557245 A7 經濟部智慧財產局員工消費合作社印製 五、發明說明（ 【本發明之領域】 本發明係關於一種伺服驅動射出成形機的背壓控制 方法，尤指一種適用於正確地控制一伺服驅動射出成形機 之多段計量背壓的方法。 【本發明之背景】 在一射出成形機的計量程序中，一塑性材料如一樹脂 在一加熱圓筒中利用一螺桿之旋轉被塑化為一熔化狀態， 而熔化樹脂儲存於加熱圓筒之末端部分^螺桿會因來自熔 化樹脂的塑化壓力而後退。當螺桿向後移動至一預設計量 位置時，螺桿的旋轉會停止，並終止計量程序。 般而S，為調整樹脂的溶化與計量結果，在計量期 間必須控制該螺桿之背壓。舉例而言，利用一液壓所驅動 的一射出成形機，其背壓也是由液壓所控制。然而，傳統 的油壓式射出成形機往往會因為油液本身的壓縮性與黏滞 性所造成的傳導不良性影嚮塑化與計量精度，產生成形品 品質不穩定，進而影響機器性能。因此，本發明係利用飼 服驅動的機動性與控制性來解決傳統油壓驅動的問題。 發明人爰因於此，本於積極發明之精神，亟思一種可 以解決上述問題之「伺服驅動射出成形機的背壓控制方法」，幾經研究實驗終至完成此項嘉惠世人之發明。 【本發明之概述】 本發明之主要目的係在提供一種伺服驅動射出成形 機的背壓控制方法，俾能分別地利用一射出飼服馬達與—計0服馬達進行射出與計量製成的抟制，以提供更精 t紙張尺度適用中國國豕標準（CNS)A4規格（2】〇 X 297公爱)' -----—------ 1 16543 <請先閱讀背面之注意事項再填寫本頁) 0 - 線 -n H · A7557245 A7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 5. [Explanation of the Invention] [Field of the Invention] The present invention relates to a back pressure control method for a servo-driven injection molding machine, especially a method suitable for controlling a servo drive correctly [Background of the present invention] In a metering process of an injection molding machine, a plastic material such as a resin is plasticized into a molten state by the rotation of a screw in a heating cylinder, The molten resin is stored at the end of the heating cylinder. The screw will retract due to the plasticizing pressure from the molten resin. When the screw moves backward to a preset metering position, the rotation of the screw will stop and the metering process will be terminated. S, in order to adjust the melting and measurement results of the resin, the back pressure of the screw must be controlled during the measurement. For example, using an injection molding machine driven by a hydraulic pressure, the back pressure is also controlled by the hydraulic pressure. However, the traditional Hydraulic injection molding machines often have poor conductivity due to the compressibility and viscosity of the oil itself. Plasticization and measurement accuracy cause unstable product quality and affect machine performance. Therefore, the present invention uses the maneuverability and controllability of feeding clothes to solve the problem of traditional oil pressure driving. The inventor therefore Based on the spirit of active invention, a "back pressure control method for servo-driven injection molding machine" that can solve the above problems is urgently considered. After several research experiments, this is the invention that benefits the world. [Summary of the Invention] The main purpose is to provide a back-pressure control method of a servo-driven injection molding machine, which can use an injection feeding motor and a meter 0 servo motor to perform injection and metering, respectively, to provide a more precise paper size. Applicable to China National Standard (CNS) A4 (2) 〇X 297 public love) '----------------- 1 16543 < Please read the precautions on the back before filling this page) 0- Line -n H · A7
557245 五、發明說明（2 ) 後、更快速、更靈敏的一背壓控制方法。 本發明之另一目的係在提供一種伺服驅動射出成形 機的背壓控制方法，俾能解決傳統油壓因背壓控制不良所 衍生的諸彡_，並提高機器本身的#密度與性能規格， 以達到精密成形的目的。 為達成上述及其他之目的，本發明係提供用於一伺服 驅動射出成形機的背壓控制方法，該射出成形機包含一計 量伺服馬達用以旋轉一螺桿於一計量轴與一射出伺服馬達 用以驅動該螺桿於一射出軸並執行射出，而該射出伺服馬 達係被一電流迴路、一位置迴路與一速度迴路與其相對應 之控制器所共同控制’以進行多段計量背壓控制，該背壓 控制方法至少包含有下列步驟：依據該射出成形機之機構 之組合設計與該射出伺服馬達扭力之選配建立一電流壓力 表，針對每段計量位置控制值設定一組背壓值與計量伺服 馬達轉速值，設定所需控制之背壓值，以根據該電流壓力 表獲得該射出伺服馬達所輸出之—扭力上限值；以及設定 該位置控制器之輸出為零。 【圖式簡單說明】 第1圖係根據本發明之一實施例顯示一射出成形機之 一背壓控制系統的功能方塊圖。 第2圖係為本發明之計量製程的一操作流程圖。 【圖號說明】 5 螺桿 10計量伺服馬達 20射—出伺服馬達 3()位置迴踉 本紙張尺度翻中關家標準（CNS)A4規格⑵G X 297公餐)-------- 2 16543 (請先閱讀背面之注音心事項再填寫本頁) 線· 經濟部智慧財產局員工消費合作社印製 557245 A7 五、發明說明（4 ) 出力方向設定為螺桿5前進之方向。接著，依據此射出成 形機之機構之組合設計與射出伺服馬達20扭力之選配，可 簡單建立一馬達扭力與壓力之關係表。或者，如圖所示， 也可將射出伺服馬達2〇電連接至一力量感測器（L〇a(i cell) 70，以藉由力量感測器7〇之回授量測在不同的射出 伺服馬達20扭力輸出所獲得之背壓值（kg/cm2)。