CN116880616A - Hot runner temperature control method, temperature controller, electronic equipment and storage medium - Google Patents
Hot runner temperature control method, temperature controller, electronic equipment and storage medium Download PDFInfo
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- G05D23/20—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature
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Abstract
The present application relates to the field of mold manufacturing technologies, and in particular, to a hot runner temperature control method, a temperature controller, an electronic device, and a storage medium. The method comprises the following steps: after the target temperature is set, the PID control module of the temperature controller only adopts a proportion item to control the heater to heat the hot runner to achieve heat balance; when the heat balance is achieved, an integral item is increased to control the heating of the hot runner; detecting the real-time temperature of the hot runner and judging whether the difference value between the hot runner and the target temperature is smaller than a preset switching threshold value; if yes, the temperature controller is switched to a proportional, integral and differential temperature regulating method; if not, the temperature controller controls the heater to increase disturbance power, and only the disturbance power is used for heating the hot runner to achieve that the difference between the temperature rise and the target temperature is smaller than a preset switching threshold value. The application avoids the overshoot phenomenon caused by integral saturation when the temperature value is changed greatly, and ensures the stable operation of the hot runner system.
Description
Technical Field
The present application relates to the field of mold manufacturing technologies, and in particular, to a hot runner temperature control method, a temperature controller, an electronic device, and a storage medium.
Background
Hot runner injection molds are one of the most common types of runner-less gel injection molds. The hot runner pouring system mainly comprises a main runner nozzle, a runner plate, sub-nozzles, heating and temperature measuring elements and mounting and fastening parts, wherein the sub-nozzles are open type direct nozzles. The heater can uniformly heat and compensate the heat loss. The control objects of the hot runner temperature control system are a runner plate and a nozzle, and the sprue area is also affected.
The temperature control of the hot runner casting system is mainly accomplished by a temperature controller that measures the temperature of the runner plate and nozzle and maintains them at a given temperature value. The thermocouple is an element for detecting temperature, the thermocouple voltage and the measured temperature are in a linear relation, the temperature controller realizes temperature acquisition through the thermocouple, the temperature is used as an input value of a control loop, the temperature is compared with a manually set temperature value, after being processed by a control algorithm, an output signal of the regulator is obtained and is output to a control unit, a relay and a circuit switch control the heater to perform heating power-on or power-off, and the temperature rise and the thermal compensation of the runner plate and the nozzles are realized, so that the effective and accurate temperature control of the runner plate and the nozzles is realized.
The inertia exists in the heating and cooling of the runner plate, the nozzle and the machine barrel of the hot runner system, and the interference exists in the heating period, so that the response time of the temperature control system is required to be short and the stability is required to be good. The performance of the temperature controller is important to the hot runner system, and the key technology of the temperature controller is temperature acquisition and temperature regulation algorithm. The accuracy of the temperature acquisition directly affects the performance of the control system. The most widely used way of temperature regulation of hot runner systems is by means of PID algorithms (proportional-integral-derivative) regulation. However, in the process of temperature adjustment by using the PID algorithm, a process of controlling the temperature to exceed a set value, i.e., overshoot, is liable to occur, and the overshoot has a great influence on the hot runner system.
Disclosure of Invention
The application aims to provide a hot runner temperature control method, a temperature controller, electronic equipment and a storage medium, which are used for solving the problems that the existing PID algorithm is easy to overshoot and inaccurate in temperature measurement in the temperature adjustment process, and the following technical scheme is adopted to realize the aim of the application:
the first aspect of the present application provides a hot runner temperature control method, including:
after the target temperature is set, the PID control module of the temperature controller only adopts a proportion item to control the heater to heat the hot runner to achieve heat balance;
when the hot runner reaches heat balance, the PID control module of the temperature controller increases an integral term to control the heating of the hot runner;
detecting the real-time temperature of the hot runner and judging whether the difference value between the hot runner and the target temperature is smaller than a preset switching threshold value;
if yes, the temperature controller is switched to a proportional, integral and differential temperature regulating method; if not, the temperature controller controls the heater to increase disturbance power, and only the disturbance power is used for heating the hot runner to enable the difference between the temperature rise and the target temperature to be smaller than a preset switching threshold value, and in the process, the steps of detecting the real-time temperature of the hot runner and judging whether the difference between the temperature rise and the target temperature is smaller than the preset switching threshold value are repeatedly executed.
