CN114559626A - Injection molding machine motion control system based on improved adaptive robust algorithm - Google Patents
Injection molding machine motion control system based on improved adaptive robust algorithm Download PDFInfo
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- 230000033001 locomotion Effects 0.000 title claims abstract description 95
- 238000001746 injection moulding Methods 0.000 title claims abstract description 90
- 238000004422 calculation algorithm Methods 0.000 title claims abstract description 32
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 21
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- 239000007924 injection Substances 0.000 claims abstract description 15
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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
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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
- B29C2045/7606—Controlling or regulating the display unit
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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
- 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
- B29C2945/76973—By counting
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses an injection molding machine motion control system based on an improved adaptive robust algorithm, which comprises an injection molding system, a hydraulic system, a mold closing system, a pump control servo system and an electric appliance control system, wherein the injection molding system comprises a hydraulic system, a pump control servo system and a pump control servo system; the injection molding system is used for injecting molten plastic into a mold cavity of a mold; the hydraulic system is used for providing power for various actions in the process of the injection molding machine; the die assembly system is used for ensuring the closing, opening and ejection of the die; the pump control servo system is used for adjusting the movement speed and the movement amount of an action oil cylinder in the injection molding machine; the electric appliance control system is used for being reasonably matched with the hydraulic system and realizing the technological requirements and the program actions of the injection machine. The invention decomposes the high-order dynamics based on an inversion method, designs a self-adaptive robust control algorithm with model compensation and parameter on-line self-adaptive functions, obtains the control performance which can be achieved by the traditional robust control and the robust self-adaptive control, and overcomes the limitation of respective control performance.
Description
Technical Field
The invention relates to the technical field of injection molding machine motion control systems, in particular to an injection molding machine motion control system based on an improved adaptive robust algorithm.
Background
An injection molding machine is also known as an injection molding machine or an injection machine. It is a main forming equipment for making various shaped plastic products from thermoplastic plastics or thermosetting plastics by using plastic forming mould. The device is divided into a vertical type, a horizontal type and a full-electric type. The injection molding machine can heat the plastic, apply high pressure to the molten plastic, make it inject out and fill the mold cavity, the executive program of the injection molding machine is mainly controlled by the upper controller, the upper controller outputs the single-action control command to the driver, according to the control command, the driver controls the servo oil pump to drive the oil pressure cylinder to perform injection molding.
With the rise of energy conservation and consumption reduction as a national strategy, the use problem of the injection molding machine is also widely concerned, and for the dynamics modeling of a pump control servo system of the injection molding machine, the previous research usually ignores the nonlinearity and interference in the system, and some even does not model the system, so that the bandwidth of the control system cannot meet the system requirement, the control performance is low, and the problem of limitation of the respective control performance cannot be overcome due to the complex nonlinearity of the pump control servo system, and various uncertain nonlinearity (such as external interference and dynamics for modeling) and parameter uncertainty (such as parameters of a hydraulic system and parameters between a motor and a pump) in the model.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides an injection molding machine motion control system based on an improved adaptive robust algorithm, so as to overcome the technical problems in the prior related art.
Therefore, the invention adopts the following specific technical scheme:
an injection molding machine motion control system based on an improved adaptive robust algorithm comprises an injection molding system, a hydraulic system, a mold closing system, a pump control servo system and an electric appliance control system;
the injection molding system is used for injecting molten plastic into a mold cavity of a mold;
the hydraulic system is used for providing power for various actions in the technological process of the injection molding machine and meeting the requirements of pressure, speed and temperature required by each part of the injection molding machine;
the die assembly system is used for ensuring the closing, opening and ejection of the die;
the pump control servo system is used for adjusting the movement speed and the movement amount of an actuating oil cylinder in the injection molding machine;
the electric appliance control system is used for being reasonably matched with the hydraulic system and realizing the technological requirements and the program actions of the injection machine.
Further, the step of injecting the molten plastic into the cavity of the mold further comprises the steps of:
heating and plasticizing the plastic within a set time to obtain a molten material;
under the action of the power transmission device, pile force and speed are controlled;
injecting the molten material into a mold cavity of a mold through a screw, and shaping the molten material injected into the mold cavity;
the injection molding system consists of a plasticizing device and a power transmission device;
wherein, the plasticizing device consists of a feeding device, a charging barrel, a screw and an injection nozzle;
the power transmission device consists of an injection oil cylinder, an injection seat moving oil cylinder and a screw rod driving device.
Further, the hydraulic system consists of a hydraulic element and a hydraulic claw auxiliary element;
the hydraulic component is used for providing a power source for the injection molding machine;
and the hydraulic claw auxiliary element is used for controlling the gripping force and the flow of the oil.