上述之 馬達扭力與壓力之相關數據可利用一數值操作迴路中 之一處理器81轉換成一電流壓力表，並儲存於一記憶體 82中。 接著，針對每段計量位置分別地設定一背壓值與一計 量伺服馬達轉速值，如表1所示。由於計量伺服馬達j 〇 旋轉帶入塑料所產生之壓力會推動螺桿5在射出轴方向上 往後退，因此不同的計量位置與相對應之計量轉速可計算 得出一理想背壓設定值。 然後’利用該電流壓力表找出表1中一最大背壓設定 值所相對應的一電流值，並將此電流值所產生之扭力值設 定為射出伺服馬達20之一輸出扭力上限值。 經濟部智慧財產局員工消費合作社印製 (請先閱讀背面之注意事項再填寫本頁) 最後，設定位置控制器3 1之每次輸出之電流命令為 零。因為位置誤差之累積將隨著螺桿5的不斷後退而增 加，造成正向速度命令（射出方向）也同時持績增加。因 此一旦到達一計量終點，計量伺服馬達i 〇不再輸入塑料， 射出伺服馬達20也返回至正常扭力設定，在射出伺服迴路 中所殘留之正向速度命令完全反應至螺桿5之射出轴運 動，造成背壓控制的不穩定。 ^紙張尺度適用中國國家標準（CNS)A4規格（!210 X 297公餐）一 4 16543 557245 A7 經濟部智慧財產局員工消費合作社印製 五、發明說明（5 ) 如第1圖所7^ ’當螺桿位於位置Xn(n=l、2、3··)時， 處理器81使計量伺服民、去 服馬達10輪出一設定轉速Rn，並將利 用記憶體82中之電流壓力表找出背壓設定值Βρη所對應 之電飢值接著，利用一數位/類比信號轉換器60將利 用電流壓力表所取得之一齋 電流值轉換為一第一電壓類比信 號’並輸入至射出飼、去 j服馬達20的速度迴路40中。在射出 伺服馬達20的控制迴路中，位置迴路3Q的位置控制器μ 接收计量位置為XI之位置命令並累加來自螺桿5的一 位置回授值’以產生一速度命令。而該速度命令累加上來 自螺桿5之—速度回授值後輸人至速度迴路40之速度控制 41以產生之，—第二雷厥户咕 ^ 一電壓k就。右第二電壓信號不足以推 動螺桿往正向方向前進時’輸人至電餘前51的一電流 命令將快速地飽和至第一電壓類比信號所限制之電塵值， 而成為輸入至射出伺服馬達2〇之一電流命令。 請參考第2圖。第2圖係為計量製程的一操作流程 圖首S開始。十量控制，根據表j，輸出計量飼服馬達 轉速以及背壓設定值，經由處理器81處理獲得一相對應之 電流值。將該電流值輸入至數位/類比信號轉換器以轉換成 一第一電壓類比訊號，並輸入射出伺服馬達的迴路中，以 限制射出飼服馬達之電流上限。當塑料負載大於射出飼服 馬達20之電流上限時，將迫使螺桿5往後退，此時之回授 電流即為一固定值。然後，迫使螺桿5因後退所產生之位 置誤差歸零，以使得位置迴路40所輪出之速度命令為零。 而上述之背壓控制流程應持續直到一計量終點才俱I。 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公蜚） 16543 (請先閱讀背面之注意事項再填寫本頁) # 訂： 丨線_ 557245 A7 五、發明說明（ 在伺服驅動射出成形機的計量製程中，只要控制電流 命令為一常數值，且電流方向為正方向，即可控制背壓值。 為-常數值。但是如果整個射出伺服馬達的迴路僅使用電 流命令模式時，處理器便無法及時掌握位置之迴授值與速 度之回授值，而需特別處理螺桿失速與位置保護的問題。 因此，本發明的背壓控制方法不直接採用電流命令控制， 而是利用伺服迴路的三個閉迴路的控制與射出伺服馬達的 輸出扭力上限的控制’維持射出馬達的操作電流，以達到 背壓控制之目的。 本發明之伺服驅動射出成形機的背壓控制方法係提 供更精费、更快速、更靈敏的一背壓控制方法並提高機器 本身的精密度與性能規格，以達到精密成形的目的。 綜上所陳本發明無淪就目的、手段及功效，在在均 顯不其iQ異於習知技術之特徵，為「飼服驅動射出成形機 的背壓控制方法」之一大突破。惟應注意的是，上述諸多 實施例僅係為了便於說明而舉例而已，本發明所主張之權 利範圍自應以申請專利範圍所述為準，而非僅限於上述實 施例。557245 V. Description of the invention (2) A faster and more sensitive back pressure control method. Another object of the present invention is to provide a back pressure control method for a servo-driven injection molding machine, which can solve the problems caused by poor back pressure control of traditional oil pressure and improve the #density and performance specifications of the machine itself. In order to achieve the purpose of precision forming. In order to achieve the above and other objects, the present invention provides a back pressure control method for a servo-driven injection molding machine. The injection molding machine includes a metering servo motor for rotating a screw on a metering shaft and an injection servo motor. In order to drive the screw on an injection shaft and perform injection, the injection servo motor is controlled by a current loop, a position loop, and a speed loop and their corresponding controllers to perform multi-stage metering back pressure control. The pressure control method includes at least the following steps: According to the combined design of the injection molding machine mechanism and the selection of the torque of the injection servo motor, a current pressure gauge is established, and a set of back pressure values and measurement servos are set for each measurement position control value. Motor speed value, set the back pressure value to be controlled to obtain the torque upper limit value output by the injection servo motor according to the current pressure gauge; and set the output of the position controller to zero. [Brief Description of the Drawings] FIG. 1 is a functional block diagram showing a back pressure control system of an injection molding machine according to an embodiment of the present invention. FIG. 2 is an operation flowchart of the measurement process of the present invention. [Illustration of drawing number] 5 screw 10 