Method for adaptively adjusting glue outlet parameters

Abstract

The invention discloses a method for adaptively adjusting glue outlet parameters. The method comprises the following steps: acquiring motion parameters and glue outlet parameters of a dispensing head; the motion parameters and the glue outlet parameters of the dispensing head are input into the control algorithm model, and control parameters are obtained; and updating the glue outlet parameters by using the control parameters, and performing feedback control on the glue outlet parameters of the dispensing head. According to the method for adaptively adjusting the glue outlet parameters, feedback control is conducted on the glue outlet parameters through the control algorithm model, the glue outlet speed is adjusted according to different movement speeds, when the movement speed is increased, the glue outlet speed is also increased, when the movement speed is reduced, the glue outlet speed is also reduced, and therefore the uniform glue dispensing effect is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of glue dispensing machines, and in particular relates to a method for adaptively adjusting glue dispensing parameters. Background Art

[0002] Glue dispensing machine is a kind of automation equipment widely used in industrial production, mainly used for precise control of dripping, coating and filling of fluids such as glue and paint. The glue dispensing machine outputs glue through the dispensing head during the movement, which is convenient for applying glue at the specified position.

[0003] The glue dispensing head in the prior art adopts a uniform glue dispensing method, that is, the glue dispensing speed is a fixed value. When the glue dispensing speed is a fixed value and the movement speed of the glue dispensing head is uniform, the quality of glue dispensing can be guaranteed. However, in actual situations, the movement speed is uneven, which will cause problems with the glue dispensing quality, that is, the glue width is large where the speed is slow, and the glue width is small where the speed is fast, resulting in unevenness. Summary of the invention

[0004] The purpose of the present invention is to provide a method for adaptively adjusting glue discharging parameters to solve the problem in the prior art that glue discharging quality is problematic when the movement speed is uneven.

[0005] To this end, the present invention provides a method for adaptively adjusting glue dispensing parameters, comprising the following steps: obtaining motion parameters and glue dispensing parameters of a glue dispensing head; inputting the motion parameters and glue dispensing parameters of the glue dispensing head into a control algorithm model to obtain control parameters; using the control parameters to update the glue dispensing parameters and perform feedback control on the glue dispensing parameters of the glue dispensing head.

[0006] Preferably, the movement parameters of the glue dispensing head at least include the movement speed, and the glue discharge parameters of the glue dispensing head at least include the glue discharge speed.

[0007] Preferably, the step of inputting the motion parameters and the dispensing parameters of the dispensing head into the control algorithm model to obtain the control parameters comprises:

[0008] Calculate the ratio of the glue speed to the movement speed to get the error value;

[0009] Obtain proportional control output based on the error value;

[0010] The integral control output is obtained according to the error value;

[0011] The differential control output is obtained according to the error value;

[0012] The control parameters are obtained according to the proportional control output, the integral control output and the differential control output.

[0013] Preferably, the step of calculating the ratio of the glue discharging speed to the movement speed to obtain the error value comprises:

[0014] Assume that the ratio of the glue dispensing speed under ideal conditions to the glue dispensing speed is R ideal The actual measured glue speed is V out , the actual measured glue speed V dot , then the error value

[0015] Preferably, the step of obtaining a proportional control output according to the error value comprises:

[0016] Let the proportionality factor be K p , proportional control output P out =K p ×e(t).

[0017] Preferably, the step of obtaining an integral control output according to the error value comprises:

[0018] Let the integral coefficient be K i , the integral term is I(t), and at each time step Δt, the integral term I(t+Δt) is updated.

[0019] I(t+Δt)=I(t)+K i ×e(t)×Δt

[0020] Integral control output I out =I(t+Δt).

[0021] Preferably, the step of obtaining a differential control output according to the error value comprises:

[0022] Let the differential coefficient be K d , the error at the last moment is e(t-Δt), the differential control output

[0023] Preferably, the step of obtaining the control parameter according to the proportional control output, the integral control output and the differential control output comprises:

[0024] Control parameters PID out =P out +I out +D out .

[0025] Preferably, the step of updating the dispensing parameters with the control parameters and performing feedback control on the dispensing parameters of the dispensing head comprises:

[0026] If the control parameter PID out If the control parameter PID is positive, the glue output speed will be increased; outIf it is negative, the glue discharging speed is reduced, so as to obtain a new glue discharging speed V′ out .

