Intelligent mold opening control method for hydraulic injection molding machine

Abstract

The application discloses a kind of hydraulic injection molding machine intelligent mold opening control method, after setting the drive speed instruction rising slope of mold opening action and the deceleration coefficient of mold opening action, feedback mechanism is set by position sensor, the position of template is collected in real time to feedback, based on the deceleration coefficient, the speed of motor and the position of template intelligent calculation deceleration point, and in deceleration process, according to the deceleration coefficient and the position of template feedback real-time planning mold opening speed, intelligent planning deceleration process, realize mold opening control;Advantages are that mold opening parameter debugging process is simple, difficulty is lower, and the stability of mold opening process is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to a mold opening control method, in particular to an intelligent mold opening control method of a hydraulic injection molding machine. BACKGROUND

[0002] The traditional mold opening control method of a hydraulic injection molding machine is a five-stage mold opening method. The whole mold opening process is divided into five stages. Each stage has independently set mold opening speed, mold opening position and other parameters. Then the mold opening process of each stage is executed according to the set parameters. Since the parameters of each stage are independently set, each parameter of each stage needs to be obtained independently after debugging. Too many parameters need to be debugged. Debugging personnel often need to frequently adjust parameters and test according to personal experience. The debugging process is relatively complicated. In addition, due to the differences in mold structure and performance of the hydraulic injection molding machine, the mold opening parameter debugging is often difficult. In addition, in the traditional mold opening control method of the hydraulic injection molding machine, the switching of the mold opening speed between stages is in the form of a broken line. In the mold opening process, each stage of the mold opening speed is strictly executed according to the set value. Therefore, it is easy to cause impact, vibration and mold damage in the mold opening process, and the stability of the mold opening process is poor. SUMMARY

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

[0004] The technical solution adopted by the present application to solve the above technical problem is: an intelligent mold opening control method of a hydraulic injection molding machine, after setting the rising slope of the drive 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 mold plate 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 mold plate. The mold opening speed is planned in real time according to the deceleration coefficient and the position feedback of the mold plate during the deceleration process. The deceleration process is intelligently planned to realize mold opening control.

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

[0006] Step 1, setting the mold opening control period T c , the rising slope k of the drive speed command of the mold opening action, the deceleration coefficient a of the mold opening action, the set speed v set of the mold opening and the target position x end of the mold opening in the controller of the hydraulic injection molding machine, wherein the value of the mold opening control period T c is 0.5 ms, the value range of the rising slope k is 1-1000 ms, which is selected according to the actual needs of mold opening control, the deceleration coefficient a is determined by debugging in the value range of 1-100 according to the actual needs of mold opening control, and v 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), the initial speed command v(0) is initialized as 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 period variable, recorded as t, initialize t, t = 0;

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

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

[0010] Step 3-2, collect the actual position of the current mold opening control period template by the position sensor, recorded as x(t);

[0011] Step 3-3, if the current mold opening control period enters the deceleration stage of the hydraulic injection molding machine mold opening control, estimate the deceleration distance of the template in the deceleration stage of the hydraulic injection molding machine mold opening control, record the estimated value of the deceleration distance of the current mold opening control period template as y(t), and calculate y(t) by using formula (1):

[0012]

[0013] Where,. is the multiplication operator, when t is greater than or equal to 2, v(t-1) represents the speed command of the (t-1)th mold opening control period, M is the conversion coefficient of the cylinder speed and the driving speed, which is calculated by using formula (2):

[0014]

[0015] Where, q is the displacement of the oil pump, R is the radius of the oil cylinder, r is the radius of the piston rod, and π is the circular constant;

[0016] Step 3-4, judge whether x(t) + y(t) is greater than x end If it is greater, the estimated value y(t) of the deceleration distance of the current mold opening control period template is taken as the actual value of the deceleration distance of the mold opening process, the speed of the motor in the current mold opening control period is taken as the initial speed of the deceleration stage of the hydraulic injection molding machine mold opening control, the actual value of the 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, then step 4 is entered; if it is less, first calculate the initial speed command v'(t) of the current mold opening control period by using formula (3):

[0017]

[0018] If v'(t) is less than v set , the speed command v(t) of the current mold opening control period is equal to v'(t), if not less than, the speed command v(t) of the current mold opening control period is 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 period 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 period, that is, the speed of the motor is v(t), and when the current mold opening control period ends, return to step 3-1 and enter the next mold opening control period.

