CN118288514A - Synchronous control system and method suitable for injection molding machine - Google Patents
Synchronous control system and method suitable for injection molding machine Download PDFInfo
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 25
- 238000001746 injection moulding Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000001419 dependent effect Effects 0.000 claims abstract description 6
- 238000013210 evaluation model Methods 0.000 claims description 14
- 238000007405 data analysis Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 12
- 238000010276 construction Methods 0.000 claims description 3
- 238000013480 data collection Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000002347 injection Methods 0.000 description 3
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Abstract
The invention relates to a synchronous control system and a synchronous control method suitable for an injection molding machine, which are characterized in that working data in a historical period are collected, wherein the working data comprise the running speeds and the running times of two servo motors and the accumulated position deviation amount generated in the running time; obtaining a speed difference value of the two servo motors according to the running speeds of the two servo motors, and multiplying the speed difference value by the running time to obtain an accumulated speed difference value; constructing a functional relation model by taking the accumulated speed difference value as an independent variable and the corresponding accumulated position deviation value as a dependent variable; and evaluating the detected speed difference value by the functional relation model to predict the time when the position deviation needs to be adjusted. According to the invention, the relation between the speed difference value and the position deviation of the servo motor is established, so that the synchronous control of the servo motor can adjust the position deviation only by detecting the running speed without detecting the position of the motor, the detection program is reduced, and the working efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of motor control, and relates to a synchronous control system and method suitable for an injection molding machine.
Background
The injection molding machine is high in requirement on synchronous control precision of the servo motor, high and stable in control requirement precision on injection precision, and the screw rod and the injection motor are required to be protected. However, in the control of the injection molding machine, when the injection molding machine uses plastic injection, the stability of injection molding of the injection molding machine cannot be effectively ensured due to unbalanced fracture of the screw rod caused by deviation of two servo motors in the operation process.
At present, people adjust the positions of the motors by detecting the position deviation between the two motors so as to realize synchronous control of the injection molding machine on the servo motor. However, the position detection is often required to be determined by a plurality of programs, and the working efficiency is greatly reduced because the position change amount of the motor during working is relatively small and difficult to be identified.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a synchronous control system and a synchronous control method suitable for an injection molding machine.
The aim of the invention can be achieved by the following technical scheme:
in a first aspect, the present application provides a synchronous control system suitable for an injection molding machine, including a speed detection module, a data analysis module, and an intelligent control module, wherein:
The speed detection module is used for detecting the running speeds of at least two servo motors to obtain a first speed and a second speed; calculating the speed difference of the current two servo motors based on the first speed and the second speed;
The data analysis module is connected with the speed detection module, and inputs the speed difference value into a preset position evaluation model to output the time of predicting the position deviation to be adjusted;
The intelligent control module is connected with the data analysis module and is used for adjusting the two servo motors to the initial position according to the time of the expected position deviation.
Further, in the speed detection module, the speed difference is a positive number when the first speed is greater than the second speed; when the first speed is less than the second speed, it is negative.
Further, in the data analysis module, the preset position evaluation model includes the following construction steps:
S1, data collection: collecting working data of a historical period, wherein the working data comprises the running speeds, the running times and accumulated position deviation amounts generated in the running times of two servo motors;
s2, data processing: obtaining a speed difference value of the two servo motors according to the running speeds of the two servo motors, and multiplying the speed difference value by the running time to obtain an accumulated speed difference value;
S3, constructing a model: and constructing a functional relation model between the two by taking the accumulated speed difference value as an independent variable and the corresponding accumulated position deviation value as a dependent variable.
Further, in step S3, the functional relation model is configured as a linear relation function or a nonlinear relation function, which is specifically as follows:
When the correlation coefficient between the accumulated speed difference value and the accumulated position deviation value is more than or equal to 0.7, adopting a linear relation function;
When the correlation coefficient between the integrated speed difference and the integrated position deviation is smaller than 0.7, a nonlinear relation function is adopted.
Further, in the data analysis module, the step of inputting the speed difference value into a preset position evaluation model to output a time for which the position deviation is expected to be required to be adjusted includes the following steps:
T1, setting a position deviation threshold;
T2, subtracting the current accumulated position deviation amount from the position deviation threshold value to obtain an allowable accumulated position deviation amount, and substituting the allowable accumulated position deviation amount into a preset position evaluation model to obtain an allowable accumulated speed difference value;
And T3, dividing the allowable accumulated speed difference value by the speed difference value of the current two servo motors to obtain the time of the expected position deviation to be adjusted.
