CN111152431A - Efficient mold opening control method for injection molding machine - Google Patents

Efficient mold opening control method for injection molding machine Download PDF

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Publication number
CN111152431A
CN111152431A CN202010045899.4A CN202010045899A CN111152431A CN 111152431 A CN111152431 A CN 111152431A CN 202010045899 A CN202010045899 A CN 202010045899A CN 111152431 A CN111152431 A CN 111152431A
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China
Prior art keywords
mold opening
injection molding
molding machine
recording
die
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CN202010045899.4A
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Chinese (zh)
Inventor
罗杨
周拓
姚晓华
李超
马亚萍
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NINGBO EST TECHNOLOGY CO LTD
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NINGBO EST TECHNOLOGY CO LTD
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Priority to CN202010045899.4A priority Critical patent/CN111152431A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/64—Mould opening, closing or clamping devices
    • B29C45/67—Mould opening, closing or clamping devices hydraulic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/80—Measuring, controlling or regulating of relative position of mould parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/82—Hydraulic or pneumatic circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76494—Controlled parameter
    • B29C2945/76595—Velocity
    • B29C2945/76605—Velocity rotational movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76822—Phase or stage of control
    • B29C2945/76872—Mould opening
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76929—Controlling method
    • B29C2945/76933—The operating conditions are corrected immediately, during the same phase or cycle

Abstract

The invention discloses a high-efficiency mold opening control method for an injection molding machine, which comprises the steps of firstly determining an open-loop gain coefficient KopnDead time tdAnd minimum deceleration time TminPreparing for the following mold opening control, setting the initial rotation speed of a motor of the injection molding machine, the target mold opening position of a mold opening oil cylinder of the injection molding machine and the acquisition period of the mold opening position, starting the injection molding machine to perform mold opening action, and performing mold opening based on an open-loop gain coefficient K in the mold opening processopnDead time tdMinimum deceleration time TminThe method comprises the following steps of periodically adjusting the rotating speed of a motor according to the initial rotating speed of the motor, the target die opening position of a die opening oil cylinder of an injection molding machine and the acquisition period of the die opening position; has the advantage of realizing the mold openingThe adaptive control and adjustment of the rotating speed of the motor in the process have the advantages of simple debugging mode, short debugging time and high absolute precision and relative precision of die sinking.

Description

Efficient mold opening control method for injection molding machine
Technical Field
The invention relates to a mold opening control method, in particular to an efficient mold opening control method for an injection molding machine.
Background
An injection molding machine is a main molding device for making thermoplastic plastics or thermosetting plastics into plastic products with various shapes by using a plastic molding die. The injection molding machine takes hydraulic oil as a working medium, a motor drives an oil pump to rotate to generate hydraulic pressure energy, the hydraulic pressure energy is controlled through a valve, and then the pressure energy is converted into mechanical energy to execute linear motion by means of a mold opening oil cylinder, so that mold opening is realized.
The plastic machine industry is roughly developed before 2006, and the capacity of equipment manufacturers is greatly released, so that the demand of people on existence is gradually met. After satisfying the 'available' demand, the injection molding machine industry provides the injection molding stability, the mold opening and closing is fast, stable and accurate, the processed product is high in quality, the equipment is low in energy consumption, the low noise and the like. In order to pursue the performances of the injection molding machine, such as stable mold opening and closing, low overshoot, high consistency, stable pressure control, high injection molding rate and the like, the japanese injection molding machine industry walks the way of the all-electric injection molding machine, while the european injection molding machine industry adopts the technology of controlling the servo valve to realize the improvement of the whole machine performance of the injection molding machine. However, the full-electric and servo valve control has the defects of high cost, high requirements on relative use environment, high maintenance cost, high requirements on professional level of maintenance personnel and the like. Under the consideration of multiple aspects, domestic injection molding machine manufacturers have gone up the research route of hydraulic servo pump control. After 10 years of efforts and research and development of various manufacturers, certain accumulation is generated in the aspect of hydraulic servo pump control, but the effect close to full-voltage and servo valve control cannot be achieved, and even the difference is large.
At present, the injection molding machine mold opening control method adopting a pump control mode in the market mainly controls the rotating speed of a motor in an open loop mode, and the motor runs according to a set speed and a set pressure after running to a set position, so that the effects of high and stable mold opening speed and small overshoot can be achieved only by manually and repeatedly debugging and modifying the set position, the set speed and the set pressure of the motor. The mold opening control method of the injection molding machine is too dependent on the technology and experience of an injection molding machine operator, and aims to achieve the purposes of quick mold opening, small mold opening overshoot, long debugging time and high debugging difficulty required by the stable mold opening process, and low absolute precision and relative precision of mold opening.
