• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of controlling a closing mechanism of a forming machine (1) in which a movable platen is moved by a moving mechanism, wherein - using a first algorithm (4) based on operator inputs for the desired movement of the movable platen - and more particularly at least a predefined parameter value for at least one dynamic or kinematic amount of the closing mechanism - a first trajectory for the controlled or controlled movement of the movable platen is calculated - the movable platen is at least once under the first trajectory controlled or moved, wherein - during at least one of the movements the moving platen is measured according to the first trajectory at least one dynamic or kinematic size of the closing mechanism and - based on the measurement, an estimated value of at least one parameter value and - based on the estimated value using an optimization algorithm (5) a second trajectory for the controlled or controlled movement of the movable platen is calculated and - the movable platen is controlled or moved in accordance with the second trajectory
    公开号:AT519253A4
    申请号:T51144/2016
    申请日:2016-12-15
    公开日:2018-05-15
    发明作者:Ing Dr Klemens Springer Dipl；Ing Dr Friedrich Johann Kilian Dipl
    申请人:Engel Austria Gmbh；
    IPC主号:
    专利说明:

    The present invention relates to a method for controlling a closing mechanism of a forming machine, in which a movable platen is moved by a moving mechanism, having the features of the preamble of claim 1 and a forming machine having the features of the preamble of claim 3.
    A generic method and a generic shaping machine are known from AT 502 382 B1.
    The basic functionality of the optimization algorithm (using the example of an electrical forming machine, also for hydraulic shaping machines) for calculating the mathematically optimal trajectory according to the AT 502 382 B1 looks like this: - model of the optimizer: • dynamic model of the toggle lever including all required masses and inertias such as Lever, drive components and platens • Consideration of nonlinear kinematics and translation - Consideration of the following limits • Jerk of the platen and the crosshead • Motor characteristic (torque - speed - characteristic) • Maximum acceleration and speed for each point of travel of the platen and / or crosshead - Basic elements of the optimization algorithm: • Discretization of the optimization problem over the path • Formulation of the optimization problem as linear equation system • Reduction to a linear optimization problem • Calculation of an actual, mobile trajectory for the movable platen from the discretized points of the optimization algorithm (translation into a trajectory, which the Control or regulation of the molding machine can read).
    A disadvantage of the generic method is that parameter values for kinematic or dynamic parameters of the locking mechanism are often inadequate or not available before the optimization. For example, both the inertia of the moving part of the mold, which changes depending on the component produced, and the friction parameters which depend on all the parameters, enter into the dynamic equation of the optimization algorithm (parameter p). These are unknown per se and therefore have to be estimated and predefined based on the experience of the operator. To be on the safe side, maximum values are usually used - possibly given by the technical data sheets. This in turn leads to non-optimal optimization results, eg. For example, in a pure time optimization to a too slow trajectory.
    The object of the invention is to provide a method in which an optimized trajectory for the controlled or regulated movement of the movable platen can also be calculated on the basis of inputs from an inexperienced operator and a shaping machine, which also based on inputs of an inexperienced operator an optimized trajectory for the controlled or controlled movement of the movable platen.
    This object is achieved by a method having the features of claim 1 and a shaping machine having the features of claim 3. Advantageous embodiments of the invention are defined in the dependent claims.
    The core of the invention is an optimization based on the estimation of a parameter value that is initially or not exactly known. A first trajectory can z. B. be determined using the prior art according to AT 502 382 B1 and with predefined parameter values for dynamic sizes of the locking mechanism. This first trajectory can also be driven and leads mostly to significantly improved results compared to settings that are performed by hand or with classic ramps. The creation of a first trajectory
    However, operator input by hand or with classic ramps is quite possible.
    Measuring at least one dynamic amount of the closing mechanism (such as the actual acceleration of the movable platen or a part of the moving mechanism and / or the engine torque) during at least one of the movements of the movable platen according to the first trajectory allows in a later step to make an estimate for the one or more predefined, but actually unknown or only vaguely known parameters. Using model-based estimators or classical identification algorithms such as Least Square methods for overdetermined systems, the unknown parameters - often lengths, mass inertias and friction parameters - can be estimated.