metering servo motor 20 shoot-out servo motor 3 () position return 踉 This paper standard turns over the family standard (CNS) A4 specification ⑵ G X 297 meal) -------- 2 16543 (Please read the phonetic notes on the back before filling out this page) Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 557245 A7 V. Description of the invention (4) The output direction is set to the direction of screw 5. Then, based on the combined design of the injection molding machine mechanism and the selection of the torque of the injection servomotor 20, a table of the relationship between motor torque and pressure can be simply established. Alternatively, as shown in the figure, the injection servo motor 20 can also be electrically connected to a force sensor (L0a (i cell) 70), so as to measure in different ways by the feedback of the force sensor 70. The back pressure value (kg / cm2) obtained by injecting the torque output of the servo motor 20. The above-mentioned motor torque and pressure related data can be converted into a current pressure gauge by a processor 81 in a numerical operation circuit and stored in a memory Body 82. Next, set a back pressure value and a measurement servo motor speed value for each measurement position, as shown in Table 1. The pressure generated by the rotation of the measurement servo motor j 0 into the plastic will push the screw 5 Move back in the direction of the injection axis, so different measurement positions and corresponding measurement speeds can calculate an ideal back pressure setting value. Then use the current pressure gauge to find out the maximum back pressure setting value in Table 1 Corresponding to a current value, and the torque value generated by this current value is set as one of the output torque upper limit of the injection servo motor 20. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs (please read the note on the back first) Fill in this page again.) Finally, set the current command for each output of position controller 31 to zero. Because the accumulation of position error will increase with the continuous retreat of screw 5, causing the forward speed command (injection direction) also At the same time, the performance has increased. Therefore, once a metering end point is reached, the metering servo motor i 〇 no longer inputs plastic, and the injection servo motor 20 also returns to the normal torque setting, and the remaining forward speed command in the injection servo circuit fully reflects the screw 5 The movement of the ejection axis causes instability in back pressure control. ^ The paper size applies the Chinese National Standard (CNS) A4 specification (! 210 X 297 public meals) 1 4 16543 557245 A7 Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs (5) When the screw is located at the position Xn (n = 1, 2, 3 ··) as shown in FIG. 1, the processor 81 causes the metering servo and the servomotor 10 to output a set speed Rn, The current pressure gauge in the memory 82 will be used to find out the corresponding electrical pressure value of the back pressure set value Bρη. Then, a digital / analog signal converter 60 will use the current pressure gauge to obtain one The current value is converted into a first voltage analog signal 'and input to the speed circuit 40 of the injection feeding and removing motor 20. In the control circuit of the injection servo motor 20, the position controller μ of the position circuit 3Q receives the measurement position as The position command of XI is accumulated and a position feedback value from the screw 5 is accumulated to generate a speed command. The speed command is accumulated from the speed feedback value