The method for judging that the hot runner reaches the heat balance is further improved as follows:
detecting the real-time temperature of the hot runner according to a preset time interval;
if the difference value between the real-time temperatures acquired at any two time intervals does not exceed the preset difference value threshold value in the preset time period, the temperature of the hot runner reaches balance.
A further improvement is that in the process of heating the hot runner to achieve the temperature rise to the target temperature by using the disturbance power, the average value of the temperature change in the last period of time is calculated by detecting the change of the temperature of the hot runner in real time, so as to determine the magnitude of the disturbance power.
A further improvement is that after the integral term of the PID controller is added, the accumulation of the integral term is limited before the hot runner temperature rises to a value less than a preset switching threshold from the target temperature.
The temperature controller predicts and corrects the temperature value acquired by the temperature sensor by adopting a Kalman filtering algorithm when detecting the real-time temperature of the hot runner.
A further improvement is that the kalman filter algorithm is formulated as follows:
T k|k ＝T k-1|k-1 +K k ·(T m -H·T k|k-1 )
wherein T is k|k Indicating at time k the estimated value T of temperature for the previous time k-1 k|k-1 And a temperature estimated value obtained after correction of the measured value of the current moment k; t (T) m A temperature value measured from the temperature sensor at time k; h represents an observation matrix for describing a linear relationship between the state vector and the observed value; k (K) k Is Kalman gain, K k The calculation formula of (2) is as follows:
K k ＝P k|k-1 /(P k|k-1 +R k )
wherein R is k Is measurement noise; p (P) k|k-1 Is covariance matrix, P k|k-1 Recursive calculation was performed by the following formula:
P k|k-1 ＝P k-1|k-1 +Q k
wherein P is k-1|k-1 Covariance matrix representing previous time k-1, Q k A covariance matrix representing system process noise.
The second aspect of the application provides a hot runner temperature controller, which comprises a microcontroller, a thermocouple acquisition module, a control signal output module and a communication module, wherein the thermocouple acquisition module, the control signal output module and the communication module are respectively connected with the microcontroller, and the temperature controller is used for applying the hot runner temperature control method according to any one of the first aspects when the temperature of the hot runner is regulated.
A further improvement is that the microcontroller comprises:
the first control unit is used for controlling the PID control module of the temperature controller to only adopt a proportion item to control the heater to heat the hot runner to achieve heat balance after the target temperature is set;
the second control unit is used for controlling the PID control module of the temperature controller to increase integral items to perform heating control on the hot runner when the hot runner reaches heat balance;
the judging unit is used for judging whether the difference value between the real-time temperature of the hot runner and the target temperature is smaller than a preset switching threshold value or not;
the first execution unit is used for switching the temperature controller to a proportional, integral and differential temperature regulation method when the judgment unit judges that the difference value between the real-time temperature of the hot runner and the target temperature is smaller than a preset switching threshold value;
and the second execution unit is used for adding disturbance power to the heater when the judgment unit judges that the difference value between the real-time temperature of the hot runner and the target temperature is not smaller than the preset switching threshold value, and heating the hot runner by using the disturbance power only to realize that the difference value between the temperature of the hot runner and the target temperature is smaller than the preset switching threshold value.
A third aspect of the present application proposes an electronic device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a hot runner temperature control method of any one of the first aspects when executing the computer program.
A fourth aspect of the present application proposes a computer readable storage medium comprising a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform a hot runner temperature control method according to any one of the first aspects.