Further, in the intelligent control module, the two servo motors are adjusted to the initial positions according to the time when the position deviation is expected to be adjusted, which is specifically as follows:
when the time for which the position deviation is expected to be adjusted is 1, that is, when the allowable accumulated speed difference is equal to the current speed difference of the two servo motors, the two servo motors are adjusted to the initial positions.
In a second aspect, the present application provides a synchronous control method for an injection molding machine, which is applied to a synchronous control system for an injection molding machine as described above.
The invention has the beneficial effects that:
Collecting working data of a historical period, wherein the working data comprises the running speeds, the running times and accumulated position deviation amounts generated in the running times of two servo motors; obtaining a speed difference value of the two servo motors according to the running speeds of the two servo motors, and multiplying the speed difference value by the running time to obtain an accumulated speed difference value; taking the accumulated speed difference value as an independent variable and the corresponding accumulated position deviation value as a dependent variable, and constructing a functional relation model between the two; and evaluating the detected speed difference value of the servo motor by using the functional relation model so as to predict the time when the position deviation needs to be adjusted. According to the invention, the relation between the speed difference value and the position deviation of the servo motor is established, so that the synchronous control of the servo motor can adjust the position deviation only by detecting the running speed without detecting the motor position any more, the detection program is reduced in the process, and the working efficiency is improved.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
Fig. 1 is a block diagram of a synchronous control system suitable for an injection molding machine according to the present invention.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description will refer to the specific implementation, structure, characteristics and effects according to the present invention with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1, in a first aspect, the present application provides a synchronous control system suitable for an injection molding machine, including a speed detection module, a data analysis module and an intelligent control module, wherein:
The speed detection module is used for detecting the running speeds of at least two servo motors to obtain a first speed and a second speed; calculating the speed difference of the current two servo motors based on the first speed and the second speed;
The data analysis module is connected with the speed detection module, and inputs the speed difference value into a preset position evaluation model to output the time of predicting the position deviation to be adjusted;
The intelligent control module is connected with the data analysis module and is used for adjusting the two servo motors to the initial position according to the time of the expected position deviation.
It should be noted that the two servo motor speed differences in this embodiment are of a magnitude and direction that have a significant impact on the positional deviation. According to the embodiment, the relation between the speed difference values of the two servo motors and the position deviation thereof is utilized, and the time for adjusting the position deviation is calculated, so that the position deviation is adjusted based on the fixed workload of the servo motors, the position of the motor is not required to be detected any more for adjusting the position deviation, only the speed is required to be detected, the detection program is reduced, and the working efficiency is improved.
Further, in the speed detection module, the speed difference is a positive number when the first speed is greater than the second speed; when the first speed is less than the second speed, it is negative.
Further, in the data analysis module, the preset position evaluation model includes the following construction steps:
S1, data collection: collecting working data of a historical period, wherein the working data comprises the running speeds, the running times and accumulated position deviation amounts generated in the running times of two servo motors;
it should be noted that the running time herein refers to the time that the two servomotors are running cumulatively after the initial position.
S2, data processing: obtaining a speed difference value of the two servo motors according to the running speeds of the two servo motors, and multiplying the speed difference value by the running time to obtain an accumulated speed difference value;
S3, constructing a model: and constructing a functional relation model between the two by taking the accumulated speed difference value as an independent variable and the corresponding accumulated position deviation value as a dependent variable.
Further, in step S3, the functional relation model is configured as a linear relation function or a nonlinear relation function, which is specifically as follows:
When the correlation coefficient between the accumulated speed difference value and the accumulated position deviation value is more than or equal to 0.7, adopting a linear relation function;
When the correlation coefficient between the integrated speed difference and the integrated position deviation is smaller than 0.7, a nonlinear relation function is adopted.
In the present embodiment, when the correlation coefficient between the integrated speed difference value and the integrated position deviation amount is equal to or greater than 0.7, the relationship between them is described using a linear relationship function, which means that there is a strong linear correlation between the speed difference value and the position deviation amount. When the correlation coefficient between the accumulated speed difference and the accumulated position deviation amount is smaller than 0.7, the relationship between them is described by using a nonlinear relationship function, which means that there may be some nonlinear correlation between the speed difference and the position deviation amount, and the linear model may not fit the relationship well.