[0027] Preferably, the new glue discharging speed V′ out =V out +K adjust ×PID out , where K adjust is the adjustment factor.

[0028] Beneficial effects:

[0029] 1. The present invention provides a method for adaptively adjusting glue dispensing parameters, which performs feedback control on the glue dispensing parameters through a control algorithm model, and adjusts the glue dispensing speed according to different movement speeds. When the movement speed increases, the glue dispensing speed also increases, and when the movement speed decreases, the glue dispensing speed also decreases, thereby ensuring a uniform glue dispensing effect.

[0030] 2. The control algorithm model in the present invention consists of three parts: proportional control output, integral control output, and differential control output. It responds quickly according to the size of the error, eliminates steady-state errors, controls the changing trend of the prediction error, improves the stability and response speed of the system, has a certain degree of anti-interference, and ensures the accuracy of control.

[0031] 3. In the present invention, by controlling and adjusting the proportional coefficient, integral coefficient and differential coefficient, the control demand can be adjusted instantly according to different situations, and the adjustment is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 The present invention is a flow chart of a method for adaptively adjusting glue dispensing parameters.

[0034] Figure 2 This is a flow chart of step S2 of a method for adaptively adjusting glue dispensing parameters in the present invention. DETAILED DESCRIPTION

[0035] The content of the present invention can be more easily understood by selecting the following detailed description of the preferred implementation method of the present invention and the embodiments included. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those of ordinary skill in the art to which the present invention belongs. When there is a conflict, the definition in this specification shall prevail.

[0036] Embodiment 1:

[0037] like Figure 1 As shown, this embodiment provides a method for adaptively adjusting glue dispensing parameters, including the following steps:

[0038] S1, obtaining the motion parameters and dispensing parameters of the dispensing head;

[0039] The motion parameters of the dispensing head include at least the motion speed, and the glue dispensing parameters of the dispensing head include at least the glue dispensing speed; optionally, the motion parameters also include the motion direction, the motion distance, and the motion time; the glue dispensing parameters also include the glue viscosity, the glue flow, the glue density, the cross-sectional area of ​​the hose, and the glue dispensing time.

[0040] In one embodiment, the dispensing head calculates the movement speed by measuring the displacement change of the dispensing head per unit time through a laser displacement sensor or an encoder. In another embodiment, the dispensing head is tracked by a high-speed camera, and the position change of the dispensing head is determined by an image analysis algorithm, thereby calculating the movement speed.

[0041] In one embodiment, a flow meter is installed on the dispensing head to directly measure the flow rate of the glue, and then the dispensing speed is calculated by combining parameters such as the density of the glue and the cross-sectional area of ​​the hose. In another embodiment, the dispensing head determines the dispensing speed by measuring the volume of glue squeezed out within a certain period of time and using the ratio of volume to time.

[0042] S2, inputting the motion parameters and dispensing parameters of the dispensing head into the control algorithm model to obtain control parameters;

[0043] Among them, Figure 2 As shown, the following steps are included:

[0044] S21, calculating the ratio of the glue discharging speed to the movement speed, and obtaining an error value;

[0045] Assume that the ratio of the glue dispensing speed under ideal conditions to the glue dispensing speed is R ideal The actual measured glue speed is V out , the actual measured glue speed V dot , then the error value In order to make the glue discharge uniform during the dispensing process, the ratio of the glue discharge speed to the glue discharge speed needs to be stabilized at an ideal value, so the ratio of the glue discharge speed to the glue discharge speed under the ideal state is set to R ideal , when the ratio of the glue speed to the glue speed is R ideal When the glue discharge speed is V, the glue can be discharged evenly. However, the actual movement speed varies. out When a change occurs, an error value e(t) is obtained.

[0046] S22, obtain proportional control output according to the error value;

[0047] Let the proportionality factor be K p , proportional control output P out =K p ×e(t). A control output is directly generated according to the current error size to quickly respond to error changes. The proportional control output will directly affect the adjustment amount of the glue output speed. The larger the proportional coefficient, the faster the response speed to the error, but it may cause system instability.

[0048] S23, obtaining integral control output according to the error value;

[0049] Let the integral coefficient be K i , the integral term is I(t), and at each time step Δt, the integral term I(t+Δt) is updated.

[0050] I(t+Δt)=I(t)+K i ×e(t)×Δt

[0051] Integral control output I out =I(t+Δt). Integral control integrates the error. As time accumulates, the integral term will continue to increase, causing the control output to gradually reduce the steady-state error. The integral coefficient can improve the accuracy of the system, but a too large integral coefficient may cause the system to respond slowly or even cause integral saturation.