Disclosure of Invention
The invention aims to solve the technical problem of providing the high-efficiency mold opening control method for the injection molding machine, which has the advantages of simple debugging mode, short debugging time and high absolute precision and relative precision of mold opening.
The technical scheme adopted by the invention for solving the technical problems is as follows: an efficient mold opening control method for an injection molding machine comprises the following steps:
(1) setting open-loop gain coefficient, dead time and minimum deceleration time, and recording the loop gain coefficient as KopnThe dead time is denoted as tdLet the minimum deceleration time be Tmin；
(2) Determining an open-loop gain factor KopnDead time tdAnd minimum deceleration time TminThe specific process is as follows:
A. setting the rotating speed of a motor of the injection molding machine as a fixed rotating speed r, performing a mold opening action, acquiring the actual moving speed of a mold opening oil cylinder of the injection molding machine when the mold opening action is in the middle position, recording the speed as spd mm/s, wherein the value range of r is 500-1700 rpm, and calculating by adopting a formula (1) to obtain an open-loop gain coefficient Kopn：
Figure BDA0002369384200000021
B. Setting the rotating speed of a motor of an injection molding machine to be 1500rpm, opening a mold opening valve of the injection molding machine 0.1s in advance before a mold opening action is carried out, recording the time t0 of opening the mold opening valve of the injection molding machine, monitoring the data of an electronic ruler arranged on a mold opening oil cylinder in real time in the mold opening action process, recording the time at the moment to be t1 when the displacement of the electronic ruler arranged on the mold opening oil cylinder is detected to exceed 0.1mm, and calculating the dead time t by adopting a formula (2)d：
td＝t1-t0 (2)
C. Determining a minimum deceleration time TminThe specific process is as follows:
c-1, recording the diameter of the die opening oil cylinder as cyl, recording the diameter of a piston rod of the die opening oil cylinder as rod, and calculating the effective action area A of the die opening oil cylinder according to a formula (3):
Figure BDA0002369384200000022
in the formula (3), π represents the circumference ratio;
c-2, recording the initial value of the internal volume of an oil delivery pipe from the oil pump to the die sinking oil cylinder as V1During the die opening process, the volume of the inner part of an oil delivery pipe from an oil pump to a die opening oil cylinder changes along with the change of the current die opening position x, the current die opening position x is fed back by an electronic ruler of the die opening oil cylinder, the die opening starting position corresponds to 0 scale of the electronic ruler, the current die opening position x continuously increases along with the advancing of the die opening action, the scale of the electronic ruler reads the volume, and the volume of the inner part of the oil delivery pipe from the oil pump at the die opening position x to the die opening oil cylinder is recorded as VxThe elastic modulus of hydraulic oil used by the injection molding machine is recorded as β, the total mass of the template and the mold is recorded as m, and the natural frequency at the mold opening position x is recorded as WxCalculating the natural frequency W at the die opening position x by using the formula (4)x：
Figure BDA0002369384200000031
C-3, obtaining the natural frequency of all the die sinking positions by adopting the step C-2, finding out the natural frequency with the minimum value, and recording the natural frequency with the minimum value as Wmin；
C-4, recording the damping coefficient of the mold opening action as ξ to be an arbitrary number which is more than or equal to 0.3 and less than or equal to 0.7, and obtaining the minimum acceleration and deceleration time T according to the formula (5)min：
Figure BDA0002369384200000032
Corresponding machine characteristic parameters are calculated from the above A, B, C in preparation for subsequent die opening control.
