CN105257629A - Non-linear correction system and method for pressure proportional valve of injection molding hydraulic system - Google Patents

Non-linear correction system and method for pressure proportional valve of injection molding hydraulic system Download PDF

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CN105257629A
CN105257629A CN201510738636.0A CN201510738636A CN105257629A CN 105257629 A CN105257629 A CN 105257629A CN 201510738636 A CN201510738636 A CN 201510738636A CN 105257629 A CN105257629 A CN 105257629A
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彭勇刚
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Zhejiang University ZJU
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Abstract

The invention relates to a correction method for an injection molding machine hydraulic system, in particular to a non-linear correction system and method for a pressure proportional valve of the injection molding hydraulic system. The non-linear correction system comprises the injection molding machine hydraulic system, the pressure proportional valve, a starting correction module, a pressure non-linear correction module and an analog output module, wherein the pressure non-linear correction module corrects a pressure output value according to the actual pressure value displayed by a pressure gage and sends the corrected value to the analog output module for pressure control; the analog output module amplifies and outputs an analog signal to the pressure proportional valve and controls the opening degree of the pressure proportional valve; the starting correction module is connected with the pressure non-linear correction module; the pressure non-linear correction module, the analog output module and the pressure proportional valve are sequentially connected through a signal line. The non-linear correction system and method for the pressure proportional valve of the injection molding hydraulic system can replace the functions of a pressure feedback sensor. People do not need to take part in calculation in the whole correction process, and compensation calculation is automatically achieved completely through the pressure non-linear correction module. Therefore the correction operation difficulty is greatly lowered, and a common operator can implement correction easily.

Description

注塑液压系统压力比例阀的非线性校正系统及方法Nonlinear Correction System and Method for Pressure Proportional Valve of Injection Molding Hydraulic System

技术领域technical field

本发明涉及一种注塑机液压系统的校正方法,更详细的说,本发明涉及注塑机液压系统中压力比例阀的非线性校正方法。The invention relates to a correction method for a hydraulic system of an injection molding machine. More specifically, the invention relates to a nonlinear correction method for a pressure proportional valve in the hydraulic system of an injection molding machine.

背景技术Background technique

注塑成型是塑料制品主要的成型方式之一。注塑机通过将高分子原料加温熔融后注射进入设计好的封闭模腔内冷却成型,形成尺寸精度高、外形复杂的各种塑料产品,适合大批量、高精度生产。注塑机的驱动方式有液压式、全电动式和电液混合式三种,其中液压式注塑机由于负载能力高、成本低、设计简单而成为注塑机的主流。通常液压式注塑的液压系统通过一个压力比例阀和流量比例阀来精确控制液压系统的压力和速度,然后结合各种电磁阀和流量阀实现注塑机各个模块的运动控制,其中压力比例阀和流量比例阀是液压系统控制的核心,是实现注塑过程精确控制的保障。液压系统中液压油通过电机带动油泵将液压油进入液压系统管道,首先通过一个流量比例阀的控制达到注塑工艺设定的流量要求,然后通过控制压力比例阀的开度控制液压的压力达到注塑工艺的设置值,最终实现注塑机各部分的精确控制。Injection molding is one of the main molding methods of plastic products. The injection molding machine heats and melts polymer raw materials and injects them into a designed closed mold cavity for cooling and molding to form various plastic products with high dimensional accuracy and complex shapes, which are suitable for mass production and high-precision production. There are three types of driving methods for injection molding machines: hydraulic, all-electric and electro-hydraulic hybrid. Among them, hydraulic injection molding machines have become the mainstream of injection molding machines due to their high load capacity, low cost, and simple design. Usually, the hydraulic system of hydraulic injection molding accurately controls the pressure and speed of the hydraulic system through a pressure proportional valve and flow proportional valve, and then combines various solenoid valves and flow valves to realize the motion control of each module of the injection molding machine, in which the pressure proportional valve and flow rate Proportional valve is the core of hydraulic system control and guarantees the precise control of injection molding process. In the hydraulic system, the hydraulic oil drives the oil pump through the motor to enter the hydraulic system pipeline. First, it is controlled by a flow proportional valve to meet the flow requirements set by the injection molding process, and then the hydraulic pressure is controlled by controlling the opening of the pressure proportional valve to achieve the injection molding process. The setting value of the machine can finally realize the precise control of each part of the injection molding machine.

注塑机液压系统中压力比例阀和流量比例阀一般都是电流输入型,通过输入0-1安培的电流控制比例阀的开度,进而精确控制液压系统的压力和流量。但是由于压力比例阀的非线性本质以及液压系统压力和流量的耦合作用,使得压力比例阀输入的电流和输出的压力不是线性对应的,存在很大的非线性现象,尤其是在起始的低压阶段。因此,为了精确控制液压系统的压力,必须对压力比例阀进行非线性校正才能达到线性输出的效果。一般压力比例阀本身内部控制电路具有一定的非线性补偿功能,但是仍然无法克服注塑过程的非线性特征,必须注塑机的控制系统具备非线性校正能力,才能够实现注塑液压系统的压力的线性控制能力。The pressure proportional valve and flow proportional valve in the hydraulic system of the injection molding machine are generally current input type, and the opening of the proportional valve is controlled by inputting a current of 0-1 ampere, thereby accurately controlling the pressure and flow of the hydraulic system. However, due to the nonlinear nature of the pressure proportional valve and the coupling effect of hydraulic system pressure and flow, the input current and output pressure of the pressure proportional valve are not linearly corresponding, and there is a large nonlinear phenomenon, especially at the initial low pressure. stage. Therefore, in order to accurately control the pressure of the hydraulic system, the nonlinear correction of the pressure proportional valve must be performed to achieve the effect of linear output. Generally, the internal control circuit of the pressure proportional valve itself has a certain nonlinear compensation function, but it still cannot overcome the nonlinear characteristics of the injection molding process. The control system of the injection molding machine must have nonlinear correction capabilities to achieve linear control of the pressure of the injection molding hydraulic system. ability.

目前大部分普通的液压式注塑机由于没有压力比例阀非线性校正功能,致使液压系统压力控制精度很差,只能生产一些精度要求不高的塑料产品。较先进的注塑机控制系统具备用压力比例阀非线性校正功能,但是其校正方法都是对压力比例阀输出范围设置几个非线性特征点,然后人工试凑的方法修正这几个特征点的压力输出参考值,控制系统再通过这几个人工试凑出来的输出参考值进行线性插值校正。校正方法的关键是结果特征点参考值的设置,而该参考值的设置是通过操作工人或者专业调试人员采用试凑,人工计算等方法设置的,浪费时间,而且非专业人员一般难以设置好合适的校正值,从而导致非线性校正效果较差。At present, most ordinary hydraulic injection molding machines do not have the nonlinear correction function of the pressure proportional valve, so the pressure control accuracy of the hydraulic system is very poor, and only some plastic products with low precision requirements can be produced. The more advanced injection molding machine control system has the function of nonlinear correction with pressure proportional valve, but the correction method is to set several nonlinear characteristic points for the output range of pressure proportional valve, and then manually correct these characteristic points by trial and error. The pressure output reference value, and the control system performs linear interpolation correction through the output reference value obtained by these manual trials. The key to the correction method is the setting of the reference value of the result feature point, and the setting of the reference value is set by the operator or professional debugger by trial and error, manual calculation, etc., which is a waste of time, and it is generally difficult for non-professionals to set it properly. The correction value of , resulting in poor nonlinear correction effect.