Further, the step of ensuring the closing, opening and ejecting of the mold further comprises the steps of:
in the shaping process, under the action of a mold closing device, the mold is automatically opened and closed, and the mold closing force of the sub-mold is utilized to resist the mold cavity pressure generated when the molten material enters the mold cavity;
the mold closing system consists of a mold closing device, a mold adjusting mechanism, an ejection mechanism, a front fixed template, a rear fixed template, a movable template, a mold closing oil cylinder and a safety protection mechanism.
Furthermore, the pump control servo system is composed of a servo motor, an action oil cylinder, a servo motor driving device, an oil pump, an electromagnetic valve group, a sol motor, a servo driver, a feed back oil motor, an oil tank, an overflow valve and a pressure transmitter.
Further, the adjusting of the movement speed and the movement amount of the actuating oil cylinder in the injection molding machine further comprises the following steps:
designing a self-adaptive robust control algorithm with model compensation and parameter on-line self-adaptive functions based on the decomposition of the inversion method on the high-order dynamics;
and tracking and controlling the motion tracks of the hydraulic element and the hydraulic claw auxiliary element by using a self-adaptive robust control algorithm.
Further, the designing of the adaptive robust control algorithm with the model compensation and parameter online adaptive functions based on the decomposition of the inversion method on the high-order dynamics further comprises the following steps:
setting a motion sequence model corresponding to the movement of the injection molding machine to be sparse, superposing a strong motion coefficient sequence and a weak motion coefficient sequence with a Gaussian background, and calculating a minimum objective function of the movement;
establishing a kinetic equation of a movement structure of the injection molding machine through a minimum objective function, and controlling a motor to input PWM with 100% duty ratio through the objective function and accelerating the movement of the injection molding machine when the actual speed subtracted from the expected speed during the movement of the injection molding machine is greater than a preset threshold value;
when the expected speed of the injection molding machine for moving the wheel minus the actual speed is less than a preset threshold value, the motor outputs a constant negative voltage by using a kinetic equation, and the rotating speed of the motor is smoothly controlled.
Further, the calculation formula of the minimum objective function is as follows:
wherein, R (a) is the motion coefficient of the first motion point, M is the number of motion layers, N is the square root of the motion variable, L is the total number of motions, λ is the likelihood value of the given motion coefficient, a is the motion point, and R is the motion coefficient;
further, the equation of the kinetic equation of the injection molding machine kinematic structure is as follows:
wherein the stiffness loss caused by the movement of the injection molding machine is expressed as
The additional force load caused by the movement of the injection molding machine is
The modal mass array is denoted as M, the modal damping array is denoted as D, and the linear stiffness array is denoted as K(1)The node load is denoted as F; t is1Is speed, T2In order to be able to accelerate the vehicle,
is a multi-layer neural network.
Furthermore, the electric appliance control system is composed of an electric appliance, an electronic element, an instrument, a heater and a sensor.
The invention has the beneficial effects that: the invention establishes a dynamic model of the pump control system of the injection molding machine from a servo motor to a tail end actuating mechanism according to the dynamic constraint of an inner ring and an outer ring of the pump control system of the injection molding machine, analyzes the nonlinear dynamic problems of uncertain parameters, external interference and the like in the system, calculates the model parameters of the system according to a design drawing, applies an adaptive robust control algorithm to the motion tracking control of the injection molding machine for research, decomposes high-order dynamics based on an inversion method, designs the adaptive robust control algorithm with the functions of model compensation and parameter online self-adaptation, can simultaneously obtain the control performance which can be achieved by the traditional robust control and the robust self-adaptation control, overcomes the limitation problem of respective control performance, the system of the invention has an expanded control range, for example, when a multi-contact relay control signal reaches a certain value, can be controlled according to different forms of a contact group, simultaneously switching on, switching off and switching on the multipath circuit; amplifying the effect of the relay; for example, a sensitive relay, an intermediate relay and the like can control a circuit with high power by using a very small control quantity; the function of the integrated signal, for example, when a plurality of control signals are input into the multi-winding relay in a specified form, the predetermined control effect is achieved through comparison and integration, and the automatic, remote control and monitoring are realized; for example, relays on the automation device, together with other electrical appliances, may form a program control circuit, thereby implementing automated operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic block diagram of an injection molding machine motion control system based on an improved adaptive robust algorithm according to an embodiment of the present invention;
FIG. 2 is a block diagram of an injection molding machine motion control system based on an improved adaptive robust algorithm according to an embodiment of the present invention;
fig. 3 is a robust control diagram in an injection molding machine motion control system based on an improved adaptive robust algorithm according to an embodiment of the invention.
