WO2017148422A1 - Injection mold temperature control method and device based on positive and negative input predictive control - Google Patents

Abstract

An injection mold temperature control method and device based on positive and negative input predictive control. In the injection mold temperature control method, by means of an algorithm, a cooling unit of a mold temperature controller stops a temperature output during the temperature rise process of a mold; and a heating unit of the mold temperature controller stops a temperature output during the cooling process of the mold; accordingly, energy consumption is reduced, the temperature control result is stable, and costs are also reduced.

Description

Injection mould temperature control method and device for positive and negative input predictive control Technical field

The invention relates to an injection mold temperature control device, in particular to an injection mold temperature control method and device for positive and negative input predictive control.

Background technique

In the molding process of injection molding products, the mold temperature is controlled mainly by a mold temperature machine, thereby controlling the molding process of the injection molding product. The main functions of the mold temperature machine are: 1. Improve the molding efficiency of the product; 2. Reduce the product defect rate; 3. Improve the appearance of the product and reduce product defects; 4. Accelerate the production schedule, reduce energy consumption and save energy. The requirements for controlling the mold temperature are: making the mold temperature reach the working temperature and keeping the mold temperature constant at the working temperature, thereby optimizing the injection molding cycle, ensuring the stability of the injection molding process and the quality of the injection molded product. Mold temperature affects product surface quality, melt flow, body shrinkage, and product injection cycle and product deformation. For thermoplastics, higher mold temperatures generally improve plastic melt flow and product surface quality, but extend cooling time and injection cycle times. Lower mold temperatures reduce the shrinkage of the plastic in the mold and increase the shrinkage of the molded part after demolding. At present, the temperature control of the mold temperature machine is not accurate. Some temperature control systems of the injection mold temperature machine also take into account the control of the cooling system, but the control results are not ideal, heating and cooling will continue to switch, wasting energy.

Positive and negative input systems are widely used in industrial control. In a control system, there are two opposite input signals. The positive input signal causes the output to produce a positive effect, and the negative input signal causes the output to have a negative effect. At present, in most control systems, it is limited to consider the positive input variable and the negative input variable separately, and even if the positive input variable and the negative input variable are put together as a whole, the characteristics of different input variables are not considered. There are two main types of control systems for positive and negative input variables: one has two controllers that control the positive input variable and the negative input variable, respectively, typically with a dual PID controller. For the dual PID controller, under certain conditions, better control results can be obtained. However, in this control system, Both PID controllers start up at the same time, wasting energy. The other type is a split-range control system, such as a PID-type split-range control system. In the control system, the positive input variable and the negative input variable are grouped into one manipulated variable, and then controlled by a PID controller to assign a control positive input variable or a reverse input variable according to which interval the output result is in. For the PID type split control system, since there is only one input at each moment, energy can be saved, but since the positive input variable and the negative input variable are not considered, the response characteristics of the output result are different, especially when the manipulated variable is at zero. When switching nearby, the control effect will deteriorate, resulting in low control accuracy; and the low-precision control effect will damage the quality of the product.

Summary of the invention

The invention aims at the problem that the injection molding die temperature control device method of the existing positive and negative input predictive control has waste energy and low control precision when controlling the mold temperature, and proposes a positive and negative input predictive control injection mold temperature control method and device. .

The technical solution proposed by the present invention for the above technical purpose is as follows:

The invention provides an injection mold temperature control method for adjusting a mold temperature by using an injection mold temperature control device, and the injection mold temperature control device comprises a temperature positive input control module for inputting a positive temperature input quantity to increase the mold temperature, and A temperature inverse input control module that inputs a temperature inverse input amount to reduce the mold temperature; and includes the following steps:

Step S1: acquiring a temperature positive input parameter of the temperature positive input control module, a temperature inverse input parameter of the temperature inverse input control module, and a temperature single input parameter of the injection mold temperature control device; and acquiring the temperature at the current t time every sampling time Δt Positive input positive input of the control module, actual temperature reverse input of the temperature reverse input control module, and actual temperature total input of the injection mold temperature control device;