通常注塑机上安装有压力指示表显示当前液压系统的压力,但是此表为模拟式压力表,主要供注塑机操作人员观察使用,无法直接输入注塑机控制器供控制系统使用。本发明采用人工简单参与的方式,利用注塑机现有的压力显示仪表,实现注塑机液压系统压力比例阀的非线性自动校正,无需人工计算,大大降低非校正方法的难度。Usually, a pressure indicator is installed on the injection molding machine to display the current pressure of the hydraulic system, but this gauge is an analog pressure gauge, which is mainly used for observation by the injection molding machine operator, and cannot be directly input to the injection molding machine controller for use by the control system. The present invention adopts the method of manual simple participation, utilizes the existing pressure display instrument of the injection molding machine, realizes the non-linear automatic correction of the pressure proportional valve of the hydraulic system of the injection molding machine, does not need manual calculation, and greatly reduces the difficulty of non-correction methods.

发明内容Contents of the invention

本发明要解决的技术问题是,克服现有技术中的不足,提供一种注塑机液压系统非线性校正系统及方法。具体的说就是利用操作员读取注塑机压力表数值并作出反馈,实现注塑机液压系统压力比例阀的自动非线性校正。本发明基于操作员的简单反馈,降低了对操作人员的计算要求。The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a non-linear correction system and method for the hydraulic system of the injection molding machine. Specifically, the operator is used to read the pressure gauge value of the injection molding machine and give feedback to realize the automatic nonlinear correction of the pressure proportional valve of the hydraulic system of the injection molding machine. The present invention is based on simple feedback from the operator, reducing computational requirements for the operator.

为解决技术问题,本发明采用的技术方案如下:For solving technical problems, the technical scheme that the present invention adopts is as follows:

提供一种注塑液压系统压力比例阀的非线性校正的系统,包括安装在注塑机上的注塑机液压系统;注塑机液压系统内设压力比例阀,压力比例阀的出口通过管路与压力表相连;所述非线性校正系统还包括:Provide a non-linear correction system for the pressure proportional valve of the injection molding hydraulic system, including the hydraulic system of the injection molding machine installed on the injection molding machine; the hydraulic system of the injection molding machine is equipped with a pressure proportional valve, and the outlet of the pressure proportional valve is connected to the pressure gauge through a pipeline ; The nonlinear correction system also includes:

启动校正模块,用于启动压力比例阀的非线性校正过程;Start a correction module, which is used to start the nonlinear correction process of the pressure proportional valve;

压力非线性校正模块,根据压力表所显示的实际压力数值对压力输出值进行校正,并将校正后的数值送至模拟输出模块用于压力控制;The pressure nonlinear correction module corrects the pressure output value according to the actual pressure value displayed by the pressure gauge, and sends the corrected value to the analog output module for pressure control;

模拟输出模块,放大并输出模拟信号至压力比例阀以控制其开度;Analog output module, which amplifies and outputs the analog signal to the pressure proportional valve to control its opening;

启动校正模块与压力非线性校正模块相连,压力非线性校正模块、模拟输出模块和压力比例阀通过信号线依次连接。The starting correction module is connected with the pressure non-linear correction module, and the pressure non-linear correction module, the analog output module and the pressure proportional valve are sequentially connected through signal lines.

本发明中,所述模拟输出模块内置信号放大器。In the present invention, the analog output module has a built-in signal amplifier.

本发明进一步提供了注塑液压系统压力比例阀的非线性校正的方法,包括对压力比例阀输出量程内的特征点和压力最大输出值的校正,该过程具体包括:The present invention further provides a method for nonlinear correction of the pressure proportional valve of the injection molding hydraulic system, including correction of the characteristic points within the output range of the pressure proportional valve and the maximum output value of the pressure. The process specifically includes:

(1)首先对压力比例阀的最大输出量程点进行校正:(1) First correct the maximum output range point of the pressure proportional valve:

使压力校正输出模块直接输出最大输出量程点的压力理论值Pmax,然后直接调节设于模拟输出模块中的放大器,直到压力表显示的实际输出压力等于Pmax;表示校正完成;Make the pressure correction output module directly output the theoretical pressure value P max of the maximum output range point, and then directly adjust the amplifier set in the analog output module until the actual output pressure displayed by the pressure gauge is equal to P max ; indicating that the calibration is completed;

(2)在注塑机液压系统的压力输出范围内间隔选择k个特征点,将整个压力输出过程分为k+1个分段,k是1~15的正整数;(2) Select k feature points at intervals within the pressure output range of the hydraulic system of the injection molding machine, and divide the entire pressure output process into k+1 segments, where k is a positive integer ranging from 1 to 15;

(3)由压力非线性校正模块分别将该k个特征点对应的理论压力输出值Pk 和压力输出范围最大值Pmax作为压力输出设定值,送至模拟输出模块用于压力控制;模拟输出模块将模拟信号输出至压力比例阀以控制其开度,使注塑机液压系统升压;读取压力表显示的当前实际压力值,并将其数值输入压力非线性校正模块中,由压力非线性校正模块利用公式(a)计算压力输出设定值的校正值Pkt,作为第二次校正的设定值送至模拟输出模块;(3) The theoretical pressure output value P k ' and the maximum value P max of the pressure output range corresponding to the k feature points are respectively used as the pressure output set value by the pressure nonlinear correction module, and sent to the analog output module for pressure control; The analog output module outputs the analog signal to the pressure proportional valve to control its opening to increase the pressure of the hydraulic system of the injection molding machine; read the current actual pressure value displayed by the pressure gauge, and input the value into the pressure non-linear correction module. The nonlinear correction module uses the formula (a) to calculate the correction value P kt of the pressure output set value, and sends it to the analog output module as the second corrected set value;

Pkt=Pk0+Pk-Pks(公式a)P kt =P k0 +P k -P ks (Formula a)

公式a中,Pkt为经校正的压力输出设定值;Pk为为第k个特征点的未经校正的压力输出设定值,其取值等于Pk’或Pmax;Pks为压力表显示的液压系统当前实际压力值;In formula a, P kt is the corrected pressure output setting value; P k is the uncorrected pressure output setting value of the kth feature point, and its value is equal to P k ' or P max ; P ks is The current actual pressure value of the hydraulic system displayed by the pressure gauge;

(4)重复步骤(3),当压力表显示的当前实际压力值与压力输出设定值相同时,即视为已完全实现压力比例阀在特征点或最大值的非线性补偿;(4) Repeat step (3), when the current actual pressure value displayed by the pressure gauge is the same as the pressure output set value, it is considered that the nonlinear compensation of the pressure proportional valve at the characteristic point or the maximum value has been fully realized;

第一次校正时,设式a中的Pk0=Pk,如果重复进行了多次校正则Pk0为上次校正后获得的PktFor the first calibration, set P k0 =P k in formula a. If multiple calibrations are repeated, P k0 is the P kt obtained after the last calibration.