Detailed Description
For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.
According to an embodiment of the present invention, an injection molding machine motion control system based on an improved adaptive robust algorithm is provided.
Referring now to the drawings and the detailed description, in accordance with the embodiments of the present invention, a motion control system of an injection molding machine based on an improved adaptive robust algorithm, as shown in fig. 1-3, comprises: the injection molding system, the hydraulic system, the die assembly system, the pump control servo system and the electric appliance control system;
the injection molding system is used for injecting molten plastic into a mold cavity of a mold;
the hydraulic system is used for providing power for various actions in the technological process of the injection molding machine and meeting the requirements of pressure, speed and temperature required by each part of the injection molding machine;
the die assembly system is used for ensuring the closing, opening and ejection of the die;
the pump control servo system is used for adjusting the movement speed and the movement amount of an action oil cylinder in the injection molding machine;
the electric appliance control system is used for being reasonably matched with the hydraulic system and realizing the technological requirements and the program actions of the injection machine.
By means of the technical scheme, a dynamic model of the injection molding machine pump control system from a servo motor to a tail end execution mechanism is established according to the dynamic constraint of an inner ring and an outer ring of the injection molding machine pump control system, the nonlinear dynamic problems of uncertain parameters, external interference and the like in the system are analyzed, model parameters of the system are calculated according to a design drawing, an adaptive robust control algorithm is applied to the injection molding machine motion tracking control for research, high-order dynamics are decomposed based on an inversion method, the adaptive robust control algorithm with the functions of model compensation and parameter online self-adaption is designed, the control performance which can be achieved by the traditional robust control and the robust self-adaption control can be obtained simultaneously, and the limitation problem of the respective control performance is solved.
In specific application, a heating/cooling system, a safety protection and monitoring system and a lubricating system can be arranged, the heating system is used for heating the charging barrel and the injection nozzle, and the charging barrel of the injection molding machine/a general electric heating ring is used as a heating device, is arranged outside the charging barrel and is detected by a thermocouple in sections. The heat is conducted through the cylinder wall to provide a heat source for material plasticization; the cooling system is mainly used for cooling the oil temperature, and the oil temperature is controlled because the oil temperature is too high and various faults occur. The other position needing cooling is near the blanking port of the material pipe, so that the raw material is prevented from being melted at the blanking port, and the raw material cannot be blanked normally;
the safety device of the injection molding machine is mainly used for protecting the safety of people and machines. The monitoring system mainly monitors oil temperature, material temperature and system overload of the injection molding machine, process and equipment faults, and indicates or gives an alarm when abnormal conditions are found;
the spurious system is a loop for providing lubricating conditions for parts with relative motion, such as a movable mould plate, a mould adjusting device, a connecting rod machine hinge and the like of the injection molding machine, so as to reduce energy consumption and prolong the service life of parts, and the lubricating can be regular manual lubricating or automatic electric lubricating.
In one embodiment, the injecting molten plastic into the cavity of the mold further comprises the steps of:
heating and plasticizing the plastic within a set time to obtain a molten material;
under the action of the power transmission device, pile force and speed are controlled;
injecting the molten material into a mold cavity of a mold through a screw, and shaping the molten material injected into the mold cavity;
the injection molding system consists of a plasticizing device and a power transmission device;
wherein, the plasticizing device consists of a feeding device, a charging barrel, a screw and an injection nozzle;
the power transmission device consists of an injection oil cylinder, an injection seat moving oil cylinder and a screw rod driving device.
In one embodiment, the hydraulic system is composed of a hydraulic component and a hydraulic jaw auxiliary component;
the hydraulic component is used for providing a power source for the injection molding machine;
and the hydraulic claw auxiliary element is used for controlling the gripping force and the flow of the oil.
In one embodiment, said ensuring the closing, opening and ejection of the mould further comprises the steps of:
in the shaping process, under the action of a mold closing device, the mold is automatically opened and closed, and the mold closing force of the sub-mold is utilized to resist the mold cavity pressure generated when the molten material enters the mold cavity;
the mold closing system consists of a mold closing device, a mold adjusting mechanism, an ejection mechanism, a front fixed template, a rear fixed template, a movable template, a mold closing oil cylinder and a safety protection mechanism.
In one embodiment, the pump control servo system is composed of a servo motor, an action oil cylinder, a servo motor driving device, an oil pump, an electromagnetic valve group, a sol motor, a servo driver, a return oil motor, an oil tank, an overflow valve and a pressure transmitter.