The application has the beneficial effects that:
according to the application, the heater is controlled by adopting the proportional term to heat the hot runner to achieve heat balance after the target temperature is set, the integral term is added to heat the hot runner after the heat balance is achieved, and after the integral term of the PID control module is added, the accumulation of the integral term is limited before the hot runner temperature reaches the temperature close to the target temperature, so that the heat balance is achieved by controlling the heating power and the heat conduction of the runner plate, when the difference between the real-time temperature of the hot runner and the target temperature is detected to be not smaller than the preset switching threshold value, the temperature controller controls the heater to increase one disturbance power, so that the temperature control system breaks the heat balance state, the temperature rise is realized, and the difference between the temperature rise of the hot runner and the target temperature is realized to be smaller than the preset switching threshold value by using the disturbance power only, the temperature change speed can be accelerated under the stable state of the system, the phenomenon of overshoot caused by the integral saturation is avoided when the temperature change is large, and the running of the hot runner system is ensured.
According to the application, the temperature value acquired by the temperature sensor is predicted and corrected by adopting a Kalman filtering algorithm, and the Kalman filtering algorithm processes and filters signals by combining a state vector and an observation matrix by using parameters such as a covariance matrix, measurement noise and the like, so that measurement errors are reduced, and temperature acquisition accuracy is improved.
Drawings
FIG. 1 is a schematic illustration of a hot runner temperature control method of the present application;
FIG. 2 is a block diagram of a hot runner temperature controller according to the present application;
fig. 3 is a schematic diagram of an electronic device according to the present application.
Detailed Description
In order that the manner in which the application may be better understood, a more particular description of the application, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1 to 3, a first aspect of an embodiment of the present application provides a hot runner temperature control method, as shown in fig. 1, including:
and S1, after the target temperature is set, a PID control module of the temperature controller only adopts a proportion item to control the heater to heat the hot runner to achieve heat balance.
It will be appreciated that in this step, a target temperature first needs to be set manually. Then, the PID control module of the temperature controller only adopts a proportion item to carry out heating control. This means that the temperature controller uses only the proportional term to calculate the control signal, without taking the integral term and the differential term into account. The proportional control is a control mode for adjusting the output power according to the magnitude of the current error (i.e., the difference between the target temperature and the actual temperature). Specifically, it multiplies the error by a scaling factor to calculate the output power, thereby controlling the temperature rise or fall by increasing or decreasing the magnitude of the output power.
Due to the heat conduction from the hot runner to the outside, a steady state is eventually reached, at which time the heating power is equal to the heat dissipation power. That is, in this steady state, a balance is achieved between heating power and heat dissipation power, and the temperature of the system will remain steady and will not rise or fall any more. When the heating power is equal to the heat dissipation power, it can be expressed by the following equation: p (P) t ＝R(T 1 -T 0 )＝K p (T dst -T 1 ) Wherein P is t For heating power, R is thermal resistance, T 1 Is the temperature of a hot runner, T 0 At ambient temperature, K p Is PID controls the proportional term coefficient, T dst Is the target temperature.
And S2, increasing an integral term by a PID control module of the temperature controller when the hot runner reaches the heat balance to perform heating control on the hot runner. And after the integral term of the PID control module is added, the accumulation of the integral term is limited before the temperature of the hot runner reaches the temperature close to the target temperature, so that the heating power and the heat conduction of the runner plate are controlled to reach heat balance.
It should be appreciated that the integral term is a control scheme that calculates the output power based on a historical running total of the current error. In this step, after the temperature reaches steady state, the integral term of the PID control module is added. However, before the hot runner temperature reaches near the target temperature, the accumulation of integral terms needs to be limited to ensure that the output of the temperature controller only controls the heating power and hot runner heat conduction to achieve thermal equilibrium.
Step S3, detecting the real-time temperature of the hot runner and judging whether the difference value between the hot runner and the target temperature is smaller than a preset switching threshold value; if yes, go to step S4, otherwise go to step S5.
It is understood that when the difference between the real-time temperature of the hot runner and the target temperature is smaller than the preset switching threshold, it means that the real-time temperature of the hot runner has reached the target temperature, and otherwise, the standard of the target temperature is not reached. Specifically, the size of the switching threshold may be set by a person skilled in the art according to the actual situation, and the embodiment is not limited specifically.
And S4, switching the temperature controller to a proportional, integral and differential temperature regulating method.