(5)重复上述步骤(3)和(4),直到选取的所有k个特征点校正完成,则整个注塑液压系统的校正过程结束。(5) Repeat the above steps (3) and (4) until all the selected k feature points are corrected, then the correction process of the entire injection molding hydraulic system ends.

本发明中,在注塑机校正完成以后的实际运行中,压力非线性校正模块根据此前所获得的特征点和最大输出值的校正数据,按下述方式进行非线性校正,并将校正值作为实际输出值送至模拟输出模块,从而使注塑机液压系统的实际输出压力与压力输出设定值保持一致:In the present invention, in the actual operation after the calibration of the injection molding machine is completed, the pressure nonlinear correction module performs nonlinear correction in the following manner according to the previously obtained correction data of the characteristic points and the maximum output value, and uses the correction value as the actual The output value is sent to the analog output module, so that the actual output pressure of the hydraulic system of the injection molding machine is consistent with the pressure output set value:

(1)当注塑系统设定的压力输出值Px满足条件Pk≤Px<Pk+1(当Pk为最后一个特征点时,Pk+1=Pmax)时,根据公式b进行非线性校正:(1) When the pressure output value P x set by the injection molding system satisfies the condition P k ≤ P x < P k+1 (when P k is the last feature point, P k+1 = P max ), according to the formula b Make nonlinear corrections:

P=Pkt+(Px-Pk)×(P(k+1)t-Pkt)/(Pk+1-Pk)(公式b)P=P kt +(P x -P k )×(P (k+1)t -P kt )/(P k+1 -P k ) (formula b)

(2)当Px<P1,即Px处于整个压力输出过程的开始第1段区间时,按下述方式进行非线性校正:(2) When P x < P 1 , that is, when P x is in the first section of the entire pressure output process, perform nonlinear correction as follows:

P=Px×P1t/Pk(公式c);P=P x ×P 1t /P k (formula c);

上述各公式中,Px为注塑工艺所需要的注塑液压系统的压力值,即压力输出设定值;P为经校正的压力输出设定值,即压力非线性校正模块的实际输出值;Pkt为经校正的第k个特征点的压力输出设定值;Pk为第k个特征点的未经校正的压力输出设定值;P(k+1)t为经校正的第k+1个特征点的压力输出设定值;Pk+1为第k+1个特征点的未经校正的压力输出设定值。In the above formulas, P x is the pressure value of the injection hydraulic system required by the injection molding process, that is, the pressure output setting value; P is the corrected pressure output setting value, that is, the actual output value of the pressure nonlinear correction module; P kt is the corrected pressure output setting value of the kth feature point; P k is the uncorrected pressure output setting value of the kth feature point; P (k+1)t is the corrected k+th The pressure output setting value of 1 characteristic point; P k+1 is the uncorrected pressure output setting value of the k+1th characteristic point.

本发明中,对于压力输出范围0~145bar的注塑机液压系统,k的取值为5~8。In the present invention, for the hydraulic system of the injection molding machine with a pressure output range of 0-145 bar, the value of k is 5-8.

本发明进一步提供了基于前述方法的注塑液压系统压力控制方法,包括下述步骤:The present invention further provides a pressure control method for an injection molding hydraulic system based on the foregoing method, comprising the following steps:

(1)在每次完成压力比例阀的非线性校正后,通过人机对话界面向控制器发出指令,由压力非线性校正模块将压力数值对应关系数据送至控制器的存储模块中保存;(1) After the nonlinear correction of the pressure proportional valve is completed each time, an instruction is sent to the controller through the man-machine dialogue interface, and the pressure nonlinearity correction module sends the data corresponding to the pressure value to the storage module of the controller for storage;

所述压力数值对应关系数据是指经多次校正并满足非线性补偿要求的压力非线性校正模块的实际输出值与注塑工艺所需要的压力值即压力输出设定值之间的对应关系数据;The pressure value correspondence data refers to the correspondence relationship data between the actual output value of the pressure nonlinear correction module that has been corrected multiple times and meets the nonlinear compensation requirements and the pressure value required by the injection molding process, that is, the pressure output set value;

(2)对于新的注塑工艺:(2) For the new injection molding process:

当所输入的注塑工艺要求压力值与存储单元所保存的数据匹配时,控制器直接调用对应的压力非线性校正模块的实际输出值,并将其传送给模拟输出模块进行压力比例阀的开度控制;When the input injection molding process requires that the pressure value matches the data stored in the storage unit, the controller directly calls the actual output value of the corresponding pressure nonlinearity correction module and sends it to the analog output module to control the opening of the pressure proportional valve ;

当所输入的注塑工艺要求压力值与存储单元所保存的数据不匹配时,则由压力非线性校正模块按照公式(b)和公式(c)来计算压力实际输出值,然后将其传送至模拟输出模块,由后者输出模拟信号至压力比例阀以控制其开度,并最终实现注塑液压系统的压力控制。When the input injection molding process requires that the pressure value does not match the data stored in the storage unit, the pressure nonlinear correction module calculates the actual pressure output value according to formula (b) and formula (c), and then transmits it to the analog output Module, the latter outputs an analog signal to the pressure proportional valve to control its opening, and finally realizes the pressure control of the injection hydraulic system.

与现有技术相比,本发明的有益效果在于:Compared with prior art, the beneficial effect of the present invention is:

本发明只需利用人工读取注塑机的压力表,实现了替代压力反馈传感器的功能,整个校正过程不需要人工参与计算,完全由压力非线性校正模块自动实现补偿计算。因而校正的操作难度大大降低,普通操作工人就可以简单实施。The present invention only needs to manually read the pressure gauge of the injection molding machine to realize the function of replacing the pressure feedback sensor. The whole calibration process does not require manual calculation, and the compensation calculation is completely automatically realized by the pressure nonlinear correction module. Therefore, the operation difficulty of calibration is greatly reduced, and ordinary operators can simply implement it.

说明书附图Instructions attached

附图1:注塑液压系统压力比例阀非线性校正系统框图;Attached Figure 1: Block diagram of the nonlinear correction system for the pressure proportional valve of the injection hydraulic system;

附图2:校正流程示意图;Attached Figure 2: Schematic diagram of the calibration process;

附图3:液压系统输出最大压力为140bar的7段式校正曲线。Attached Figure 3: The 7-stage calibration curve with the maximum output pressure of the hydraulic system being 140bar.