In one embodiment, the adjusting the movement speed and the movement amount of the actuating cylinder in the injection molding machine further comprises the following steps:
designing a self-adaptive robust control algorithm with model compensation and parameter online self-adaptive functions based on the decomposition of the inversion method on the high-order dynamics;
and tracking and controlling the motion tracks of the hydraulic element and the hydraulic claw auxiliary element by using a self-adaptive robust control algorithm.
In one embodiment, the designing of the adaptive robust control algorithm with model compensation and online parameter adaptation functions based on the decomposition of the inversion method on the high-order dynamics further comprises the following steps:
setting a motion sequence model corresponding to the movement of the injection molding machine to be sparse, superposing a strong motion coefficient sequence and a weak motion coefficient sequence with a Gaussian background, and calculating a minimum objective function of the movement;
establishing a kinetic equation of a movement structure of the injection molding machine through a minimum objective function, and controlling a motor to input PWM (pulse width modulation) with 100% duty ratio through the objective function when the actual speed subtracted from the expected speed during movement of the injection molding machine is greater than a preset threshold value, and accelerating the movement of the injection molding machine;
when the expected speed of the injection molding machine for moving the wheel minus the actual speed is less than a preset threshold value, the motor outputs a constant negative voltage by using a kinetic equation, and the rotating speed of the motor is smoothly controlled.
In one embodiment, the minimum objective function is calculated as follows:
wherein, R (A) is the motion coefficient of the first motion point, M is the number of motion layers, N is the square root of the motion variable, L is the total number of motions, lambda is the likelihood value of the given motion coefficient, A is the motion point, and R is the motion coefficient;
in specific application, according to a Japanese standard function, for each channel, the position point of the motion coefficient is measured from top to bottom, the amplitude of the motion coefficient is judged, and the position and the amplitude of each motion coefficient are iteratively modified in such a way, so that the final modification error is in accordance with the judgment and standard of the likelihood ratio at the minimum, and then one channel deconvolution is completed, and the distribution of the motion coefficient of the channel is obtained.
In one embodiment, the equation for the kinetic equation for the injection molding machine kinematic structure is as follows:
wherein the stiffness loss caused by the movement of the injection molding machine is expressed as
The additional force load caused by the movement of the injection molding machine is
The modal mass array is denoted as M, the modal damping array is denoted as D, and the linear stiffness array is denoted as K(1)Node load is denoted as F; t is a unit of1Is speed, T2In order to be able to accelerate the vehicle,
is a multilayer neural network.
In one embodiment, the appliance control system is comprised of appliances, electronics, instrumentation, heaters, sensors.
In summary, according to the technical scheme of the invention, a dynamic model of the injection molding machine pump control system from the servo motor to the tail end execution mechanism is established according to the dynamic constraints of the inner ring and the outer ring of the injection molding machine pump control system, the nonlinear dynamics problems of uncertain parameters, external interference and the like in the system are analyzed, the model parameters of the system are calculated according to a design drawing, the adaptive robust control algorithm is applied to the injection molding machine motion tracking control for research, the high-order dynamics is decomposed based on an inversion method, the adaptive robust control algorithm with the functions of model compensation and parameter online self-adaptation is designed, the control performance which can be achieved by the traditional robust control and the robust self-adaptation control can be obtained at the same time, and the limitation problem of the respective control performance is overcome.
It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or the portions contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), and includes a plurality of instructions for enabling a terminal device (such as a mobile phone, a computer, a server, or a network device) to execute the system according to the embodiments of the present invention, and the system of the present invention has an expanded control range, for example, when a control signal of a multi-contact relay reaches a certain value, the multi-circuit can be switched on, switched off, and switched on simultaneously according to different forms of a contact group; amplifying the effect of the relay; for example, a sensitive relay, an intermediate relay and the like can control a circuit with high power by using a very small control quantity; the function of the integrated signal, for example, when a plurality of control signals are input into the multi-winding relay in a specified form, the predetermined control effect is achieved through comparison and integration, and the automatic, remote control and monitoring are realized; for example, relays on the automation device, together with other electrical appliances, may form a program control circuit, thereby implementing automated operation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An injection molding machine motion control system based on an improved adaptive robust algorithm, comprising: the injection molding system, the hydraulic system, the die assembly system, the pump control servo system and the electric appliance control system;
the injection molding system is used for injecting molten plastic into a mold cavity of a mold;
the hydraulic system is used for providing power for various actions in the technological process of the injection molding machine and meeting the requirements of pressure, speed and temperature required by each part of the injection molding machine;
the die assembly system is used for ensuring the closing, opening and ejection of the die;
the pump control servo system is used for adjusting the movement speed and the movement amount of an action oil cylinder in the injection molding machine;
the electric appliance control system is used for being reasonably matched with the hydraulic system and realizing the technological requirements and the program actions of the injection machine.