[0019] Step 4, enter the deceleration stage of the mold opening control of the hydraulic injection molding machine, and the specific control process is:

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

[0021] Step 4-2, collect the actual position of the mold plate in the current mold opening control period through the position sensor, and record it as x(t), if x(t) is less than x end , enter 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 mold plate in the current mold opening control period and the target position of mold opening as Δx(t), and calculate Δx(t) by using formula (4):

[0023] Δx(t) = x end -x(t) (4)

[0024] Step 4-4, calculate the speed command v(t) of the current mold opening control period by using formula (5):

[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 period 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 period, and when the current mold opening control period ends, return to step 4-1 and enter the next mold opening control period.

[0027] Compared with the prior art, the advantages of the present application are that after setting the rising slope of the drive 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 mold plate is collected 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 mold plate, the mold opening speed (i.e. the speed of the motor) is planned in real time according to the deceleration coefficient and the position feedback of the mold plate during the deceleration process, the deceleration process is intelligently planned, the mold opening control is realized, the rising slope is generally a fixed value after being set, the key parameter of the deceleration coefficient only needs to be adjusted by the debugging personnel, that is, the number of parameters that need to be adjusted by the debugging personnel is reduced to only one, thereby the complexity, the possibility of error and the difficulty of the debugging operation are greatly reduced, the parameter adjustment can be quickly performed by the debugging personnel according to the actual situation, at the same time, the feedback mechanism is realized based on the position sensor, the mold opening speed can be planned in real time according to the deceleration coefficient and the position feedback of the mold plate during the deceleration process, the more stable mold opening process is realized through the use of the continuous closed loop speed curve, and the mechanical impact is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 A comparison chart of the intelligent mold opening control method of the hydraulic injection molding machine of the present application and the control process of the traditional five-stage mold opening method. DETAILED DESCRIPTION

[0029] The present application will be further described in detail below with reference to the embodiments of the drawings.

[0030] Embodiment one: an intelligent mold opening control method of a hydraulic injection molding machine, after setting the rising slope of the drive 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 mold plate is collected 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 mold plate, the mold opening speed is planned in real time according to the deceleration coefficient and the position feedback of the mold plate during the deceleration process, the deceleration process is intelligently planned, and the mold opening control is realized.

[0031] In this embodiment, the rising slope is generally a fixed value after being set, the key parameter of the deceleration coefficient only needs to be adjusted by the debugging personnel, that is, the number of parameters that need to be adjusted by the debugging personnel is reduced to only one, thereby the complexity, the possibility of error and the difficulty of the debugging operation are greatly reduced, the parameter adjustment can be quickly performed by the debugging personnel according to the actual situation, at the same time, the feedback mechanism is realized based on the position sensor, the mold opening speed can be planned in real time according to the deceleration coefficient and the position feedback of the mold plate during the deceleration process, the more stable mold opening process is realized through the use of the continuous closed loop speed curve, and the mechanical impact is reduced.

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

[0033] Step 1, set the mold opening control period T in the controller of the hydraulic injection molding machine c , the rising slope k of the drive speed command of the mold opening action, the deceleration coefficient a of the mold opening action, the set speed v of the mold opening set and the target position x of the mold opening end , wherein the mold opening control period T c is 0.5 ms, the rising slope k is in the range of 1-1000 ms, which is selected according to the actual needs of mold opening control, and generally takes 200 ms, the deceleration coefficient a is determined by debugging in the range of 1-100 according to the actual needs of mold opening control, v set and x end are set according to the actual production process; the initial speed command v(0) in the controller of the hydraulic injection molding machine is recorded as v(0), the initial speed command v(0) is set as 0, so that the motor driver of the hydraulic injection molding machine is driven by the motor 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 period variable, which is recorded as t, initialize t, and let t=0;

[0035] Step 3, start the hydraulic injection molding machine, the hydraulic injection molding machine starts to work, the controller of the hydraulic injection molding machine enters the acceleration and constant speed stages of the mold opening control of the hydraulic injection molding machine, and detects in real time whether it enters the deceleration stage of the mold opening control of the hydraulic injection molding machine, and the specific control process is as follows:

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

[0037] Step 3-2, collect the actual position of the current mold opening control period template by a position sensor, which is recorded as x(t);

[0038] Step 3-3, if the current mold opening control period enters the deceleration stage of the mold opening control of the hydraulic injection molding machine, estimate the deceleration distance of the template in the deceleration stage of the mold opening control of the hydraulic injection molding machine, record the estimated value of the deceleration distance of the current mold opening control period template as y(t), and calculate y(t) by using formula (1):

[0039]

[0040] Where, · is the multiplication operator, when t is greater than or equal to 2, v(t-1) represents the speed command of the t-1th mold opening control period, M is the conversion coefficient of the oil cylinder speed and the drive speed, which is calculated by using formula (2):

[0041]

[0042] Wherein, q is the displacement of the oil pump, R is the radius of the cylinder, r is the radius of the piston rod, and π is the circular constant;

[0043] Step 3-4, judging whether x(t)+y(t) is greater than x end If yes, the estimated value y(t) of the deceleration distance of the current mold opening control period template is taken as the actual value of the deceleration distance of the mold opening process, the speed of the motor in the current mold opening control period is taken as the initial speed of the deceleration stage of the hydraulic injection molding machine mold opening control, the actual value of the 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 step 4 is entered; if no, the initial speed command v'(t) of the current mold opening control period is calculated by using formula (3) first:

[0044]

[0045] Then it is judged whether v'(t) is less than v set If yes, the speed command v(t) of the current mold opening control period is equal to v'(t); if no, the speed command v(t) of the current mold opening control period is 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 period 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 period, that is, the speed of the motor is v(t), and at the end of the current mold opening control period, step 3-1 is returned and the next mold opening control period is entered;

[0046] Step 4, entering the deceleration stage of the hydraulic injection molding machine mold opening control, and the specific control process is as follows:

[0047] Step 4-1, updating the value of t by using the sum of the current value of t and 1, and entering the tth mold opening control period;

[0048] Step 4-2, collecting the actual position of the template in the current mold opening control period by using the position sensor, and recording it as x(t); if x(t) is less than x end , step 4-3 is entered; if x(t) is not less than x end , it indicates that the target position of the mold opening has been reached, and the mold opening work of the hydraulic injection molding machine is completed;

[0049] Step 4-3, recording the distance between the actual position of the template in the current mold opening control period and the target position of the mold opening as Δx(t), and calculating Δx(t) by using formula (4):

[0050] Δx(t)=x end -x(t) (4)

[0051] Step 4-4, calculating the speed command v(t) of the current mold opening control period by using formula (5):

[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 to rotate according to the speed command v(t) of the current mold opening control cycle. When the current mold opening control cycle ends, it returns to step 4-1 and enters the next mold opening control cycle.

[0054] To verify the performance of the intelligent mold opening control method for hydraulic injection molding machines of the present invention, the control process of the intelligent mold opening control method for hydraulic injection molding machines of the present invention is compared with that of the traditional five-stage mold opening method. The comparison diagram is shown below. Figure 1 As shown.

[0055] Figure 1 In the traditional five-segment mold opening method, segment AD represents the first segment (acceleration segment and constant speed segment), segment DE represents the second segment (deceleration segment), segment EF represents the third segment (deceleration segment), segment FG represents the fourth segment (deceleration segment), and segment GH represents the fifth segment (deceleration segment, where H is the target position for mold opening). In the intelligent mold opening control method for hydraulic injection molding machines of this invention, segment AC represents the acceleration and constant speed segments, and segment CH represents the deceleration segment. The deceleration point C is automatically calculated based on the deceleration coefficient, motor speed, and mold plate position feedback. The deceleration segment is planned in real-time based on the deceleration coefficient and mold plate position feedback.

[0056] from Figure 1 As can be seen, in the traditional five-segment mold opening method, the switching of mold opening speed between segments exhibits a distinct broken line pattern. In contrast, in the intelligent mold opening control method for hydraulic injection molding machines of this invention, the planned mold opening speed forms a continuous closed-loop curve. Therefore, the intelligent mold opening control method for hydraulic injection molding machines of this invention achieves real-time adjustment of the motor speed, ensuring real-time matching between the motor speed and the mold opening process. This reduces impact, vibration, and mold damage during the mold opening process, guaranteeing a high degree of stability in the mold opening process.