    These methods allow precise estimation of unknown or only vaguely known parameters, especially in the case of fast movements, which is an optimal trajectory of a toggle-type closing element, provided that the parameters are located in the observable subspace of the dynamic or kinematic model.
    With these identified or at least more accurately estimated estimates for the parameter or parameters, the optimization algorithm with the boundary conditions and the optimization criterion can now be carried out, which leads to a second, improved trajectory. The movable platen can then be controlled or moved according to the second trajectory.
    Of course, it is possible to use the optimization algorithm as the first algorithm and, as it were, to perform an iterative optimization by applying the optimization algorithm again. The iteration can be performed as often as you like.
    This iteration of calculation of a first trajectory and identification (in the form of a measurement-based estimate) of the parameters by means of the measured first trajectory on the forming machine leads to the calculation of an actually optimal trajectory in the form of the second trajectory, both on the numerical and iterative stability of the estimation of the parameter as well as the optimization algorithm should be emphasized so as not to obtain results in limit cycles. This is easily possible for the skilled person.
    The operator only has to enter as few input parameters as necessary for standard applications, and still receives an optimal trajectory for the controlled or regulated movement of the platen.
    It is conceivable that the operator inputs the following parameters: - closing stroke - shape protection - plate contact speed, d. H. the speed at which the movable platen touches another, usually fixed Platen of the molding machine
    The parameters entered by the operator are translated into mathematical limits for the first algorithm or the optimization algorithm. In addition, these are paired with parameters of certain machine components (such as engine characteristics or maximum spindle or pump loads).
    The first algorithm must resort to certain, normally unknown or only inaccurately known parameters, such as the friction parameters. Now he can approximate these for the calculation of the first trajectory by an estimated value (eg the maximum value).
    If then all the parameters for the optimization are available, this can, for. B. according to AT 502 382 B1, are performed.
    The movement based on the first trajectory provides information for the optimization algorithm.
    After the parameter (s) have been estimated, they should be checked before being used as the basis for calculating the second trajectory. Obviously, nonsensical results (such as negative friction parameters) can be discarded. After the calculation of the second trajectory by the optimization algorithm, the suitability of the second trajectory should be checked. Is z. For example, if the second trajectory with respect to the quality criterion is worse than the first trajectory, the second trajectory may be discarded and a new estimate of the parameter (s) is performed, as well as the calculation of a new second trajectory based on the newly estimated parameter (s) , For the calculation of the second trajectory, it may be necessary to perform the movement according to the first trajectory several times, for. For example because the calculation takes longer or to form an average.
    It should be noted that the term "operator" may refer to both a human being and another machine.
    Embodiments of the invention will be discussed with reference to FIGS. 1 to 3:
    Fig. 1 shows a schematic representation of an embodiment of the method according to the invention. In this embodiment, the optimization algorithm 5 is also used as the first algorithm 4 to calculate a first trajectory. On the basis of the measurement results, a second trajectory can be used by using estimated dynamic and kinematic parameters using the optimization algorithm 5 again. Although this process can be repeated as often as desired, in the normal diarrhea of the loop should be sufficient.
    FIG. 2 shows a schematic representation of a further embodiment of the method according to the invention, in which the use of the invention discussed above
    Optimization algorithm 5 is the first algorithm 4 (loop) only optional. The first trajectory can be input or arbitrarily calculated by means of a first algorithm 4 different from the optimization algorithm 5.
    Fig. 3 shows a schematic representation of a shaping machine according to the invention.
    Given is a shaping machine 1 in the form of an electric toggle lever machine, which performs both the closing movement, as well as the closing force build-up with a toggle lever (by the appropriate translation of the toggle lever). The closing movement and the closing force build-up should be carried out optimally with regard to different criteria, taking into account certain boundary conditions.
    Possible boundary conditions are: - The desired forming stroke (spraying stroke), which is specified by the operator and is determined by the shape and its properties. - Machine limitations, such as maximum engine torques, currents in the motors and converters, maximum movement speeds and speed changes or acceleration changes in mechanical components such as spindles or bearings. - Form protection, d. H. maximum speed of the mold at closing time and maximum speed immediately before closing the mold to protect the mold from damage and allow for necessary braking.
    One possible optimization criterion is the cycle time, which includes as an essential element both the closing time and the time required for the closing force build-up.