具体实施方式detailed description

首先需要说明的是,本发明涉及数据库技术,是计算机技术在工业控制领域的一种应用。在本发明的实现过程中,会涉及到多个软件功能模块的应用。申请人认为,如在仔细阅读申请文件、准确理解本发明的实现原理和发明目的以后,在结合现有公知技术的情况下,本领域技术人员完全可以运用其掌握的软件编程技能实现本发明。前述软件功能模块包括但不限于:启动校正模块、压力非线性校正模块、模拟输出模块等,凡本发明申请文件提及的均属此范畴,申请人不再一一列举。First of all, it needs to be explained that the present invention relates to database technology, which is an application of computer technology in the field of industrial control. During the implementation of the present invention, the application of multiple software function modules will be involved. The applicant believes that, after carefully reading the application documents and accurately understanding the realization principle and purpose of the present invention, combined with existing known technologies, those skilled in the art can fully implement the present invention by using their software programming skills. The aforementioned software function modules include but are not limited to: start-up correction module, pressure nonlinear correction module, analog output module, etc. All mentioned in the application documents of the present invention belong to this category, and the applicant will not list them one by one.

本发明提出了一种注塑液压系统压力比例阀的非线性校正的系统(如图1所示)。该系统包括启动校正模块101、压力非线性校正模块102、模拟输出模块103、注塑机液压系统104和注塑机105几个部分。启动校正模块101连接到压力非线性校正模块102,用于启动整个压力非线性校正过程。压力非线性校正模块102通过信号线连接到模拟输出模块103,将计算得到的压力输出控制输出到模拟输出模块103。模拟输出模块103通过信号线连接到注塑机液压系统104的压力比例阀以控制其开度。注塑机液压系统104安装在注塑机105对应位置。校正过程中需要注塑机的操作员工或者技术员读取注塑机上安装的压力表数值,然后将该数值输入到压力非线性校正模块102,该模块通过校正流程计算压力输出特征点的校正值,然后通过模拟输出模块103将校正后的压力控制数据输出到注塑机的液压系统104,注塑机液压系统104控制注塑机105的动作。The present invention proposes a non-linear correction system (as shown in FIG. 1 ) for the pressure proportional valve of the injection molding hydraulic system. The system includes a startup correction module 101 , a pressure nonlinearity correction module 102 , an analog output module 103 , an injection molding machine hydraulic system 104 and an injection molding machine 105 . The startup correction module 101 is connected to the pressure nonlinearity correction module 102, and is used to start the whole pressure nonlinearity correction process. The pressure nonlinear correction module 102 is connected to the analog output module 103 through a signal line, and outputs the calculated pressure output control to the analog output module 103 . The analog output module 103 is connected to the pressure proportional valve of the hydraulic system 104 of the injection molding machine through a signal line to control its opening. The injection molding machine hydraulic system 104 is installed at the corresponding position of the injection molding machine 105 . During the correction process, the operator or technician of the injection molding machine needs to read the value of the pressure gauge installed on the injection molding machine, and then input the value into the pressure nonlinear correction module 102, which calculates the correction value of the pressure output characteristic point through the correction process, and then The corrected pressure control data is output to the hydraulic system 104 of the injection molding machine through the analog output module 103 , and the hydraulic system 104 of the injection molding machine controls the action of the injection molding machine 105 .

该压力非线性校正方法分为以下几个步骤:The pressure nonlinear correction method is divided into the following steps:

1、使压力校正输出模块直接输出最大输出量程点的压力理论值Pmax,然后直接调节设于模拟输出模块中的放大器,直到压力表显示的实际输出压力等于Pmax;表示校正完成;1. Make the pressure correction output module directly output the theoretical pressure value P max of the maximum output range point, and then directly adjust the amplifier set in the analog output module until the actual output pressure displayed by the pressure gauge is equal to P max ; indicating that the calibration is completed;

2、根据注塑机液压系统输出范围[0,Pmax],设置好几个特征点,将整个压力输出流程划分为对应的几段[0,P1,P2,…Pk...Pmax]。对于输出范围145bar注塑机而言一般设置7个特征点,特征点的选取一般选择非线性强的区域密集选取,非线性较弱的地方可可放大选取范围,实际中通常选择[0,10,20,30,60,90,120,130,145]。如果实现完全不知道系统的非线性情况可以采用平均分段方法,如设置为n段,则每段范围间隔为Pmax/n,整个输出范围就变为[0,Pmax/n,2×Pmax/n,…,(n-1)×Pmax/n,Pmax]。2. According to the output range of the hydraulic system of the injection molding machine [0, P max ], set several characteristic points, and divide the entire pressure output process into corresponding sections [0, P 1 , P 2 ,...P k ... P max ]. For an injection molding machine with an output range of 145bar, 7 feature points are generally set. The selection of feature points generally chooses densely selected areas with strong nonlinearity, and the selection range can be enlarged for weaker nonlinear areas. In practice, [0,10,20 is usually selected. ,30,60,90,120,130,145]. If you don’t know the nonlinear situation of the system at all, you can use the average segmentation method. If it is set to n segments, the interval of each range is P max /n, and the entire output range becomes [0, P max /n, 2× P max /n, . . . , (n-1)×P max /n, P max ].

3、选择好特征点将系统划分为几段以后,从第一段开始进行校正。3. After selecting the characteristic points and dividing the system into several sections, the calibration is performed from the first section.

压力非线性校正模块首先按照线性条件输出第一段的特征点压力值P1以控制注塑机液压系统,注塑机受液压系统控制压力表显示当前实际液压系统值P1s,此时通过操作员反馈方法操作员读取该压力表数值,输入到压力非线性校正模块,压力非线性校正模块利用公式(a1)计算该点校正值:The pressure non-linear correction module first outputs the characteristic point pressure value P 1 of the first segment according to the linear condition to control the hydraulic system of the injection molding machine. The injection molding machine is controlled by the hydraulic system. The pressure gauge displays the current actual hydraulic system value P 1s . Method The operator reads the value of the pressure gauge and inputs it to the pressure nonlinear correction module, and the pressure nonlinear correction module uses the formula (a1) to calculate the correction value of this point:

P1t=P10+P1-P1s(a1)P 1t =P 10 +P 1 -P 1s (a1)

其中P10为原始线性输出值或者上次校正后的数值,P1为第一个特征点对应的理论压力值。如果为第一次校正则P10=P1,否则P10上次校正后获得的P1tAmong them, P 10 is the original linear output value or the value after the last correction, and P 1 is the theoretical pressure value corresponding to the first feature point. If it is the first calibration, then P 10 =P 1 , otherwise P 10 is the P 1t obtained after the last calibration.