It can be understood that when the difference between the real-time temperature of the hot runner and the target temperature is smaller than the preset switching threshold, the temperature controller will switch to the normal PID control mode, i.e. the proportional, integral and differential temperature regulation method, wherein the proportional term coefficient, integral term coefficient and differential term coefficient can be adjusted according to the actual situation. At this time, the temperature controller only depends on three parts of proportion, integration and differentiation to control heating power, so that accurate control of the temperature of the hot runner is realized, the hot runner is maintained near the target temperature, and the deviation is not too large. Since the normal PID control mode is a conventional scheme in the art, this embodiment will not be described in detail, and those skilled in the art will refer to the prior art.
And S5, the temperature controller controls the heater to increase disturbance power, and only the disturbance power is used for heating the hot runner to enable the difference between the temperature rise and the target temperature to be smaller than a preset switching threshold value, and the steps of detecting the real-time temperature of the hot runner and judging whether the difference between the temperature rise and the target temperature is smaller than the preset switching threshold value are repeatedly executed in the process. When the difference between the real-time temperature of the hot runner and the target temperature is smaller than a preset switching threshold, switching to a normal PID control mode and closing disturbance power output.
In addition, in the process of heating the hot runner by using the disturbance power to achieve the temperature rise to the target temperature, the average value of the temperature change in the last period of time is calculated by detecting the change of the temperature of the hot runner in real time so as to determine the magnitude of the disturbance power.
It can be understood that, in order to make the temperature reach the target temperature quickly, a disturbance power dP is added to the heater, so as to ensure that the temperature control system breaks the thermal equilibrium state, and realize temperature rise, where the expression of the disturbance power dP is: dp=mc Δt, where m is the mass of the hot runner, C is the specific heat capacity of the hot runner, Δt is a temperature change value monitored in real time, by monitoring the temperature change Δt in real time and calculating a temperature change average value in the latest time, the magnitude of disturbance power is determined by the temperature change average value, overshoot is prevented, by setting the disturbance power, it is possible to prevent the system from entering long-time heat balance before reaching the target temperature, ensure continuous temperature rise, and simultaneously, by heating only by using the disturbance power, it is possible to accelerate the temperature change speed in a stable state of the system, and it is avoided that overshoot phenomenon due to integral saturation occurs when the temperature value change is large, ensuring stable operation of the hot runner system.
In one embodiment of the application, after the integral term of the PID controller is added, the accumulation of the integral term is limited before the hot runner temperature rises to a value less than a preset switching threshold. I.e., the hot runner temperature reaches near the target temperature, means that the difference between the real-time temperature of the hot runner and the target temperature is less than a preset switching threshold.
In one embodiment of the present application, in step S2, the method for determining that the hot runner reaches the thermal equilibrium is:
and detecting the real-time temperature of the hot runner according to a preset time interval.
If the difference value between the real-time temperatures acquired at any two time intervals does not exceed the preset difference value threshold value in the preset time period, the temperature of the hot runner reaches balance.
It can be understood that the judging method mainly judges whether the hot runner reaches the thermal equilibrium state by monitoring the real-time temperature change condition of the hot runner. Specifically, the time is divided into a plurality of intervals, the real-time temperature of the hot runner is detected at the end of each interval, then the difference value between the temperatures of the hot runners in any two adjacent time intervals is calculated, and the difference value is compared with a preset difference value threshold. If the difference value between the real-time temperatures acquired at any two time intervals does not exceed the preset difference value threshold value in the preset time period, the temperature of the hot runner reaches balance. By setting the preset time interval and the difference threshold, whether the hot runner reaches an equilibrium state can be accurately determined. The magnitude of the difference threshold may be set by a person skilled in the art according to the actual situation, and the embodiment is not specifically limited.
In one embodiment of the application, when the real-time temperature of the hot runner is detected, the temperature controller predicts and corrects the temperature value acquired by the temperature sensor by adopting a Kalman filtering algorithm so as to obtain a temperature estimated value as the real-time temperature, thereby obtaining more accurate real-time temperature.