Claims

1. A method for intelligent mold opening control of a hydraulic injection molding machine, characterized in that... After setting the ramp rate of the drive speed command for the mold opening action and the deceleration coefficient of the mold opening action, a feedback mechanism is set through the position sensor to collect the position of the template in real time for feedback. Based on the deceleration coefficient, the motor speed and the position of the template, the deceleration point is intelligently calculated, and the mold opening 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. The intelligent mold opening control method for a hydraulic injection molding machine includes the following steps: Step 1: Set the mold opening control cycle T in the controller of the hydraulic injection molding machine. c The ramp rate k of the drive speed command for the mold opening action, the deceleration coefficient a of the mold opening action, and the set speed v of the mold opening action. set And the target position x for mold opening end The mold opening control cycle T c The value is 0.5ms, the rise slope k ranges from 1 to 1000ms, and is selected according to the actual needs of mold opening control. The deceleration coefficient a is determined by debugging within the range of 1 to 100 according to the actual needs of mold opening control. set and x end According to the actual production process settings; the initial speed command in the controller of the hydraulic injection molding machine is recorded as v(0), 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, denote it as t, and initialize t by setting t = 0; Step 3: Start the hydraulic injection molding machine. The hydraulic injection molding machine begins the mold opening process. The controller of the hydraulic injection molding machine simultaneously enters the acceleration and constant speed phase of the mold opening control, and continuously monitors whether it enters the deceleration phase of the mold opening control. The specific control process is as follows: Step 3-1: Update the value of t by using the sum of the current value of t and 1, and enter the t-th mold opening control cycle; Step 3-2: Collect the actual position of the template in the current mold opening control cycle using the position sensor and record it as x(t); Step 3-3: Estimate the deceleration distance of the mold plate during the deceleration phase of the hydraulic injection molding machine mold opening control if the current mold opening control cycle is entered. Record the estimated deceleration distance of the mold plate during the current mold opening control cycle as y(t), and calculate y(t) using equation (1): Where ﹒ is the multiplication operator, when t is greater than or equal to 2, v(t-1) represents the speed command of the (t-1)th mold opening control cycle, and M is the conversion coefficient between cylinder speed and drive speed; Steps 3-4: Determine whether x(t) + y(t) is greater than x. end If it is greater than , then the estimated value of the deceleration distance y(t) of the template in the current mold opening control cycle is taken as the actual value of the deceleration distance in the mold opening process, and the speed of the motor in the current mold opening control cycle is taken as the initial speed of the deceleration stage of the hydraulic injection molding machine mold opening control. The actual value of the deceleration distance in 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. Then, the deceleration stage of the hydraulic injection molding machine mold opening control is entered. If it is less than , then the initial speed command v'(t) of the current mold opening control cycle is calculated first using formula (2): Next, determine whether v'(t) is less than v. set If it is less than, then set the speed command v(t) of the current mold opening control cycle to equal v'(t); if it is not less than, then set the speed command v(t) of the current mold opening control cycle to equal v'(t). 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, it returns to step 3-1 and enters the next mold opening control cycle.

2. The intelligent mold opening control method for a hydraulic injection molding machine according to claim 1, characterized in that... The specific control process of the deceleration phase of the mold opening control of the hydraulic injection molding machine is as follows: Step 4-1: Update the value of t by using the sum of the current value of t and 1, and enter the t-th mold opening control cycle; Step 4-2: Collect the actual position of the template in the current mold opening control cycle using a position sensor and record it as x(t). If x(t) is less than x end Then proceed to step 4-3, if x(t) is not less than x end This indicates that the target position for mold opening has been reached, and the mold opening operation of the hydraulic injection molding machine is complete; Step 4-3: Denote the distance between the actual position of the template and the target position of the mold opening in the current mold opening control cycle as Δx(t), and calculate Δx(t) using formula (3): Δx(t)=x end -x(t) (3) Step 4-4: Calculate the rotational speed command v(t) for the current mold opening control cycle using equation (4): 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 to rotate according to the speed command v(t) of the current mold opening control cycle. When the current mold opening control cycle ends, it returns to step 4-1 and enters the next mold opening control cycle.

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