Further, in the data analysis module, the step of inputting the speed difference value into a preset position evaluation model to output a time for which the position deviation is expected to be required to be adjusted includes the following steps:
T1, setting a position deviation threshold;
T2, subtracting the current accumulated position deviation amount from the position deviation threshold value to obtain an allowable accumulated position deviation amount, and substituting the allowable accumulated position deviation amount into a preset position evaluation model to obtain an allowable accumulated speed difference value;
And T3, dividing the allowable accumulated speed difference value by the speed difference value of the current two servo motors to obtain the time of the expected position deviation to be adjusted.
In this embodiment, the preset position evaluation model is established according to the accumulated speed difference and accumulated position deviation between two servomotors according to the historical period working data, and is applied to the monitoring of the speed difference between two servomotors in real work. Firstly, setting a position deviation threshold, wherein when the accumulated position deviation reaches the threshold, the two servo motors are required to be adjusted to the initial position, so that the accumulated position deviation is obtained by subtracting the current accumulated position deviation from the position deviation threshold, and the accumulated position deviation which is allowed to occur between the two servo motors is indicated; then substituting the allowable accumulated position deviation amount into a preset position evaluation model (utilizing a functional relation between the accumulated speed difference value and the accumulated position deviation amount) to obtain an accumulated speed difference value which is currently allowed to appear between the two servo motors; finally, dividing the allowable accumulated speed difference by the speed difference of the current two servo motors, namely, under the condition that the speed difference of the current two servo motors is maintained, predicting the time for reaching the position deviation threshold (namely, predicting the time for needing to adjust the position deviation).
Further, in the intelligent control module, the two servo motors are adjusted to the initial positions according to the time when the position deviation is expected to be adjusted, which is specifically as follows:
when the time for which the position deviation is expected to be adjusted is 1, that is, the allowable accumulated speed difference is equal to the current speed difference of the two servo motors, the two servo motors are adjusted to the initial positions.
When the time for which the position deviation is expected to be adjusted is 1, the allowable integrated speed difference is equal to the speed difference of the current two servomotors, and it is known that the integrated position deviation between the two servomotors corresponding to the allowable integrated speed difference has reached the position deviation threshold according to the functional relationship between the integrated speed difference and the integrated position deviation, so that the two servomotors need to be adjusted to the initial positions. In a second aspect, the present application provides a synchronous control method for an injection molding machine, which is applied to a synchronous control system for an injection molding machine as described above.
The invention has the beneficial effects that:
Collecting working data of a historical period, wherein the working data comprises the running speeds, the running times and accumulated position deviation amounts generated in the running times of two servo motors; obtaining a speed difference value of the two servo motors according to the running speeds of the two servo motors, and multiplying the speed difference value by the running time to obtain an accumulated speed difference value; taking the accumulated speed difference value as an independent variable and the corresponding accumulated position deviation value as a dependent variable, and constructing a functional relation model between the two; and evaluating the detected speed difference value of the servo motor by using the functional relation model so as to predict the time when the position deviation needs to be adjusted. According to the invention, the relation between the speed difference value and the position deviation of the servo motor is established, so that the synchronous control of the servo motor can adjust the position deviation only by detecting the running speed without detecting the motor position any more, the detection program is reduced in the process, and the working efficiency is improved.
The present invention is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present invention.