Here, the temperature positive input parameters include the positive input time lag θ _h of the temperature positive input control module, the positive input gain K _h of the temperature positive input control module, the positive input time constant τ _{h of the} temperature positive input control module; the temperature inverse input parameters include The inverse input time lag θ _c of the temperature inverse input control module, the inverse input gain K _{c of the} temperature inverse input control module, and the inverse input time constant τ _{c of the} temperature inverse input control module; the temperature single input parameter of the injection mold temperature control device includes the temperature Single input time lag θ, temperature single input gain K and temperature single input time constant τ;

Step S2: establishing a temperature transfer function model of the injection mold temperature control device, wherein:

s is the Laplace transform operator; y(s) is the output of the injection mold temperature control device in the temperature transfer function model; u _h (s) is the temperature positive input control module in the temperature transfer function model Positive input quantity; u _c (s) is the inverse input quantity of the temperature inverse input control module in the temperature transfer function model; u(s) is the temperature single input quantity of the injection mold temperature control device in the temperature transfer function model;

The temperature transfer function model is discretized into a z function model, which is:

among them,

z is a z-transform operator;

y(t) is the output of the injection mold temperature control device at the current t time; u _h (td _h ) is the positive temperature input of the temperature positive input control module at time td _h ; u _c (td _c ) is At time td _c , the temperature is inversely input to the temperature input input of the control module; u(td) is the total temperature input of the temperature control device of the injection mold at time td;

U(t) is obtained by using GPC algorithm; wherein u(t) is the total temperature input of the temperature control device of the injection mold at the current time t;

Under the condition that the temperature expected positive input u _h (t)=0 or the temperature expected back input u _c (t)=0, the temperature expected positive input u _h (t) and the temperature expectation are calculated according to the z-function model. Inverse input u _c (t); where

When d _h =d _c =d,

C=b ₀ (1+a _h1 z ^-1 )(1+a _c1 z ^-1 )u(t)

-b _h0 (a ₁ z ^-1 +a _c1 z ^-1 +a ₁ a _c1 z ^-2 )u _h (t);

-b _c0 (a ₁ z ^-1 +a _h1 z ^-1 +a ₁ a _h1 z ^-2 )u _c (t)

when

Time,

among them,

b ₀ (1+a _h1 z ^-1 )(1+a _c1 z ^-1 )=trs_a;

b _h0 (1+a ₁ z ^-1 )(1+a _c1 z ^-1 )=trs_bh;

C ₁ =b ₀ (1+a _h1 z ^-1 )(1+a _c1 z ^-1 )u(t+d _h -d _c )

-b _h0 (a ₁ + a _c1 + a ₁ a _c1 z ^-1 )u _h (t-1);

-b _c0 (a ₁ +a _h1 +a ₁ a _h1 z ^-1 )u _c (t+d _h -d _c -1)

u(t+d _h -d _c ) is the total temperature input of the temperature control equipment of the injection mold at t+d _h -d _c ; u _h (t-1) is the positive input control at time t-1 The positive temperature input of the module; u _c (t+d _h -d _c -1) is the temperature inverse input of the temperature reverse input control module at t+d _h -d _c -1;

u _h (td _h +d _c ) is the temperature positive input of the control module at the time td _h +d _c ; u _c (t-1) is the temperature of the temperature reverse input control module at time t-1 Inverse input

when

Time,

among them,

b ₀ (1+a _c1 z ^-1 )(1+a _h1 z ^-1 )=trs_a

b _c0 (1+a ₁ z ^-1 )(1+a _c1 z ^-1 )=trs_bh

C ₂ =b ₀ (1+a _c1 z ^-1 )(1+a _h1 z ^-1 )×u(t+d _c -d _h )-b _c0 (a ₁ +a _h1 +a ₁ a _h1 z ^{- 1} ) × u _c (t-1) - b _h0 (a ₁ + a _c1 + a ₁ a _c1 z ^-1 ) × u _h (t + d _{c -} d _h -1);

u(t+d _c -d _h ) is the total temperature input of the temperature control equipment of the injection mold at t+d _c -d _h ; u _c (t-1) is the temperature anti-input control at time t-1 The temperature inverse input quantity of the module; u _h (t+d _c -d _d -1) is the temperature positive input value of the positive input control module at time t+d _c -d _d -1;

u _c (td _c +d _h ) is the temperature inverse input of the temperature inverse input control module at td _c +d _h ; u _h (t-1) is the temperature of the positive input control module at time t-1 Positive input

Step S3: At the current time t, the temperature positive input control module inputs the temperature positive input amount according to the temperature expected positive input quantity u _h (t), and the temperature inverse input control module inputs the temperature inverse input according to the temperature expected reverse input quantity u _c (t) the amount.