[0052] S24, obtaining a differential control output according to the error value;

[0053] Let the differential coefficient be K d , the error at the last moment is e(t-Δt), the differential control output Differential control reflects the changing trend of the error and adjusts the control output according to the speed of error change, which helps to improve the dynamic performance of the system. The differential coefficient can improve the response speed and stability of the system, but too large a differential coefficient may be sensitive to noise.

[0054] S25. Obtain control parameters according to the proportional control output, the integral control output and the differential control output.

[0055] Control parameters PID out for:

[0056]

[0057] S3. Use the control parameters to update the glue dispensing parameters and perform feedback control on the glue dispensing parameters of the glue dispensing head.

[0058] If the control parameter PID outIf the control parameter PID is positive, the glue output speed will be increased; out If it is negative, the glue discharging speed is reduced, so as to obtain a new glue discharging speed V′ out .

[0059] Preferably, the new glue discharging speed V′ out =V out +K adjust ×PID out , where K adjust Is the adjustment coefficient. Adjustment coefficient K adjust It needs to be debugged and determined according to the specific dispensing head. In one embodiment, it can be determined based on glue viscosity, glue flow, glue density, cross-sectional area of ​​the hose, glue dispensing time, etc.

[0060] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for adaptively adjusting glue dispensing parameters, characterized in that: The method comprises the following steps: obtaining motion parameters and dispensing parameters of a dispensing head; inputting the motion parameters and dispensing parameters of the dispensing head into a control algorithm model to obtain control parameters; using the control parameters to update the dispensing parameters and performing feedback control on the dispensing parameters of the dispensing head.

2. The method for adaptively adjusting the dispensing parameters according to claim 1, characterized in that: The movement parameters of the glue dispensing head at least include the movement speed, and the glue dispensing parameters of the glue dispensing head at least include the glue dispensing speed.

3. The method for adaptively adjusting the dispensing parameters according to claim 2, characterized in that: The step of inputting the motion parameters and dispensing parameters of the dispensing head into the control algorithm model to obtain the control parameters comprises: Calculate the ratio of the glue speed to the movement speed to get the error value; Obtain proportional control output based on the error value; The integral control output is obtained according to the error value; The differential control output is obtained according to the error value; The control parameters are obtained according to the proportional control output, the integral control output and the differential control output.

4. The method for adaptively adjusting the dispensing parameters according to claim 3, characterized in that: The step of calculating the ratio of the glue dispensing speed to the movement speed to obtain the error value comprises: Assume that the ratio of the glue dispensing speed under ideal conditions to the glue dispensing speed is R ideal The actual measured glue speed is V out , the actual measured glue speed V dot , then the error value 5. The method for adaptively adjusting the dispensing parameters according to claim 4, characterized in that: The step of obtaining a proportional control output according to the error value comprises: Let the proportionality factor be K p , proportional control output P out =K p ×e(t).

6. The method for adaptively adjusting the dispensing parameters according to claim 5, characterized in that: The steps to obtain the integral control output according to the error value include: Let the integral coefficient be K i , the integral term is I(t), and at each time step Δt, the integral term I(t+Δt) is updated. I(t+Δt)=I(t)+K i ×e(t)×Δt Integral control output I out =I(t+Δt).

7. The method for adaptively adjusting the dispensing parameters according to claim 6, characterized in that: The step of obtaining a differential control output according to the error value comprises: Let the integral coefficient be K d , the error at the last moment is e(t-Δt), the differential control output 8. The method for adaptively adjusting the dispensing parameters according to claim 7, characterized in that: The step of obtaining the control parameters according to the proportional control output, the integral control output and the differential control output comprises: Control parameters PID out =P out +I out +D out .

9. The method for adaptively adjusting the dispensing parameters according to claim 8, characterized in that: The step of updating the dispensing parameters with the control parameters and performing feedback control on the dispensing parameters of the dispensing head comprises: If the control parameter PID out If the control parameter PID is positive, the glue output speed will be increased; out If it is negative, the glue discharging speed is reduced, so as to obtain a new glue discharging speed V′ out .

10. The method for adaptively adjusting the dispensing parameters according to claim 9, characterized in that: The new glue discharging speed V′ out =V out +K adjust ×PID out , where K adjust is the adjustment factor.

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