Claims (5)
1. A synchronous control system suitable for injection molding machine, characterized in that: the intelligent speed detecting device comprises a speed detecting module, a data analyzing module and an intelligent control module, wherein:
The speed detection module is used for detecting the running speeds of at least two servo motors to obtain a first speed and a second speed; calculating the speed difference of the current two servo motors based on the first speed and the second speed;
The data analysis module is connected with the speed detection module, and inputs the speed difference value into a preset position evaluation model to output the time of predicting the position deviation to be adjusted;
the preset position evaluation model comprises the following construction steps:
S1, data collection: collecting working data of a historical period, wherein the working data comprises the running speeds, the running times and accumulated position deviation amounts generated in the running times of two servo motors;
s2, data processing: obtaining a speed difference value of the two servo motors according to the running speeds of the two servo motors, and multiplying the speed difference value by the running time to obtain an accumulated speed difference value;
S3, constructing a model: taking the accumulated speed difference value as an independent variable and the corresponding accumulated position deviation value as a dependent variable, and constructing a functional relation model between the two;
the step of inputting the speed difference value into a preset position evaluation model to output the time of predicting the position deviation to be adjusted comprises the following steps:
T1, setting a position deviation threshold;
T2, subtracting the current accumulated position deviation amount from the position deviation threshold value to obtain an allowable accumulated position deviation amount, and substituting the allowable accumulated position deviation amount into a preset position evaluation model to obtain an allowable accumulated speed difference value;
t3, dividing the allowable accumulated speed difference value by the speed difference value of the current two servo motors to obtain the time of the expected position deviation to be adjusted;
The intelligent control module is connected with the data analysis module and is used for adjusting the two servo motors to the initial position according to the time of the expected position deviation.
2. A synchronous control system for an injection molding machine as claimed in claim 1, wherein: in the speed detection module, its characterized in that: the speed difference is positive when the first speed is greater than the second speed; when the first speed is less than the second speed, it is negative.
3. A synchronous control system for an injection molding machine as claimed in claim 1, wherein: in step S3, the functional relation model is configured as a linear relation function or a nonlinear relation function, and specifically includes the following steps:
When the correlation coefficient between the accumulated speed difference value and the accumulated position deviation value is more than or equal to 0.7, adopting a linear relation function;
When the correlation coefficient between the integrated speed difference and the integrated position deviation is smaller than 0.7, a nonlinear relation function is adopted.
4. A synchronous control system for an injection molding machine as claimed in claim 1, wherein: in the intelligent control module, the two servo motors are adjusted to the initial positions according to the time of the expected position deviation, and the method specifically comprises the following steps:
when the time for which the position deviation is expected to be adjusted is 1, that is, when the allowable accumulated speed difference is equal to the current speed difference of the two servo motors, the two servo motors are adjusted to the initial positions.
5. A synchronous control method suitable for an injection molding machine is characterized in that: a synchronous control system for an injection molding machine according to any one of claims 1-4.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410730653.9A CN118288514B (en) | 2024-06-06 | Synchronous control system and method suitable for injection molding machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410730653.9A CN118288514B (en) | 2024-06-06 | Synchronous control system and method suitable for injection molding machine |
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| CN118288514A true CN118288514A (en) | 2024-07-05 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4785221A (en) * | 1985-04-26 | 1988-11-15 | Fanuc Ltd. | Drive control device of injection molding machine driven by servo motor |
| CN102672926A (en) * | 2011-03-11 | 2012-09-19 | 深圳领威科技有限公司 | Molten gel back pressure control system and method for electrically controlled injection molding machine |
| CN110757753A (en) * | 2019-11-01 | 2020-02-07 | 珠海格力智能装备有限公司 | Control method and device of injection molding machine and injection molding machine equipment |
| JP2023088149A (en) * | 2021-12-14 | 2023-06-26 | 東洋電機製造株式会社 | Synchronous operation device |
| CN116423749A (en) * | 2023-03-01 | 2023-07-14 | 博创智能装备股份有限公司 | Dual-motor driven electric melt adhesive energy-saving device of large injection molding machine |
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4785221A (en) * | 1985-04-26 | 1988-11-15 | Fanuc Ltd. | Drive control device of injection molding machine driven by servo motor |
| CN102672926A (en) * | 2011-03-11 | 2012-09-19 | 深圳领威科技有限公司 | Molten gel back pressure control system and method for electrically controlled injection molding machine |
| CN110757753A (en) * | 2019-11-01 | 2020-02-07 | 珠海格力智能装备有限公司 | Control method and device of injection molding machine and injection molding machine equipment |
| JP2023088149A (en) * | 2021-12-14 | 2023-06-26 | 東洋電機製造株式会社 | Synchronous operation device |
| CN116423749A (en) * | 2023-03-01 | 2023-07-14 | 博创智能装备股份有限公司 | Dual-motor driven electric melt adhesive energy-saving device of large injection molding machine |
Non-Patent Citations (1)
| Title |
|---|
| 李明辉 等: "基于矢量控制的全电动注塑机控制系统设计", 《陶瓷》, 31 July 2012 (2012-07-31), pages 27 - 29 * |
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