(3) Setting the initial rotation speed of the motor of the injection molding machineRecording as speed _ set, setting a target die opening position of a die opening oil cylinder of the injection molding machine, and recording as xset，xsetSetting the acquisition period of the mold opening position within the maximum stroke of the mold opening oil cylinder, recording the acquisition period as CycleTime, setting the value of the CycleTime to be more than 0.5ms and less than or equal to 2ms, setting an acquisition period variable as t,
(4) starting the injection molding machine, performing mold opening action, initializing t at the same time, setting t as 1, entering the t-th acquisition cycle to acquire the current mold opening position, and recording the mold opening position acquired in the t-th acquisition cycle as xtAdding 1 to the value of t every time the mold opening position is obtained in the whole mold opening action process;
(5) setting a comparison die opening position, and marking the comparison die opening position as x'; x' is calculated by using the formula (6):
Figure BDA0002369384200000041
(6) comparison xtAnd x', if xtIf x 'is less than x', the motor of the injection molding machine keeps the current rotating speed unchanged, if x is less than xtX 'is greater than or equal to x' and less than xsetIf yes, obtaining the current value of T, recording the value as T, and entering the step (7) to periodically control the rotating speed of the motor;
(7) controlling the rotation speed of the motor in the jth control period, wherein j is T-T +1, j represents the current control period number, the initial value of j is 1, and adjusting the rotation speed of the motor in the jth control period to speed _ setj，speed_setjCalculated using equation (7):
Figure BDA0002369384200000042
in the formula (7), speed _ setj-1Representing the speed of the motor in the last control cycle, speed _ set when j equals 1j-1Equal to speed _ set, Kp is a gain coefficient, and the value range is 1.00-3.00;
(8) judgment of xT+j-1Whether x is greater than or equal tosetIf less than xsetThen j is taken to be the value of t plus 1 at the same timeStep 1 is added, then the formula (7) is adopted to recalculate to obtain the rotating speed, the rotating speed of the motor in the current control period is adjusted by the rotating speed obtained by calculation, if x isT+j-1X is greater than or equal tosetIf the current die opening action is finished, the rotating speed of the motor is set to be 0, and the die opening valve is closed.
Compared with the prior art, the method has the advantages that the open-loop gain coefficient K is determined firstlyopnDead time tdAnd minimum deceleration time TminPreparing for the following mold opening control, setting the initial rotation speed of a motor of the injection molding machine, the target mold opening position of a mold opening oil cylinder of the injection molding machine and the acquisition period of the mold opening position, starting the injection molding machine to perform mold opening action, and performing mold opening based on an open-loop gain coefficient K in the mold opening processopnDead time tdMinimum deceleration time TminThe method comprises the steps of periodically adjusting the rotating speed of a motor according to the initial rotating speed of the motor, the target die opening position of a die opening oil cylinder of the injection molding machine and the acquisition period of the die opening position, so that the rotating speed of the motor is adaptively controlled and adjusted in the die opening process.
Detailed Description
The present invention will be described in further detail with reference to examples.
Example (b): an efficient mold opening control method for an injection molding machine comprises the following steps:
(1) setting open-loop gain coefficient, dead time and minimum deceleration time, and recording the loop gain coefficient as KopnThe dead time is denoted as tdLet the minimum deceleration time be Tmin；
(2) Determining an open-loop gain factor KopnDead time tdAnd minimum deceleration time TminThe specific process is as follows:
A. setting the rotating speed of a motor of the injection molding machine as a fixed rotating speed r, performing a mold opening action, acquiring the actual moving speed of a mold opening oil cylinder of the injection molding machine when the mold opening action is in the middle position, recording the speed as spd mm/s, wherein the value range of r is 500-1700 rpm, and calculating by adopting a formula (1) to obtain the open-loop gainCoefficient Kopn：
Figure BDA0002369384200000051
B. Setting the rotating speed of a motor of an injection molding machine to be 1500rpm, opening a mold opening valve of the injection molding machine 0.1s in advance before a mold opening action is carried out, recording the time t0 of opening the mold opening valve of the injection molding machine, monitoring the data of an electronic ruler arranged on a mold opening oil cylinder in real time in the mold opening action process, recording the time at the moment to be t1 when the displacement of the electronic ruler arranged on the mold opening oil cylinder is detected to exceed 0.1mm, and calculating the dead time t by adopting a formula (2)d：
td＝t1-t0 (2)
C. Determining a minimum deceleration time TminThe specific process is as follows:
c-1, recording the diameter of the die opening oil cylinder as cyl, recording the diameter of a piston rod of the die opening oil cylinder as rod, and calculating the effective action area A of the die opening oil cylinder according to a formula (3):
Figure BDA0002369384200000052
in the formula (3), π represents the circumference ratio;
c-2, recording the initial value of the internal volume of an oil delivery pipe from the oil pump to the die sinking oil cylinder as V1During the die opening process, the volume of the inner part of an oil delivery pipe from an oil pump to a die opening oil cylinder changes along with the change of the current die opening position x, the current die opening position x is fed back by an electronic ruler of the die opening oil cylinder, the die opening starting position corresponds to 0 scale of the electronic ruler, the current die opening position x continuously increases along with the advancing of the die opening action, the scale of the electronic ruler reads the volume, and the volume of the inner part of the oil delivery pipe from the oil pump at the die opening position x to the die opening oil cylinder is recorded as VxThe elastic modulus of hydraulic oil used by the injection molding machine is recorded as β, the total mass of the template and the mold is recorded as m, and the natural frequency at the mold opening position x is recorded as WxCalculating the natural frequency W at the die opening position x by using the formula (4)x：
Figure BDA0002369384200000061
C-3, obtaining the natural frequency of all the die sinking positions by adopting the step C-2, finding out the natural frequency with the minimum value, and recording the natural frequency with the minimum value as Wmin；
C-4, recording the damping coefficient of the mold opening action as ξ to be an arbitrary number which is more than or equal to 0.3 and less than or equal to 0.7, and obtaining the minimum acceleration and deceleration time T according to the formula (5)min：
Figure BDA0002369384200000062
Corresponding machine characteristic parameters are calculated from the above A, B, C in preparation for subsequent die opening control.