In the above injection mold temperature control method of the present invention, the process of obtaining u(t) by using the GPC algorithm includes the following steps:

Step S21, the acquired free response f, control matrix λ, prediction steps N, control step N _u, and the predicted output step response coefficients w

Step S22, calculating u(t) by the following formula;

ΔU=(G ^T G+λI) ^-1 G(wf)

The invention also proposes an injection mold temperature control device, which adopts the injection mold temperature control method as described above to adjust the mold temperature, and further comprises a Linux control system; the Linux control system is used for obtaining the actual temperature positive input amount and the actual temperature reverse input. the amount.

The above-mentioned injection mold temperature control device of the present invention further comprises a capture card connected to the Linux control system, and the Linux control system is further configured to store the obtained actual temperature positive input amount and the actual temperature reverse input amount in the acquisition card; the injection mold The temperature control device also includes a temperature sensor for monitoring the temperature of the injection mold in real time to obtain the actual total temperature input and to send the actual total temperature input to the Linux control system.

In the above injection mold temperature control apparatus of the present invention, the temperature positive input control module includes a mold temperature machine heating unit for increasing the mold temperature; and the temperature reverse input control module includes a mold temperature machine cooling unit for reducing the mold temperature.

In order to verify the effectiveness of the injection mold temperature control method of the present invention, the injection mold temperature control method of the present invention was compared with the conventional double SISO GPC algorithm:

The invention provides a method and a device for controlling the temperature of an injection mold for predictive control of positive and negative input. The algorithm stops the temperature output of the cooling unit of the mold temperature during the heating process of the mold, and heats the mold temperature during the cooling process of the mold. The unit stops the temperature output, which reduces energy consumption and stabilizes temperature control results while reducing costs.

DRAWINGS

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:

1 is a schematic view of an injection mold temperature control apparatus of the present invention;

2 is a schematic diagram of an injection mold temperature control apparatus of the present invention;

3 is a diagram showing the results of energy consumption control of the injection mold temperature control method of the present invention;

Figure 4 is a graph of energy consumption control results based on a conventional dual SISO GPC algorithm;

Fig. 5 is a graph showing the results of temperature control using the injection mold temperature control method of the present invention.

detailed description

The invention provides an injection mold temperature control method for adjusting a mold temperature by using an injection mold temperature control device, and the injection mold temperature control device comprises a temperature positive input control module for inputting a positive temperature input quantity to increase the mold temperature, and a temperature inverse input control module for inputting a temperature inverse input amount to reduce a mold temperature;

As shown in Fig. 1, Fig. 1 shows a schematic view of an injection mold temperature control apparatus of the present invention.

The injection mold temperature control device also includes a Linux control system for obtaining the actual temperature positive input amount and the actual temperature reverse input amount. Here, the temperature positive input control module includes a mold temperature heating unit for increasing the mold temperature; and the temperature reverse input control module includes a mold temperature cooling unit for reducing the mold temperature.

Further, the injection mold temperature control device further includes a capture card connected to the Linux control system, and the Linux control system is further configured to store the obtained actual temperature positive input amount and the actual temperature reverse input amount in the capture card; the capture card adopts DO, The ADC and other methods perform data acquisition. Generally, the Linux control system acquires digital signals and analog signals of the mold temperature heating unit and the mold temperature cooling unit through its analog signal system processing and digital signal system processing, and stores the data in the collection. In the card. At the same time, the injection mold temperature control equipment also includes a temperature sensor for real-time monitoring of the injection mold temperature to obtain the actual total temperature input, and to send the actual total temperature input to the Linux control system.