2. The system of claim 1, wherein said injecting molten plastic into the cavity of the mold further comprises the steps of:
heating and plasticizing the plastic within a set time to obtain a molten material;
under the action of the power transmission device, pile force and speed are controlled;
injecting the molten material into a mold cavity of a mold through a screw, and shaping the molten material injected into the mold cavity;
the injection molding system consists of a plasticizing device and a power transmission device;
wherein, the plasticizing device consists of a feeding device, a charging barrel, a screw and an injection nozzle;
the power transmission device consists of an injection oil cylinder, an injection seat moving oil cylinder and a screw rod driving device.
3. The injection molding machine motion control system based on the improved adaptive robust algorithm is characterized in that the hydraulic system consists of a hydraulic element and a hydraulic claw auxiliary element;
the hydraulic component is used for providing a power source for the injection molding machine;
and the hydraulic claw auxiliary element is used for controlling the gripping force and the flow of the oil.
4. The system of claim 1, wherein said ensuring the closing, opening and ejection of the mold further comprises the steps of:
in the shaping process, under the action of a mold closing device, the mold is automatically opened and closed, and the mold closing force of the sub-mold is utilized to resist the mold cavity pressure generated when the molten material enters the mold cavity;
the mold closing system consists of a mold closing device, a mold adjusting mechanism, an ejection mechanism, a front fixed template, a rear fixed template, a movable template, a mold closing oil cylinder and a safety protection mechanism.
5. The injection molding machine motion control system based on the improved adaptive robust algorithm according to claim 1, wherein the pump control servo system is composed of a servo motor, an action oil cylinder, a servo motor driving device, an oil pump, an electromagnetic valve group, a sol motor, a servo driver, a return oil motor, an oil tank, an overflow valve and a pressure transmitter.
6. The system of claim 5, wherein said adjusting the speed and amount of movement of the ram of the injection molding machine further comprises the steps of:
designing a self-adaptive robust control algorithm with model compensation and parameter on-line self-adaptive functions based on the decomposition of the inversion method on the high-order dynamics;
and tracking and controlling the motion tracks of the hydraulic element and the hydraulic claw auxiliary element by using a self-adaptive robust control algorithm.
7. The injection molding machine motion control system based on the improved adaptive robust algorithm according to claim 6, wherein the design of the adaptive robust control algorithm with model compensation and parameter on-line adaptive function based on the decomposition of the inversion method on the high-order dynamics further comprises the following steps:
setting a motion sequence model corresponding to the movement of the injection molding machine to be sparse, superposing a strong motion coefficient sequence and a weak motion coefficient sequence with a Gaussian background, and calculating a minimum objective function of the movement;
establishing a kinetic equation of a movement structure of the injection molding machine through a minimum objective function, and controlling a motor to input PWM with 100% duty ratio through the objective function and accelerating the movement of the injection molding machine when the actual speed subtracted from the expected speed during the movement of the injection molding machine is greater than a preset threshold value;
when the expected speed of the injection molding machine for moving the wheel minus the actual speed is less than a preset threshold value, the motor outputs a constant negative voltage by using a kinetic equation, and the rotating speed of the motor is smoothly controlled.
8. The system of claim 7, wherein the minimum objective function is calculated as follows:
where R (a) is the motion coefficient of the first motion point, M is the number of motion layers, N is the square root of the motion variable, L is the total number of motions, λ is the likelihood of a given motion coefficient, a is the motion point, and R is the motion coefficient.
9. The system of claim 8, wherein the equations of the kinematic structure of the injection molding machine are as follows:
wherein the stiffness loss caused by the movement of the injection molding machine is expressed as
The additional force load caused by the movement of the injection molding machine is
The modal mass array is denoted as M, the modal damping array is denoted as D, and the linear stiffness array is denoted as K(1)The node load is denoted as F; t is1Is speed, T2In order to be able to accelerate the vehicle,
is a multi-layer neural network.
10. The injection molding machine motion control system based on the improved adaptive robust algorithm according to claim 1, wherein the electrical appliance control system is composed of electrical appliances, electronic components, instruments, heaters and sensors.
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| CN202210200128.7A CN114559626A (en) | 2022-03-02 | 2022-03-02 | Injection molding machine motion control system based on improved adaptive robust algorithm |
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| CN202210200128.7A CN114559626A (en) | 2022-03-02 | 2022-03-02 | Injection molding machine motion control system based on improved adaptive robust algorithm |
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