(3) Setting the initial rotating speed of a motor of the injection molding machine, recording the initial rotating speed as speed _ set, and setting the target mold opening position of a mold opening oil cylinder of the injection molding machine, recording the target mold opening position as xset，xsetSetting the acquisition period of the mold opening position within the maximum stroke of the mold opening oil cylinder, recording the acquisition period as CycleTime, setting the value of the CycleTime to be more than 0.5ms and less than or equal to 2ms, setting an acquisition period variable as t,
(4) starting the injection molding machine, performing mold opening action, initializing t at the same time, setting t as 1, entering the t-th acquisition cycle to acquire the current mold opening position, and recording the mold opening position acquired in the t-th acquisition cycle as xtAdding 1 to the value of t every time the mold opening position is obtained in the whole mold opening action process;
(5) setting a comparison die opening position, and marking the comparison die opening position as x'; x' is calculated by using the formula (6):
Figure BDA0002369384200000071
(6) comparison xtAnd x', if xtIf x 'is less than x', the motor of the injection molding machine keeps the current rotating speed unchanged, if x is less than xtX 'is greater than or equal to x' and less than xsetIf yes, the value of the current T is obtained and recorded as T, and the step (7) is carried out to carry out cycle on the rotating speed of the motorControlling sex;
(7) controlling the rotation speed of the motor in the jth control period, wherein j is T-T +1, j represents the current control period number, the initial value of j is 1, and adjusting the rotation speed of the motor in the jth control period to speed _ setj，speed_setjCalculated using equation (7):
Figure BDA0002369384200000072
in the formula (7), speed _ setj-1Representing the speed of the motor in the last control cycle, speed _ set when j equals 1j-1Equal to speed _ set, Kp is a gain coefficient, and the value range is 1.00-3.00;
(8) judgment of xT+j-1Whether x is greater than or equal tosetIf less than xsetIf the value of j is added with 1, then adding 1 synchronously, then adopting formula (7) to recalculate to obtain the rotating speed, and adopting the rotating speed obtained by calculation to regulate the rotating speed of the motor in the current control period, if x is xT+j-1X is greater than or equal tosetIf the current die opening action is finished, the rotating speed of the motor is set to be 0, and the die opening valve is closed.

Claims (1)

1. An efficient mold opening control method for an injection molding machine is characterized by comprising the following steps:
(1) setting open-loop gain coefficient, dead time and minimum deceleration time, and recording the loop gain coefficient as KopnThe dead time is denoted as tdLet the minimum deceleration time be Tmin；
(2) Determining an open-loop gain factor KopnDead time tdAnd minimum deceleration time TminThe specific process is as follows:
A. setting the rotating speed of a motor of the injection molding machine as a fixed rotating speed r, performing a mold opening action, acquiring the actual moving speed of a mold opening oil cylinder of the injection molding machine when the mold opening action is in the middle position, recording the speed as spd mm/s, wherein the value range of r is 500-1700 rpm, and calculating by adopting a formula (1) to obtain an open-loop gain coefficient Kopn：
Figure FDA0002369384190000011
B. Setting the rotating speed of a motor of an injection molding machine to be 1500rpm, opening a mold opening valve of the injection molding machine 0.1s in advance before a mold opening action is carried out, recording the time t0 of opening the mold opening valve of the injection molding machine, monitoring the data of an electronic ruler arranged on a mold opening oil cylinder in real time in the mold opening action process, recording the time at the moment to be t1 when the displacement of the electronic ruler arranged on the mold opening oil cylinder is detected to exceed 0.1mm, and calculating the dead time t by adopting a formula (2)d：
td＝t1-t0 (2)
C. Determining a minimum deceleration time TminThe specific process is as follows:
c-1, recording the diameter of the die opening oil cylinder as cyl, recording the diameter of a piston rod of the die opening oil cylinder as rod, and calculating the effective action area A of the die opening oil cylinder according to a formula (3):
Figure FDA0002369384190000012
in the formula (3), π represents the circumference ratio;