以此类推,如果是其他特征点校正,则利用公式(a2)计算:By analogy, if it is other feature point correction, use the formula (a2) to calculate:

Pkt=Pk0+Pk-Pks(a2)P kt =P k0 +P k -P ks (a2)

其中Pk0为原始线性输出值或者上次校正后的数值,Pk为划分特征点时第k点对应的理论压力值。如果为第一次校正则Pk0=Pk,则Pk0上次校正后获得的PktAmong them, P k0 is the original linear output value or the value after the last correction, and P k is the theoretical pressure value corresponding to the kth point when dividing the feature points. If it is the first calibration, then P k0 =P k , then P k0 is the P kt obtained after the last calibration.

压力非线性校正模块102按照步骤2的方法校正其他各特征点和最大值的压力值。重复步骤3当压力表显示的当前实际压力值与压力输出设定值相同时,即视为已完全实现压力比例阀在特征点或最大值的非线性补偿。The pressure non-linear correction module 102 corrects the pressure values of other characteristic points and the maximum value according to the method in step 2. Repeat step 3. When the current actual pressure value displayed by the pressure gauge is the same as the pressure output set value, it is considered that the nonlinear compensation of the pressure proportional valve at the characteristic point or the maximum value has been fully realized.

4、获得全部特征点和最大值的校正值以后,压力非线性校正模块102就可以根据根据此前所获得的特征点和最大输出值的校正数据,按下述方式进行注塑机的实际运行中的非线性校正,并将校正值作为实际输出值送至模拟输出模块,从而使注塑机液压系统的实际输出压力与压力输出设定值保持一致:4. After obtaining all the characteristic points and the correction values of the maximum value, the pressure nonlinearity correction module 102 can perform the actual operation of the injection molding machine in the following manner according to the correction data of the previously obtained characteristic points and the maximum output value: Non-linear correction, and the correction value is sent to the analog output module as the actual output value, so that the actual output pressure of the hydraulic system of the injection molding machine is consistent with the pressure output set value:

(1)当注塑系统设定的压力输出值Px满足条件Pk≤Px<Pk+1(当Pk为最后一个特征点时,Pk+1=Pmax)时,根据公式b进行非线性校正:(1) When the pressure output value P x set by the injection molding system satisfies the condition P k ≤ P x < P k+1 (when P k is the last feature point, P k+1 = P max ), according to the formula b Make nonlinear corrections:

P=Pkt+(Px-Pk)×(P(k+1)t-Pkt)/(Pk+1-Pk)(公式b)P=P kt +(P x -P k )×(P (k+1)t -P kt )/(P k+1 -P k ) (formula b)

(2)当Px<P1,即Px处于整个压力输出过程的开始第1段区间时,按下述方式进行非线性校正:(2) When P x < P 1 , that is, when P x is in the first section of the entire pressure output process, perform nonlinear correction as follows:

P=Px×P1t/Pk(公式c);P=P x ×P 1t /P k (formula c);

上述各公式中,Px为注塑工艺所需要的注塑液压系统的压力值,即压力输出设定值;P为经校正的压力输出设定值,即压力非线性校正模块的实际输出值;Pkt为经校正的第k个特征点的压力输出设定值;Pk为第k个特征点的未经校正的压力输出设定值;P(k+1)t为经校正的第k+1个特征点的压力输出设定值;Pk+1为第k+1个特征点的未经校正的压力输出设定值。In the above formulas, P x is the pressure value of the injection hydraulic system required by the injection molding process, that is, the pressure output setting value; P is the corrected pressure output setting value, that is, the actual output value of the pressure nonlinear correction module; P kt is the corrected pressure output setting value of the kth feature point; P k is the uncorrected pressure output setting value of the kth feature point; P (k+1)t is the corrected k+th The pressure output setting value of 1 characteristic point; P k+1 is the uncorrected pressure output setting value of the k+1th characteristic point.

基于上述校正方法,本发明还可以实现注塑液压系统压力自动控制,包括下述步骤:Based on the above correction method, the present invention can also realize the automatic control of the pressure of the injection molding hydraulic system, including the following steps:

当所输入的注塑工艺要求压力值与存储单元所保存的数据匹配时,控制器直接调用对应的压力非线性校正模块的实际输出值,并将其传送给模拟输出模块进行压力比例阀的开度控制;When the input injection molding process requires that the pressure value matches the data stored in the storage unit, the controller directly calls the actual output value of the corresponding pressure nonlinearity correction module and sends it to the analog output module to control the opening of the pressure proportional valve ;

当所输入的注塑工艺要求压力值与存储单元所保存的数据不匹配时,则由压力非线性校正模块按照公式(b)和公式(c)来计算压力实际输出值,然后将其传送至模拟输出模块,由后者输出模拟信号至压力比例阀以控制其开度,并最终实现注塑液压系统的压力控制。When the input injection molding process requires that the pressure value does not match the data stored in the storage unit, the pressure nonlinear correction module calculates the actual pressure output value according to formula (b) and formula (c), and then transmits it to the analog output Module, the latter outputs an analog signal to the pressure proportional valve to control its opening, and finally realizes the pressure control of the injection hydraulic system.

下面,结合具体实施例子对本发明的实现过程进行详细描述:Below, the implementation process of the present invention is described in detail in conjunction with specific implementation examples:

本实施例以一个液压系统输出最大压力为145bar注塑机液压系统压力比例阀的非线性校正为例子说明本发明中注塑机液压系统压力比例阀的非线性校正方法的实现,其他类型和压力输出范围的注塑机液压系统压力比例阀的非线性校正,都被认为在本发明的范围之内。This embodiment takes the nonlinear correction of the pressure proportional valve of the hydraulic system of the injection molding machine as an example to illustrate the realization of the nonlinear correction method of the pressure proportional valve of the hydraulic system of the injection molding machine in the present invention, other types and pressure output ranges. The nonlinear correction of the pressure proportional valve of the hydraulic system of the injection molding machine is considered to be within the scope of the present invention.

本实施例中的注塑机液压系统压力比例阀非线性校正分段如图3所示。在压力输出范围里设置7个压力校正特征点,分别为P1(10bar),P2(20bar),P3(30bar),P4(60bar),P5(90bar),P6(120bar)和P7(130bar),其中括号中压力值为对应特征点的理论值。最大输出145bar通过最大量程校正好,本校正系统的主要任务就是获得上述7点的压力校正值。The non-linear correction section of the pressure proportional valve in the hydraulic system of the injection molding machine in this embodiment is shown in FIG. 3 . Set 7 pressure correction feature points in the pressure output range, respectively P 1 (10bar), P 2 (20bar), P 3 (30bar), P 4 (60bar), P 5 (90bar), P 6 (120bar) and P 7 (130bar), where the pressure value in brackets is the theoretical value of the corresponding feature point. The maximum output of 145bar has been calibrated through the maximum range. The main task of this calibration system is to obtain the pressure correction value of the above 7 points.