Specifically, the injection mold temperature control method includes the following steps:

Step S1: acquiring a temperature positive input parameter of the temperature positive input control module, a temperature inverse input parameter of the temperature inverse input control module, and a temperature single input parameter of the injection mold temperature control device; and acquiring the temperature at the current t time every sampling time Δt Positive input positive input of the control module, actual temperature reverse input of the temperature reverse input control module, and actual temperature total input of the injection mold temperature control device;

Here, the temperature positive input parameters include the positive input time lag θ _h of the temperature positive input control module, the positive input gain K _h of the temperature positive input control module, the positive input time constant τ _{h of the} temperature positive input control module; the temperature inverse input parameters include The inverse input time lag θ _c of the temperature inverse input control module, the inverse input gain K _{c of the} temperature inverse input control module, and the inverse input time constant τ _{c of the} temperature inverse input control module; the temperature single input parameter of the injection mold temperature control device includes the temperature Single input time lag θ, temperature single input gain K and temperature single input time constant τ;

Step S2: establishing a temperature transfer function model of the injection mold temperature control device, wherein:

s is the Laplace transform operator; y(s) is the output of the injection mold temperature control device in the temperature transfer function model; u _h (s) is the temperature positive input control module in the temperature transfer function model Positive input quantity; u _c (s) is the inverse input quantity of the temperature inverse input control module in the temperature transfer function model; u(s) is the temperature single input quantity of the injection mold temperature control device in the temperature transfer function model;

The temperature transfer function model is discretized into a z function model, which is:

among them,

z is a z-transform operator;

y(t) is the output of the injection mold temperature control device at the current t time; u _h (td _h ) is the positive temperature input of the temperature positive input control module at time td _h ; u _c (td _c ) is At time td _c , the temperature is inversely input to the temperature input input of the control module; u(td) is the total temperature input of the temperature control device of the injection mold at time td;

In the case where the temperature expected positive input u _h (t) = 0 or the temperature expected inverse input u _c (t) = 0, the temperature expected positive input u _h (t) and the temperature expectation are calculated according to the z-function model. Inverse input u _c (t);

The process of calculating u _h (t) and u _c (t) uses the generalized predictive control algorithm (GPC) and the law of conservation of energy; specifically, the sum of the temperature outputs produced by the positive temperature input and the temperature inverse input. Equal to the temperature output produced by the temperature single input of the simulation process. As shown in Fig. 2, G _h represents a transfer function between the temperature positive input amount u _h and the total temperature output y; G _c represents a transfer function between the temperature negative input amount u _c and the total temperature output y.

Thus, from equation (3) and equation (4), we can get:

Meanwhile, the present application uses a generalized predictive control (GPC) algorithm to obtain u(t); wherein u(t) is the total temperature input of the temperature control device of the injection mold at the current time t;

ΔU=(G ^T G+λI) ^-1 G(wf)

Wherein, f stands for freedom response, control of the [lambda] is the matrix, N is the prediction steps, N _U is the control step size, w is the predicted output,

For the step response coefficient; in order to make the output y(t) at the current t time reach the set value as smoothly as possible, the following first order filter equation is used:

w(t)=y(t)

w(t+k)=αw(t+k-1)+(1-α)r(t+k),k=1...N ₂

Where 0≤α<1

So the output can be expressed as:

Further, consider d _h and d _c , when d _h =d _c =d,

Multiplying both sides of the equation (5) by z ^d (1+a ₁ z ^-1 )(1+a _h1 z ^-1 )(1+a _c1 z ^-1 ), we can get:

The value of the variable on the right side of the equation (7) is known. The right side of the expression (7) can be represented as a constant C, so that:

b _h0 u _h (t)+b _c0 u _c (t)=C;

In the case where the temperature is expected to be a positive input u _h (t) = 0 or the temperature is expected to be a negative input u _c (t) = 0, there are:

C=b ₀ (1+a _h1 z ^-1 )(1+a _c1 z ^-1 )u(t)

-b _h0 (a ₁ z ^-1 +a _c1 z ^-1 +a ₁ a _c1 z ^-2 )u _h (t);

-b _c0 (a ₁ z ^-1 +a _h1 z ^-1 +a ₁ a _h1 z ^-2 )u _c (t)

Here, b _h0 >0, b _c0 >0, u _h (t) ∈ [0, 100], u _c (t) ∈ [-100, 0]. And when C>0, it can be considered as the effect produced by the heating of the injection mold temperature control equipment, so u _c (t)=0; the same C<0, it can be considered as the effect of cooling by the injection mold temperature control equipment. Therefore, u _h (t) = 0.