of the screw 5 and input to the speed control 41 of the speed circuit 40 to generate a speed command. That is, the second thunderbolt ^ as long as the voltage k. The second voltage signal on the right is not enough to propel the screw in the forward direction, and a current command input to 51 before the electricity will quickly saturate to the first voltage. The electric dust value limited by the analog signal becomes a current command input to the injection servo motor 20. Please refer to Figure 2. Figure 2 is an operation flow of the measurement process. Ten-quantity control, according to table j, outputs the rotational speed of the metering feeding motor and the back pressure setting values, and processes the processor 81 to obtain a corresponding current value. The current value is input to a digital / analog signal converter to be converted into a first voltage analog signal, and is input to a circuit of the injection servo motor to limit the upper limit of the current of the injection feeding motor. When the plastic load is larger than the current limit of the injection motor 20, the screw 5 will be forced to move backward, and the feedback current at this time will be a fixed value. Then, the position error caused by the backward movement of the screw 5 is forced to zero, so that the speed command output by the position loop 40 is zero. The above-mentioned back pressure control process should continue until the end of a measurement. This paper size applies to Chinese National Standard (CNS) A4 specifications (210 X 297 cm) 16543 (Please read the precautions on the back before filling this page) # Order: 丨 Line _ 557245 A7 V. Description of the invention In the measurement process of the forming machine, as long as the current command is controlled to a constant value and the current direction is positive, the back pressure value can be controlled. It is-a constant value. However, if the entire injection servo motor circuit only uses the current command mode, The processor cannot grasp the position feedback value and the speed feedback value in time, and needs to specifically deal with the problems of screw stall and position protection. Therefore, the back pressure control method of the present invention does not directly use current command control, but uses servo The control of the three closed loop circuits and the control of the output torque limit of the injection servo motor 'maintain the operating current of the injection motor to achieve the purpose of back pressure control. The back pressure control method of the servo-driven injection molding machine of the present invention provides more A cost-effective, faster and more sensitive back pressure control method and improve the precision and performance specifications of the machine itself to achieve The purpose of compact forming. In summary, the present invention has no inferior purpose, means and effects, and its iQ is different from the conventional technology. It is the "back pressure control method of feed-driven injection molding machine". A major breakthrough. However, it should be noted that the above-mentioned embodiments are merely examples for the convenience of description. The scope of the claimed rights of the present invention should be based on the scope of the patent application, rather than being limited to the above-mentioned embodiments.
6(修正頁） (請先閱讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製 --------tr---------^--------^---5-丨 165436 (Revision page) (Please read the notes on the back before filling this page) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs -------- tr --------- ^ --- ----- ^ --- 5- 丨 16543