] Step 4-5, the controller of the hydraulic injection molding machine sends the speed command v(t) of the current mold opening control cycle to the motor driver, so that the motor driver controls the motor rotation according to the speed command v(t) of the current mold opening control cycle, and at the end of the current mold opening control cycle, returns to step 4-1 and enters the next mold opening control cycle.

[0054] In order to verify the performance of the intelligent mold opening control method for the hydraulic injection molding machine of the present invention, the control process of the intelligent mold opening control method for the hydraulic injection molding machine of the present invention is compared with the control process of the traditional five-stage mold opening method. Figure 1 shown.

[0055] Figure 1 In the conventional five-stage mold opening method, the AD segment represents the first stage of mold opening (acceleration segment, uniform speed segment), the DE segment represents the second stage of mold opening (deceleration segment), the EF segment represents the third stage of mold opening (deceleration segment), the FG segment represents the fourth stage of mold opening (deceleration segment), and the GH segment represents the fifth stage of mold opening (deceleration segment, H is the target position of mold opening). For the intelligent mold opening control method for hydraulic injection molding machine of the present invention, the AC segment represents the acceleration segment and uniform speed segment, and the CH segment represents the deceleration segment, wherein the deceleration point C is automatically calculated according to the deceleration coefficient, the motor speed and the position feedback of the template, and the deceleration segment is planned in real time based on the deceleration coefficient and the position feedback of the template.

[0056] from Figure 1 It can be seen that the switching of the mold opening speed between the sections in the traditional five-section mold opening method is in the form of an obvious broken line, and in the intelligent mold opening control method for the hydraulic injection molding machine of the present invention, the planned mold opening speed is a continuous closed-loop curve. Therefore, the intelligent mold opening control method for the hydraulic injection molding machine of the present invention realizes the real-time adjustment of the motor speed, so that the motor speed matches the mold opening process in real time, reduces the impact, vibration and mold damage during the mold opening process, and ensures that the mold opening process is highly stable.

Claims

1. A hydraulic injection molding machine intelligent mold opening control method, characterized in that After setting the rising slope of the driving speed command of the mold opening action and the deceleration coefficient of the mold opening action, the feedback mechanism is set through the position sensor to collect the position of the template in real time for feedback. The deceleration point is intelligently calculated based on the deceleration coefficient, the motor speed and the position of the template. During the deceleration process, the mold opening speed is planned in real time according to the deceleration coefficient and the position feedback of the template. The deceleration process is intelligently planned to achieve mold opening control.

2. The intelligent mold opening control method of a hydraulic injection molding machine according to claim 1, characterized in that The following steps are involved: Step 1: Set the mold opening control cycle T in the controller of the hydraulic injection molding machine c , the rising slope k of the driving speed command of the mold opening action, the deceleration coefficient a of the mold opening action, and the setting speed v of the mold opening set And the target position x of mold opening end , where the mold opening control period T c The value of is 0.5ms, the value range of the rising slope k is 1-1000ms, which is selected according to the actual needs of mold opening control, and the deceleration coefficient a is debugged and determined in the value range of 1-100 according to the actual needs of mold opening control. set and x end According to the actual production process setting; the initial speed command in the controller of the hydraulic injection molding machine is recorded as v(0), and the initial speed command v(0)=0, so that the controller of the hydraulic injection molding machine controls the motor driver to drive the motor to rotate according to the speed command v(0), that is, the speed of the motor is v(0); Step 2, set the mold opening control cycle variable, record it as t, initialize t, and set t=0; Step 3: Start the hydraulic injection molding machine, and the hydraulic injection molding machine begins to open the mold. The controller of the hydraulic injection molding machine synchronously enters the acceleration and uniform speed stages of the hydraulic injection molding machine's mold opening control, and detects in real time whether it enters the deceleration stage of the hydraulic injection molding machine's mold opening control. The specific control process is: Step 3-1, update the value of t by the sum of the current value of t and 1, and enter the tth mold opening control cycle; Step 3-2, collect the actual position of the current mold opening control cycle template through the position sensor, and record it as x(t); Step 3-3: If the hydraulic injection molding machine enters the deceleration stage of mold opening control during the current mold opening control cycle, the deceleration distance of the template during the deceleration stage of mold opening control of the hydraulic injection molding machine is estimated. The estimated deceleration distance of the template during the current mold opening control cycle is recorded as y(t). Formula (1) is used to calculate y(t): Where, ﹒ is the multiplication symbol. When t is greater than or equal to 2, v(t-1) represents the speed command of the t-1th mold opening control cycle. M is the conversion coefficient between the cylinder speed and the drive speed, which is calculated using formula (2): Among them, q is the oil pump displacement, R is the radius of the oil cylinder, r is the radius of the piston rod, and π is the pi; Step 3-4: Determine whether x(t)+y(t) is greater than x end If it is greater than, the estimated deceleration distance y(t) of the template in the current mold opening control cycle is used as the actual deceleration distance value of the mold opening process, and the motor speed of the current mold opening control cycle is used as the initial speed of the deceleration stage of the hydraulic injection molding machine mold opening control. The actual deceleration distance of the mold opening process is recorded as y0, and the initial speed of the deceleration stage of the hydraulic injection molding machine mold opening control is recorded as v0, and then go to step 4; if it is less than, first use formula (3) to calculate the initial speed command v'(t) of the current mold opening control cycle: Then determine whether v'(t) is less than v set If it is less than, let the speed command v(t) of the current mold opening control cycle be equal to v'(t); if it is not less than, let the speed command v(t) of the current mold opening control cycle be equal to v set Then the controller of the hydraulic injection molding machine sends the speed command v(t) of the current mold opening control cycle to the motor driver, so that the motor driver controls the motor to rotate according to the speed command v(t) of the current mold opening control cycle, that is, the speed of the motor is v(t), and at the end of the current mold opening control cycle, returns to step 3-1 and enters the next mold opening control cycle; Step 4: Enter the deceleration stage of the hydraulic injection molding machine mold opening control. The specific control process is: Step 4-1, update the value of t by the sum of the current value of t and 1, and enter the tth mold opening control cycle; Step 4-2: Use the position sensor to collect the actual position of the current mold opening control cycle template and record it as x(t). If x(t) is less than x end , then go to step 4-3, if x(t) is not less than x end , it indicates that the target position of mold opening has been reached and the mold opening work of the hydraulic injection molding machine is completed; Step 4-3: record the distance between the actual position of the current mold opening control cycle template and the target position of the mold opening as Δx(t), and use formula (4) to calculate Δx(t): Δx(t)=x end -x(t) (4) Step 4-4: Use formula (5) to calculate the speed command v(t) of the current mold opening control cycle: Step 4-5, the controller of the hydraulic injection molding machine sends the speed command v(t) of the current mold opening control cycle to the motor driver, so that the motor driver controls the motor rotation according to the speed command v(t) of the current mold opening control cycle, and at the end of the current mold opening control cycle, returns to step 4-1 and enters the next mold opening control cycle.

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