压力比例阀最大输出量程点145bar的校正过程为:压力校正输出模块直接输出最大输出点的压力理论值Pmax=145bar,由用户直接调节压力模拟输出模块的放大器,直到实际输出压力等于145bar则表示校正完成。The calibration process of the pressure proportional valve’s maximum output range point of 145bar is as follows: the pressure calibration output module directly outputs the theoretical pressure value P max of the maximum output point = 145bar, and the user directly adjusts the amplifier of the pressure analog output module until the actual output pressure is equal to 145bar. Calibration complete.

下面详细介绍7个特征点的校正过程。The correction process of the seven feature points is introduced in detail below.

首先校正第一特征点P1(10bar)点。Firstly, the first characteristic point P 1 (10 bar) is corrected.

按照发明内容中介绍的步骤,压力非线性校正模块首先按照线性输出10bar的压力值到注塑机液压系统,注塑机液压系统动作后在注塑机上的压力表上会显示一个液压的实际压力值P1s,此时需要读取压力表值将P1s,并通过人机对话设备的操作面板画面输入到压力非线性校正模块,假设P1s为8bar。According to the steps introduced in the summary of the invention, the pressure non-linear correction module first outputs the pressure value of 10 bar linearly to the hydraulic system of the injection molding machine. After the hydraulic system of the injection molding machine operates, an actual hydraulic pressure value P will be displayed on the pressure gauge on the injection molding machine. 1s , at this time, it is necessary to read the value of the pressure gauge and input P 1s into the pressure nonlinear correction module through the operation panel screen of the man-machine dialogue device, assuming that P 1s is 8bar.

接下来压力非线性校正模块通过P1s计算P1点的压力校正值。Next, the pressure nonlinear correction module calculates the pressure correction value of point P 1 through P 1s .

采用公式(a1)得到P1t=P10+P1-P1s=10+10-8=12bar。Formula (a1) is used to obtain P 1t =P 10 +P 1 -P 1s =10+10-8=12 bar.

此时压力非线性校正模块保存该校正值P1t供注塑机控制系统压力输出时使用,或者第一次校正不符合要求后第二次校正还需要使用到P1t。此处由于第一次校正,所以P10为默认特征点P1的理论值,也就是10bar。At this time, the pressure nonlinear correction module saves the correction value P 1t for use in the pressure output of the injection molding machine control system, or the second correction needs to use P 1t after the first correction does not meet the requirements. Here, due to the first calibration, P 10 is the theoretical value of the default feature point P 1 , which is 10bar.

接下来进行P2点的校正。Next, the calibration of point P2 is performed.

压力非线性校正模块输出P2点的压力20bar到注塑机液压系统,注塑机压力表会显示当前的压力实际值P2s.然后通过人工反馈将P2s输入到压力非线性校正模块,假设为19bar。压力非线性校正模块通过公式(a2)计算P2点的校正值,此时k=2。 The pressure nonlinearity correction module outputs the pressure 20bar at point P2 to the hydraulic system of the injection molding machine, and the pressure gauge of the injection molding machine will display the current actual pressure value P2s . Then input P2s into the pressure nonlinearity correction module through manual feedback, assuming it is 19bar. The pressure nonlinearity correction module calculates the correction value of point P2 through the formula (a2), and k=2 at this time.

Pkt=P2t=Pk0+Pk-Pks=P20+P2-P2s=20+20-19=21bar。由于第一次校正,P20=P2=20bar。P kt =P 2t =P k0 +P k -P ks =P 20 +P 2 -P 2s =20+20-19=21 bar. Due to the first calibration, P 20 =P 2 =20 bar.

按照上述相同的方法计算校正P3(30bar),P4(60bar),P5(90bar),P6(120bar)和P7(130bar)点可以获得7个特征点的校正值。Calculate and correct P 3 (30bar), P 4 (60bar), P 5 (90bar), P 6 (120bar) and P 7 (130bar) points by the same method as above to obtain the correction values of 7 characteristic points.

获得了各点的校正值以后压力非线性校正模块102就可以通过特征点的校正值计算实际需要输出的压力值。假设此时需要输出40bar的压力。40bar位于特征点P3(30bar)和P4(60bar)压力区间范围。压力非线性校正模块首先通过公式(b)计算压力校正后的输出值。假设通过上述校正以后P3t=35bar,P4t=70bar.After the correction value of each point is obtained, the pressure nonlinearity correction module 102 can calculate the actual output pressure value through the correction value of the feature point. Assume that a pressure of 40 bar needs to be output at this time. 40bar is located in the pressure range of characteristic points P 3 (30bar) and P 4 (60bar). The pressure nonlinearity correction module firstly calculates the output value after pressure correction through the formula (b). Assume that P 3t = 35bar, P 4t = 70bar after the above correction.

利用公式(b)计算实际输出40bar需要的校正值如下Use the formula (b) to calculate the correction value required for the actual output of 40bar as follows

PP == PP kk tt ++ (( PP xx -- PP kk )) &times;&times; (( PP (( kk ++ 11 )) tt -- PP kk tt )) PP kk ++ 11 -- PP kk == PP 33 tt ++ (( PP xx -- PP 33 )) &times;&times; (( PP 44 tt -- PP 33 tt )) PP 44 -- PP 33 == 3535 ++ (( 4040 -- 3030 )) &times;&times; (( 7070 -- 3535 )) // (( 6060 -- 3030 )) == 46.6746.67 bb aa rr ..

压力非线性校正模块102获得了40bar的校正值P以后就可以进行第五步的实际输出。假设模拟输出模块103中DA输出芯片为12位精度的输出,则实际40bar压力的输出值对应的数字值为P/145×212=659。压力非线性校正模块102将659输出到模拟输出模块103控制DA芯片,液压系统就可以得到40bar的压力。After the pressure nonlinearity correction module 102 obtains the correction value P of 40 bar, the actual output of the fifth step can be performed. Assuming that the DA output chip in the analog output module 103 is an output with 12-bit precision, the digital value corresponding to the output value of the actual 40 bar pressure is P/145×2 12 =659. The pressure nonlinear correction module 102 outputs 659 to the analog output module 103 to control the DA chip, and the hydraulic system can obtain a pressure of 40 bar.

完全校正完成以后可以测试校正后的实际效果,设置一个压力值控制注塑机控制系统输出对应压力观察实际注塑机压力表显示是否与设定值相同,如果在整个压力输出范围内多点测试都满足要求则非线性校正完成。After the complete calibration is completed, you can test the actual effect after calibration. Set a pressure value to control the output corresponding pressure of the injection molding machine control system and observe whether the actual pressure gauge of the injection molding machine shows whether it is the same as the set value. If the multi-point test in the entire pressure output range is satisfied Non-linear correction is done if required.