Specifically, the formula of the kalman filter algorithm is as follows:
T k|k ＝T k-1|k-1 +K k ·(T m -H·T k|k-1 )
wherein T is k|k Indicated at time k by the pair ofTemperature estimate T at the previous time, i.e. time k-1 k|k-1 And a temperature estimated value obtained after correction of the measured value of the current moment k; t (T) m A temperature value measured from the temperature sensor at time k; h represents an observation matrix for describing a linear relationship between the state vector and the observed value; k (K) k Is Kalman gain, K k The calculation formula of (2) is as follows:
K k ＝P k|k-1 /(P k|k-1 +R k )
wherein R is k Is the measurement noise, R k It is necessary to take the appropriate value according to the actual situation, the smaller the predicted value, the faster the convergence, but if R k Taking too small can make the filter too sensitive to noise, resulting in unstable filtering results; p (P) k|k-1 Is covariance matrix, P k|k-1 Recursive calculation was performed by the following formula:
P k|k-1 ＝P k-1|k-1 +Q k
wherein P is k-1|k-1 Representing the covariance matrix of the previous instant, i.e., the k-1 instant, Q k A covariance matrix representing system process noise.
According to the application, the temperature value acquired by the temperature sensor is predicted and corrected by adopting a Kalman filtering algorithm, and the Kalman filtering algorithm processes and filters signals by combining a state vector and an observation matrix by using parameters such as a covariance matrix, measurement noise and the like, so that measurement errors are reduced, and temperature acquisition accuracy is improved.
The second aspect of the embodiment of the present application provides a hot runner temperature controller, as shown in fig. 2, where the controller includes a microcontroller, a thermocouple collection module, a control signal output module, a communication module, and a voltage collection module, where the thermocouple collection module, the control signal output module, the communication module, and the voltage collection module are respectively connected to the microcontroller, and the temperature controller is used to apply the hot runner temperature control method according to any one of the first aspect of the embodiments when the temperature of the hot runner is adjusted.
Specifically, the microcontroller comprises:
and the first control unit is used for controlling the PID control module of the temperature controller to control the heater to heat the hot runner only by adopting the proportion item to reach the heat balance after the target temperature is set.
And the second control unit is used for controlling the PID control module of the temperature controller to increase the integral term to perform heating control on the hot runner when the hot runner reaches the heat balance.
And the judging unit is used for judging whether the difference value between the real-time temperature of the hot runner and the target temperature is smaller than a preset switching threshold value.
And the first execution unit is used for switching the temperature controller to a proportional, integral and differential temperature regulation method when the judgment unit judges that the difference value between the real-time temperature of the hot runner and the target temperature is smaller than the preset switching threshold value.
And the second execution unit is used for adding disturbance power to the heater when the judgment unit judges that the difference value between the real-time temperature of the hot runner and the target temperature is not smaller than the preset switching threshold value, and heating the hot runner by using the disturbance power only to realize that the difference value between the temperature of the hot runner and the target temperature is smaller than the preset switching threshold value.
Referring to fig. 3, a third aspect of the embodiment of the present application also correspondingly provides an electronic device and a computer-readable storage medium.
Fig. 3 is a schematic diagram of an electronic device according to an embodiment of the present application. The electronic device of this embodiment includes: a processor 11, a memory 12 and a computer program stored in said memory and executable on said processor 11. The steps of one of the embodiments of the hot runner temperature control method described above are implemented when the processor 11 executes the computer program. Alternatively, the processor 11 may implement the functions of the modules/units in the above-described embodiments of the apparatus when executing the computer program.
The computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor 11 to accomplish the present application, for example. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the electronic device.
The electronic device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of an electronic device and is not limiting of the electronic device, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may also include an input-output device, a network access device, a bus, etc.
The processor 11 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is a control center of the electronic device, connecting various parts of the overall electronic device using various interfaces and lines.
The memory 12 may be used to store the computer programs and/or modules, and the processor may perform various functions of the electronic device by executing or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system 121, an application program 122 (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Wherein the integrated modules/units of the electronic device may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as stand alone products. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the application, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present application without undue burden.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
Claims (10)
1. A method of controlling a temperature of a hot runner, comprising:
after the target temperature is set, the PID control module of the temperature controller only adopts a proportion item to control the heater to heat the hot runner to achieve heat balance;
when the hot runner reaches heat balance, the PID control module of the temperature controller increases an integral term to control the heating of the hot runner;
detecting the real-time temperature of the hot runner and judging whether the difference value between the hot runner and the target temperature is smaller than a preset switching threshold value;
if yes, the temperature controller is switched to a proportional, integral and differential temperature regulating method; if not, the temperature controller controls the heater to increase disturbance power, and only the disturbance power is used for heating the hot runner to enable the difference between the temperature rise and the target temperature to be smaller than a preset switching threshold value, and in the process, the steps of detecting the real-time temperature of the hot runner and judging whether the difference between the temperature rise and the target temperature is smaller than the preset switching threshold value are repeatedly executed.