when

Time,

Multiply both sides of the equation (5) by z ^j (1+a ₁ z ^-1 )(1+a _h1 z ^-1 )(1+a _c1 z ^-1 ), j=d _c , d _c +1, ...,d _h and,,

b ₀ (1+a _h1 z ^-1 )(1+a _c1 z ^-1 )=trs_a

Let b _h0 (1+a ₁ z ^-1 )(1+a _c1 z ^-1 )=trs_bh, then:

b _c0 (1+a ₁ z ^-1 )(1+a _h1 z ^-1 )=trs_bc

Trs_a×u(t)=trs_bh×u _h (td _h +d _c )+trs_bc×u _c (t)

Trs_a×u(t+1)=trs_bh×u _h (td _h +d _c +1)+trs_bc×u _c (t+1)

,

......

Trs_a×u(t+d _h -d _c )=trs_bh×u _h (t)+trs_bc×u _c (t+d _h -d _c )

Multiply both sides of equation (3) by z ^j , j=d _c , d _c +1,...,d _h , with:

It can be seen from equation (8) that y(t+d _c ) is determined by u _h (td _h +d _c ) and u _c (t); the temperature is expected to be positive input u _h (t) = 0 or temperature In the case where the expected input quantity u _c (t) = 0, there are:

In the above formula, u(t) is the total temperature input of the temperature control equipment of the injection mold at the current time t; u _h (td _h +d _c ) is the temperature of the positive input control module at the time td _h +d _c Positive input quantity; u _c (t-1) is the temperature inverse input quantity of the temperature inverse input control module at time t-1;

Then, let u _c (t)∈[-100,0], get u _c (t+1), u _c (t+2),...,u _c (t+d _h -d _c -1 ). u _h (t) can be obtained from the last equation of equation (8), and then according to equation (6):

In equation (9), u(t+d _h -d _c ) is the total temperature input of the temperature control device of the injection mold at t+d _h -d _c ; u _h (t-1) is at t At time -1, the temperature is positively input to the temperature positive input of the control module; u _c (t+d _h -d _c -1) is the temperature inverse input of the temperature inverse input control module at t+d _h -d _c -1 the amount;

The right side of the formula (9) can be expressed as a constant C ₁ , then there are:

b _h0 u _h (t)+b _c0 u _c (t+d _h -d _c )=C ₁ , then get:

when

Time, and

The situation is similar, you can calculate:

Where u(t) is the total temperature input of the temperature control device of the injection mold at the current time t; u _c (td _c +d _h ) is the temperature inverse input of the temperature inverse input control module at time td _c +d _h ;u _h (t-1) is the temperature positive input of the control module at time t-1;

b ₀ (1+a _c1 z ^-1 )(1+a _h1 z ^-1 )=trs_a

b _c0 (1+a ₁ z ^-1 )(1+a _c1 z ^-1 )=trs_bh

C ₂ =b ₀ (1+a _c1 z ^-1 )(1+a _h1 z ^-1 )×u(t+d _c -d _h )-b _c0 (a ₁ +a _h1 +a ₁ a _h1 z ^{- 1} ) × u _c (t-1) - b _h0 (a ₁ + a _c1 + a ₁ a _c1 z ^-1 ) × u _h (t + d _{c -} d _h -1);

u(t+d _c -d _h ) is the total temperature input of the temperature control equipment of the injection mold at t+d _c -d _h ; u _c (t-1) is the temperature anti-input control at time t-1 The temperature inverse input quantity of the module; u _h (t+d _c -d _d -1) is the temperature positive input value of the positive input control module at time t+d _c -d _d -1;

Step S3: At the current time t, the temperature positive input control module inputs the temperature positive input amount according to the temperature expected positive input quantity u _h (t), and the temperature inverse input control module inputs the temperature inverse input according to the temperature expected reverse input quantity u _c (t) the amount.

In order to verify the effectiveness of the injection mold temperature control method of the present invention, the injection mold temperature control method of the present invention was compared with the conventional double SISO GPC algorithm:

(1) Comparison of energy consumption:

3 is a graph showing energy consumption control results of the injection mold temperature control method of the present invention; and FIG. 4 is a graph showing energy consumption control results based on the conventional double SISO GPC algorithm.