c-2, recording the initial value of the internal volume of an oil delivery pipe from the oil pump to the die sinking oil cylinder as V1During the die opening process, the volume of the inner part of an oil delivery pipe from an oil pump to a die opening oil cylinder changes along with the change of the current die opening position x, the current die opening position x is fed back by an electronic ruler of the die opening oil cylinder, the die opening starting position corresponds to 0 scale of the electronic ruler, the current die opening position x continuously increases along with the advancing of the die opening action, the scale of the electronic ruler reads the volume, and the volume of the inner part of the oil delivery pipe from the oil pump at the die opening position x to the die opening oil cylinder is recorded as VxThe elastic modulus of hydraulic oil used by the injection molding machine is recorded as β, the total mass of the template and the mold is recorded as m, and the natural frequency at the mold opening position x is recorded as WxCalculating the natural frequency W at the die opening position x by using the formula (4)x：
Figure FDA0002369384190000021
C-3, obtaining the natural frequency of all the die sinking positions by adopting the step C-2, finding out the natural frequency with the minimum value, and recording the natural frequency with the minimum value as Wmin；
C-4, recording the damping coefficient of the mold opening action as ξ to be an arbitrary number which is more than or equal to 0.3 and less than or equal to 0.7, and obtaining the minimum acceleration and deceleration time T according to the formula (5)min：
Figure FDA0002369384190000022
Corresponding machine characteristic parameters are calculated from the above A, B, C in preparation for subsequent die opening control.
(3) Setting the initial rotating speed of a motor of the injection molding machine, recording the initial rotating speed as speed _ set, and setting the target mold opening position of a mold opening oil cylinder of the injection molding machine, recording the target mold opening position as xset，xsetSetting the acquisition period of the mold opening position within the maximum stroke of the mold opening oil cylinder, recording the acquisition period as CycleTime, setting the value of the CycleTime to be more than 0.5ms and less than or equal to 2ms, setting an acquisition period variable as t,
(4) starting the injection molding machine, performing mold opening action, initializing t at the same time, setting t as 1, entering the t-th acquisition cycle to acquire the current mold opening position, and recording the mold opening position acquired in the t-th acquisition cycle as xtAdding 1 to the value of t every time the mold opening position is obtained in the whole mold opening action process;
(5) setting a comparison die opening position, and marking the comparison die opening position as x'; x' is calculated by using the formula (6):
Figure FDA0002369384190000023
(6) comparison xtAnd x', if xtIf x 'is less than x', the motor of the injection molding machine keeps the current rotating speed unchanged, if x is less than xtX 'is greater than or equal to x' and less than xsetIf yes, obtaining the current value of T, recording the value as T, and entering the step (7) to periodically control the rotating speed of the motor;
(7) controlling the rotation speed of the motor in the jth control period, wherein j is T-T +1, j represents the current control period number, the initial value of j is 1, and adjusting the rotation speed of the motor in the jth control period to speed _ setj，speed_setjCalculated using equation (7):
Figure FDA0002369384190000031
in the formula (7), speed _ setj-1Representing the speed of the motor in the last control cycle, speed _ set when j equals 1j-1Equal to speed _ set, Kp is a gain coefficient, and the value range is 1.00-3.00;
(8) judgment of xT+j-1Whether x is greater than or equal tosetIf less than xsetIf the value of j is added with 1, then adding 1 synchronously, then adopting formula (7) to recalculate to obtain the rotating speed, and adopting the rotating speed obtained by calculation to regulate the rotating speed of the motor in the current control period, if x is xT+j-1X is greater than or equal tosetIf the current die opening action is finished, the rotating speed of the motor is set to be 0, and the die opening valve is closed.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6378723A (en) * 1986-09-22 1988-04-08 Fanuc Ltd Controller for displaying position of mold clamping mechanism in motor-driven direct pressure type mold clamping mechanism
CN101327641A (en) * 2008-07-29 2008-12-24 夏善海 Accurate control method of die sinking position of injection moulding machine
CN102019677A (en) * 2009-09-18 2011-04-20 广州市香港科大霍英东研究院 Method for quickly and accurately positioning die in injection molding process
CN102441972A (en) * 2011-12-13 2012-05-09 海天塑机集团有限公司 Control method for mould unloading accurate positioning of injection molding machine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6378723A (en) * 1986-09-22 1988-04-08 Fanuc Ltd Controller for displaying position of mold clamping mechanism in motor-driven direct pressure type mold clamping mechanism
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