如果第一次校正完成以后实际注塑机压力表显示与设定值不相同,则可以继续进行第二次校正。可以不校正已经符合要求的点,而直接校正那些还不符合要求的特征点。假设第一点P1(10bar)校正后还不符合要求则可以进行第二次校正。和上述过程相同,首先压力非线性校正模块按照第一次校正后的值进行输出P1(10bar)点压力10bar,人工读取注塑机压力表P1(10bar)点压力P1s,将该压力输入压力非线性校正模块,假设为9bar。If the actual injection molding machine pressure gauge display is different from the set value after the first calibration is completed, the second calibration can be continued. Instead of correcting the points that meet the requirements, directly correct those feature points that do not meet the requirements. Assuming that the first point P 1 (10bar) does not meet the requirements after calibration, the second calibration can be performed. Same as the above process, firstly the pressure non-linearity correction module outputs the pressure of P 1 (10bar) point 10bar according to the value after the first correction, manually read the pressure P 1 (10bar) point pressure P 1s of the pressure gauge of the injection molding machine, and the pressure Input the pressure nonlinear correction module, assuming 9bar.

压力非线性校正模块102通过公式(a1)计算第二次的校正值。The pressure nonlinearity correction module 102 calculates the correction value for the second time by formula (a1).

P1t=P10+P1-P1s=12+10-9=13bar。因为不是第一次校正,所以其中P10为上次的校正后的数值,及第一次校正后的P1t,为12bar。P 1t =P 10 +P 1 -P 1s =12+10-9=13 bar. Because it is not the first calibration, P 10 is the value after the previous calibration, and P 1t after the first calibration is 12bar.

如果还有其他段不符合要求则可以同样进行第二次校正。If there are other segments that do not meet the requirements, the second correction can also be performed.

本校正方法校正的是理论输出值,而不是常规方法的DA输出前的数字值。常规校正方法通常数需要人工计算和不断试凑DA输出前的数字值或者电压值,本方法大大减轻人对操作员的要求。并且,由于本发明采用的是人工读取压力表数值反馈的方式,不需要人工介入选择或计算,因而可以作为普遍适用的技术方案。This correction method corrects the theoretical output value, rather than the digital value before the DA output of the conventional method. Conventional calibration methods usually require manual calculation and continuous trial and error to figure out the digital value or voltage value before the DA output. This method greatly reduces the requirements on the operator. Moreover, since the present invention adopts the method of manually reading the value feedback of the pressure gauge, it does not require manual intervention in selection or calculation, so it can be used as a generally applicable technical solution.

应该理解的是,本发明并不限于如上图示和描述的确切构造及方法,在不背离的权利要求所定义的本发明的精神和范围,可以对发明进行各种不同的改变和修改,都被认为是本发明的保护范围。It should be understood that the present invention is not limited to the exact structure and method as shown and described above, and various changes and modifications can be made to the invention without departing from the spirit and scope of the present invention defined by the claims. It is considered to be the protection scope of the present invention.

Claims (6)