It can be seen from Fig. 3 and Fig. 4 that both control methods can track the set value and suppress interference. Comparing FIG. 3 and FIG. 4, it can be found that in the injection mold temperature control method of the present invention, when the mold is raised At a warm temperature, the cooling rate is 0, and when the mold is cooled, the heating rate is zero. The injection mold temperature control method of the present invention is particularly prominent in energy saving. According to the Applicant's calculation, the energy efficiency consumption is reduced by at least 90% by using the injection mold temperature control method of the present invention.

(2) Comparison of control results:

The quality of the mold temperature directly affects the quality of the injection molded product. Set the temperature to 90 ° C and give a positive step to 110 ° C when the temperature enters steady state. Similarly, after the isothermal temperature enters the new steady state, an inverse step is given to 50 °C. Referring to Fig. 5, the control method using the present invention can be derived from the control result, not only the heating and cooling are not performed at the same time, but also the control result is good.

(3) The invention integrates the control system of the original mold temperature machine into the control system of the injection molding machine, and only uses the mold temperature heating unit and the mold temperature machine cooling unit to accurately control the temperature of the injection mold, thereby reducing the cost.

It is to be understood that those skilled in the art will be able to make modifications and changes in accordance with the above description, and all such modifications and variations are intended to be included within the scope of the appended claims.

Claims (5)

1. An injection mold temperature control method for adjusting a mold temperature by using an injection mold temperature control device including a temperature positive input control module for inputting a positive temperature input amount to increase a mold temperature and for inputting a temperature inverse A temperature inverse input control module that inputs a quantity to reduce the mold temperature; characterized in that it comprises the following steps:

   Step S1: acquiring a temperature positive input parameter of the temperature positive input control module, a temperature inverse input parameter of the temperature inverse input control module, and a temperature single input parameter of the injection mold temperature control device; and acquiring the temperature at the current t time every sampling time Δt Positive input positive input of the control module, actual temperature reverse input of the temperature reverse input control module, and actual temperature total input of the injection mold temperature control device;

   Here, the temperature positive input parameters include the positive input time lag θ _h of the temperature positive input control module, the positive input gain K _h of the temperature positive input control module, the positive input time constant τ _{h of the} temperature positive input control module; the temperature inverse input parameters include The inverse input time lag θ _c of the temperature inverse input control module, the inverse input gain K _{c of the} temperature inverse input control module, and the inverse input time constant τ _{c of the} temperature inverse input control module; the temperature single input parameter of the injection mold temperature control device includes the temperature Single input time lag θ, temperature single input gain K and temperature single input time constant τ;

   Step S2: establishing a temperature transfer function model of the injection mold temperature control device, wherein:

   

   

   

   s is the Laplace transform operator; y(s) is the output of the injection mold temperature control device in the temperature transfer function model; u _h (s) is the temperature positive input control module in the temperature transfer function model Positive input quantity; u _c (s) is the inverse input quantity of the temperature inverse input control module in the temperature transfer function model; u(s) is the temperature single input quantity of the injection mold temperature control device in the temperature transfer function model;

   The temperature transfer function model is discretized into a z function model, which is:

   

   

   among them,

   

   

   z is a z-transform operator;

   

   y(t) is the output of the injection mold temperature control device at the current t time; u _h (td _h ) is the positive temperature input of the temperature positive input control module at time td _h ; u _c (td _c ) is At time td _c , the temperature is inversely input to the temperature input input of the control module; u(td) is the total temperature input of the temperature control device of the injection mold at time td;

   U(t) is obtained by using GPC algorithm; wherein u(t) is the total temperature input of the temperature control device of the injection mold at the current time t;

   In the case where the temperature expected positive input u _h (t) = 0 or the temperature expected inverse input u _c (t) = 0, the temperature expected positive input u _h (t) and the temperature expectation are calculated according to the z-function model. Inverse input u _c (t); where

   When d _h =d _c =d,

   

   C=b ₀ (1+a _h1 z ^-1 )(1+a _c1 z ^-1 )u(t)