2. The method for controlling the temperature of a hot runner according to claim 1, wherein the method for determining that the hot runner reaches the thermal equilibrium is as follows:
detecting the real-time temperature of the hot runner according to a preset time interval;
if the difference value between the real-time temperatures acquired at any two time intervals does not exceed the preset difference value threshold value in the preset time period, the temperature of the hot runner reaches balance.
3. The method according to claim 1, wherein the magnitude of the disturbance power is determined by calculating an average value of temperature changes over a recent period of time by detecting the change in the temperature of the hot runner in real time during the heating of the hot runner to achieve the temperature rise to the target temperature using the disturbance power.
4. The method according to claim 1, wherein after adding the integral term of the PID controller, accumulation of the integral term is limited before the hot runner temperature rises to a difference from the target temperature less than a preset switching threshold.
5. The method according to any one of claims 1 to 4, wherein the temperature controller predicts and corrects the temperature value acquired by the temperature sensor by using a kalman filter algorithm when detecting the real-time temperature of the hot runner.
6. The method of claim 5, wherein the kalman filter algorithm is formulated as follows:
T k|k ＝T k-1|k-1 +K k ·(T m -H·T k|k-1 )
wherein T is k|k Indicating at time k the estimated value T of temperature for the previous time k-1 k|k-1 And a temperature estimated value obtained after correction of the measured value of the current moment k; t (T) m A temperature value measured from the temperature sensor at time k; h represents an observation matrix for describing a linear relationship between the state vector and the observed value; k (K) k Is Kalman gain, K k The calculation formula of (2) is as follows:
K k ＝P k|k-1 /(P k|k-1 +R k )
wherein R is k Is measurement noise; p (P) k|k-1 Is covariance matrix, P k|k-1 Recursive calculation was performed by the following formula:
P k|k-1 ＝P k-1|k-1 +Q k
wherein P is k-1|k-1 Covariance matrix representing previous time k-1, Q k A covariance matrix representing system process noise.
7. A hot runner temperature controller, comprising a microcontroller, a thermocouple acquisition module, a control signal output module and a communication module, wherein the thermocouple acquisition module, the control signal output module and the communication module are respectively connected with the microcontroller, and the hot runner temperature controller is characterized in that the temperature controller is used for applying the hot runner temperature control method according to any one of claims 1 to 6 when the hot runner temperature is regulated.
8. The hot runner temperature controller of claim 7, wherein the microcontroller comprises:
the first control unit is used for controlling the PID control module of the temperature controller to only adopt a proportion item to control the heater to heat the hot runner to achieve heat balance after the target temperature is set;
the second control unit is used for controlling the PID control module of the temperature controller to increase integral items to perform heating control on the hot runner when the hot runner reaches heat balance;
the judging unit is used for judging whether the difference value between the real-time temperature of the hot runner and the target temperature is smaller than a preset switching threshold value or not;
the first execution unit is used for switching the temperature controller to a proportional, integral and differential temperature regulation method when the judgment unit judges that the difference value between the real-time temperature of the hot runner and the target temperature is smaller than a preset switching threshold value;
and the second execution unit is used for adding disturbance power to the heater when the judgment unit judges that the difference value between the real-time temperature of the hot runner and the target temperature is not smaller than the preset switching threshold value, and heating the hot runner by using the disturbance power only to realize that the difference value between the temperature of the hot runner and the target temperature is smaller than the preset switching threshold value.
9. An electronic device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a hot runner temperature control method according to any one of claims 1 to 6 when executing the computer program.
10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform a hot runner temperature control method according to any one of claims 1 to 6.
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