1.注塑液压系统压力比例阀的非线性校正的系统,包括安装在注塑机上的注塑机液压系统;注塑机液压系统内设压力比例阀,压力比例阀的出口通过管路与压力表相连;其特征在于,所述非线性校正系统还包括:1. The non-linear correction system of the pressure proportional valve of the injection molding hydraulic system, including the hydraulic system of the injection molding machine installed on the injection molding machine; the hydraulic system of the injection molding machine is equipped with a pressure proportional valve, and the outlet of the pressure proportional valve is connected to the pressure gauge through the pipeline; It is characterized in that the nonlinear correction system also includes: 启动校正模块,用于启动压力比例阀的非线性校正过程;Start a correction module, which is used to start the nonlinear correction process of the pressure proportional valve; 压力非线性校正模块,根据压力表所显示的实际压力数值对压力输出值进行校正,并将校正后的数值送至模拟输出模块用于压力控制;The pressure nonlinear correction module corrects the pressure output value according to the actual pressure value displayed by the pressure gauge, and sends the corrected value to the analog output module for pressure control; 模拟输出模块,放大并输出模拟信号至压力比例阀以控制其开度;Analog output module, which amplifies and outputs the analog signal to the pressure proportional valve to control its opening; 启动校正模块与压力非线性校正模块相连,压力非线性校正模块、模拟输出模块和压力比例阀通过信号线依次连接。The starting correction module is connected with the pressure non-linear correction module, and the pressure non-linear correction module, the analog output module and the pressure proportional valve are sequentially connected through signal lines. 2.根据权利要求1所述的系统,其特征在于,所述模拟输出模块内置信号放大器。2. The system according to claim 1, wherein the analog output module has a built-in signal amplifier. 3.注塑液压系统压力比例阀的非线性校正的方法,其特征在于,包括对压力比例阀输出量程内的特征点和压力最大输出值的校正,该过程具体包括:3. The method of nonlinear correction of the pressure proportional valve of the injection molding hydraulic system, which is characterized in that it includes the correction of the characteristic points in the output range of the pressure proportional valve and the maximum output value of the pressure. The process specifically includes: (1)首先对压力比例阀的最大输出量程点进行校正:(1) First correct the maximum output range point of the pressure proportional valve: 使压力校正输出模块直接输出最大输出量程点的压力理论值Pmax,然后直接调节设于模拟输出模块中的放大器,直到压力表显示的实际输出压力等于Pmax;表示校正完成;Make the pressure correction output module directly output the theoretical pressure value P max of the maximum output range point, and then directly adjust the amplifier set in the analog output module until the actual output pressure displayed by the pressure gauge is equal to P max ; indicating that the calibration is completed; (2)在注塑机液压系统的压力输出范围内间隔选择k个特征点,将整个压力输出过程分为k+1个分段,k是1~15的正整数;(2) Select k feature points at intervals within the pressure output range of the hydraulic system of the injection molding machine, and divide the entire pressure output process into k+1 segments, where k is a positive integer ranging from 1 to 15; (3)由压力非线性校正模块分别将该k个特征点对应的理论压力输出值Pk 和压力输出范围最大值Pmax作为压力输出设定值,送至模拟输出模块用于压力控制;模拟输出模块将模拟信号输出至压力比例阀以控制其开度,使注塑机液压系统升压;读取压力表显示的当前实际压力值,并将其数值输入压力非线性校正模块中,由压力非线性校正模块利用公式(a)计算压力输出设定值的校正值Pkt,作为第二次校正的设定值送至模拟输出模块;(3) The theoretical pressure output value P k ' corresponding to the k characteristic points and the maximum value P max of the pressure output range are respectively used as the pressure output set value by the pressure nonlinear correction module, and sent to the analog output module for pressure control; The analog output module outputs the analog signal to the pressure proportional valve to control its opening to increase the pressure of the hydraulic system of the injection molding machine; read the current actual pressure value displayed by the pressure gauge, and input the value into the pressure non-linear correction module. The nonlinear correction module uses the formula (a) to calculate the correction value P kt of the pressure output set value, and sends it to the analog output module as the second corrected set value; Pkt=Pk0+Pk-Pks(公式a)P kt =P k0 +P k -P ks (Formula a) 公式a中,Pkt为经校正的压力输出设定值;Pk为为第k个特征点的未经校正的压力输出设定值,其取值等于Pk 或Pmax;Pks为压力表显示的液压系统当前实际压力值;In formula a, P kt is the corrected pressure output setting value; P k is the uncorrected pressure output setting value of the kth feature point, and its value is equal to P k ' or P max ; P ks is The current actual pressure value of the hydraulic system displayed by the pressure gauge; (4)重复步骤(3),当压力表显示的当前实际压力值与压力输出设定值相同时,即视为已完全实现压力比例阀在特征点或最大值的非线性补偿;(4) Repeat step (3), when the current actual pressure value displayed by the pressure gauge is the same as the pressure output set value, it is considered that the nonlinear compensation of the pressure proportional valve at the characteristic point or the maximum value has been fully realized; 第一次校正时,设式a中的Pk0=Pk,如果重复进行了多次校正则Pk0为上次校正后获得的PktFor the first calibration, set P k0 = P k in formula a. If multiple calibrations are repeated, P k0 is the P kt obtained after the last calibration; (5)重复上述步骤(3)和(4),直到选取的所有k个特征点全部校正完成,整个注塑液压系统的校正过程结束。(5) The above steps (3) and (4) are repeated until all the selected k feature points are corrected, and the calibration process of the entire injection molding hydraulic system ends. 4.根据权利要求3所述的方法,其特征在于,在完成校正以后的注塑机实际运行过程中,压力非线性校正模块根据此前所获得的特征点和最大输出值的校正数据,按下述方式进行非线性校正,并将校正值作为实际输出值送至模拟输出模块,从而使注塑机液压系统的实际输出压力与压力输出设定值保持一致:4. The method according to claim 3, characterized in that, during the actual operation of the injection molding machine after the correction is completed, the pressure nonlinearity correction module performs the following steps according to the previously obtained correction data of the characteristic points and the maximum output value Non-linear correction is carried out by means of non-linear correction, and the correction value is sent to the analog output module as the actual output value, so that the actual output pressure of the hydraulic system of the injection molding machine is consistent with the pressure output set value: (1)当注塑系统设定的压力输出值Px满足条件Pk≤Px<Pk+1时,根据公式b进行非线性校正;当Pk为最后一个特征点时,Pk+1=Pmax(1) When the pressure output value P x set by the injection molding system satisfies the condition P k ≤ P x <P k+1 , perform nonlinear correction according to formula b; when P k is the last feature point, P k+1 = P max ; P=Pkt+(Px-Pk)×(P(k+1)t-Pkt)/(Pk+1-Pk)(公式b)P=P kt +(P x -P k )×(P (k+1)t -P kt )/(P k+1 -P k ) (formula b) (2)当Px<P1,即Px处于整个压力输出过程的开始第1段区间时,按下述方式进行非线性校正:(2) When P x < P 1 , that is, when P x is in the first section of the entire pressure output process, perform nonlinear correction as follows: P=Px×P1t/Pk(公式c);P=P x ×P 1t /P k (formula c); 上述各公式中,Px为注塑工艺所需要的注塑液压系统的压力值,即压力输出设定值;P为经校正的压力输出设定值,即压力非线性校正模块的实际输出值;Pkt为经校正的第k个特征点的压力输出设定值;Pk为第k个特征点的未经校正的压力输出设定值;P(k+1)t为经校正的第k+1个特征点的压力输出设定值;Pk+1为第k+1个特征点的未经校正的压力输出设定值。In the above formulas, P x is the pressure value of the injection hydraulic system required by the injection molding process, that is, the pressure output setting value; P is the corrected pressure output setting value, that is, the actual output value of the pressure nonlinear correction module; P kt is the corrected pressure output setting value of the kth feature point; P k is the uncorrected pressure output setting value of the kth feature point; P (k+1)t is the corrected k+th The pressure output setting value of 1 characteristic point; P k+1 is the uncorrected pressure output setting value of the k+1th characteristic point. 5.根据权利要求3或4所述的方法,其特征在于,对于压力输出范围0~145bar的注塑机液压系统,k的取值为5~8。5. The method according to claim 3 or 4, characterized in that, for a hydraulic system of an injection molding machine with a pressure output range of 0-145 bar, the value of k is 5-8. 6.基于权利要求2至5任意一项所述方法的注塑液压系统压力控制方法,其特征在于,包括下述步骤:6. The injection molding hydraulic system pressure control method based on any one of claims 2 to 5, characterized in that it comprises the following steps: (1)在每次完成压力比例阀的非线性校正后,通过人机对话界面向控制器发出指令,由压力非线性校正模块将压力数值对应关系数据送至控制器的存储模块中保存;(1) After the nonlinear correction of the pressure proportional valve is completed each time, an instruction is sent to the controller through the man-machine dialogue interface, and the pressure nonlinearity correction module sends the data corresponding to the pressure value to the storage module of the controller for storage; 所述压力数值对应关系数据是指经多次校正并满足非线性补偿要求的压力非线性校正模块的实际输出值与注塑工艺所需要的压力值即压力输出设定值之间的对应关系数据;The pressure value correspondence data refers to the correspondence relationship data between the actual output value of the pressure nonlinear correction module that has been corrected multiple times and meets the nonlinear compensation requirements and the pressure value required by the injection molding process, that is, the pressure output set value; (2)对于新的注塑工艺:(2) For the new injection molding process: 当所输入的注塑工艺要求压力值与存储单元所保存的数据匹配时,控制器直接调用对应的压力非线性校正模块的实际输出值,并将其传送给模拟输出模块进行压力比例阀的开度控制;When the input injection molding process requires that the pressure value matches the data stored in the storage unit, the controller directly calls the actual output value of the corresponding pressure nonlinearity correction module and sends it to the analog output module to control the opening of the pressure proportional valve ; 当所输入的注塑工艺要求压力值与存储单元所保存的数据不匹配时,则由压力非线性校正模块按照公式(b)和公式(c)来计算压力实际输出值,然后将其传送至模拟输出模块,由后者输出模拟信号至压力比例阀以控制其开度,并最终实现注塑液压系统的压力控制。When the input injection molding process requires that the pressure value does not match the data stored in the storage unit, the pressure nonlinear correction module calculates the actual pressure output value according to formula (b) and formula (c), and then transmits it to the analog output Module, the latter outputs an analog signal to the pressure proportional valve to control its opening, and finally realizes the pressure control of the injection hydraulic system.
CN201510738636.0A 2015-11-04 2015-11-04 Non-linear correction system and method for pressure proportional valve of injection molding hydraulic system Pending CN105257629A (en)

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