   -b _h0 (a ₁ z ^-1 +a _c1 z ^-1 +a ₁ a _c1 z ^-2 )u _h (t);

   -b _c0 (a ₁ z ^-1 +a _h1 z ^-1 +a ₁ a _h1 z ^-2 )u _c (t)

   when

   

   Time,

   

   

   among them,

   b ₀ (1+a _h1 z ^-1 )(1+a _c1 z ^-1 )=trs_a

   b _h0 (1+a ₁ z ^-1 )(1+a _c1 z ^-1 )=trs_bh;

   C ₁ =b ₀ (1+a _h1 z ^-1 )(1+a _c1 z ^-1 )u(t+d _h -d _c )

   -b _h0 (a ₁ + a _c1 + a ₁ a _c1 z ^-1 )u _h (t-1);

   -b _c0 (a ₁ +a _h1 +a ₁ a _h1 z ^-1 )u _c (t+d _h -d _c -1)

   u(t+d _h -d _c ) is the total temperature input of the temperature control equipment of the injection mold at t+d _h -d _c ; u _h (t-1) is the positive input control at time t-1 The positive temperature input of the module; u _c (t+d _h -d _c -1) is the temperature inverse input of the temperature reverse input control module at t+d _h -d _c -1;

   u _h (td _h +d _c ) is the temperature positive input of the control module at the time td _h +d _c ; u _c (t-1) is the temperature of the temperature reverse input control module at time t-1 Inverse input

   when

   

   Time,

   

   

   among them,

   b ₀ (1+a _c1 z ^-1 )(1+a _h1 z ^-1 )=trs_a

   b _c0 (1+a ₁ z ^-1 )(1+a _c1 z ^-1 )=trs_bh

   C ₂ =b ₀ (1+a _c1 z ^-1 )(1+a _h1 z ^-1 )'u(t+d _c -d _h )-b _c0 (a ₁ +a _h1 +a ₁ a _h1 z ^{- 1} ) 'u _c (t-1)

   -b _h0 (a ₁ + a _c1 + a ₁ a _c1 z ^-1 )'u _h (t+d _c -d _h -1);

   u(t+d _c -d _h ) is the total temperature input of the temperature control equipment of the injection mold at t+d _c -d _h ; u _c (t-1) is the temperature anti-input control at time t-1 The temperature inverse input quantity of the module; u _h (t+d _c -d _d -1) is the temperature positive input value of the positive input control module at time t+d _c -d _d -1;

   u _c (td _c +d _h ) is the temperature inverse input of the temperature inverse input control module at td _c +d _h ; u _h (t-1) is the temperature of the positive input control module at time t-1 Positive input

   Step S3: At the current time t, the temperature positive input control module inputs the temperature positive input amount according to the temperature expected positive input quantity u _h (t), and the temperature inverse input control module inputs the temperature inverse input according to the temperature expected reverse input quantity u _c (t) the amount.
2. The injection mold temperature control method according to claim 1, wherein the process of obtaining u(t) by using the GPC algorithm comprises the following steps:

   Step S21, the acquired free response f, control matrix λ, prediction steps N, control step N _u, and the predicted output step response coefficients w

   

   Step S22, calculating u(t) by the following formula;

   ΔU=(G ^T G+λI) ^-1 G(wf)

   

   
3. An injection mold temperature control apparatus characterized by using the injection mold temperature control method according to claim 1 to adjust a mold temperature, and further comprising a Linux control system; the Linux control system is configured to obtain an actual temperature positive input amount and an actual temperature Inverse input.
4. The injection mold temperature control apparatus according to claim 3, further comprising a capture card connected to the Linux control system, wherein the Linux control system is further configured to obtain the actual temperature being positive The input amount and the actual temperature inverse input amount are stored in the acquisition card; the injection mold temperature control device further includes a temperature for real-time monitoring of the injection mold temperature to obtain the actual temperature total input amount, and the actual temperature total input amount is sent to the Linux control system. sensor.
5. The injection mold temperature control apparatus according to claim 3, wherein the temperature positive input control module comprises a mold temperature heating unit for increasing the mold temperature; and the temperature reverse input control module comprises a mold temperature machine for reducing the mold temperature. Cooling unit.

Images