    The boundary conditions as well as the optimization criterion or the optimization criteria must be formed in a known manner into basic mathematical equations before optimization. While the hard ones
    Although boundary conditions, such as the forming stroke or the maximum regulator voltage, are easy to describe, they must be specifically parameterized for each shaping machine 1. By means of a link between machine data and component data, the boundary conditions can be determined. In most cases, this is done via a technical database of the components installed on a shaping machine 1, in which the parameters of the machine components are stored.
    In addition, the dynamic model, which is equivalent to comply with as boundary condition (both in reality, as well as with proper parameterization within the mathematical model), much more complex and is usually in the form:
    where "x" is the motion, "m" is the inertia terms, "u" is the input (e.g., current or moment), and "p" is known and unknown parameters.
    In addition to the boundary conditions, the optimization criteria must be represented by a mathematical mapping. The simplest and most trivial representation is the quality function J, which represents the movement time:
    By combining time and motion limits, such as the relationship between time and jerk, the representation of the quality function can become significantly more complex. On the other hand, an energy function can also be included in the quality function.
    With the aid of suitable algorithms, such as with the aid of the optimization algorithm described in AT 502 382 B1, a first trajectory can thus be calculated with the combination of machine data and component data for the selected boundary conditions.
    The movable platen is controlled according to the first trajectory or controlled by the moving mechanism moves and it is the at least one dynamic or kinematic size of the locking mechanism, for which in the calculation of the first trajectory only a predefined parameter value was measured.
    On the basis of the measurement, an estimated value of the at least one parameter value predefined for the calculation of the first trajectory is created.
    Based on the estimated value, using the optimization algorithm, a second trajectory for the controlled or controlled movement of the movable platen is calculated, and the movable platen is controlledly moved in accordance with the second trajectory.
    Fig. 3 shows schematically a forming machine 1 with a non-illustrated, because of the prior art closing mechanism, with a movable platen and a moving mechanism for the movable platen and: - a control or regulating device 2 for controlling the movement of the movable Form platen by the movement mechanism - an operator interface 3 for inputting operator inputs in the control or regulating device 2 "a first algorithm 4 for calculating a first trajectory for the controlled or controlled movement of the movable platen on the basis of user input via the operator interface 3 operator inputs to the desired movements of the movable Mold platen and in particular based on at least one predefined parameter value for at least one dynamic or kinematic size of the closing mechanism of a measuring device 6 for measuring the at least t is a dynamic or kinematic size of the closing mechanism during at least one movement of the movable platen according to the first trajectory
    The control device 2 is designed to: generate an estimated value of the at least one parameter value on the basis of the measurement and to calculate a second trajectory for the controlled or controlled movement of the movable platen based on the estimated value using an optimization algorithm 5; to control the movement of the movable platen by means of the moving mechanism according to the second trajectory
    The first algorithm 4 and / or the optimization algorithm 5 can, for. B. stored in the control or regulating device. It can also be stored outside the shaping machine 1 in a manner accessible to the control device 2 (eg in a cloud).
    权利要求:
    Claims (5)
    [1]
    claims
    A method of controlling a closing mechanism of a forming machine (1) in which a movable platen is moved by a moving mechanism, wherein - using a first algorithm (4) based on operator inputs to the desired movement of the movable platen - and in particular Based on at least one predefined parameter value for at least one dynamic or kinematic size of the closing mechanism - a first trajectory for the controlled or controlled movement of the movable platen is calculated - the movable platen is at least once controlled according to the first trajectory moves or controlled, characterized in that during at least one of the movements of the movable platen according to the first trajectory, at least one dynamic or kinematic size of the closing mechanism is measured and, on the basis of the measurement, an estimated value is low a parameter value is established and - based on the estimated value using an optimization algorithm (5), a second trajectory for the controlled or controlled movement of the movable platen is calculated and - the movable platen is controlled or moved in accordance with the second trajectory.
    [2]
    2. The method of claim 1, wherein as the first algorithm (4) of the optimization algorithm (5) is used.
    [3]
    3. A molding machine (1) comprising: - a shutter mechanism having a movable platen and a moving platen moving mechanism - a control means (2) for controlling the movement of the movable platen by the moving mechanism - an operator interface (3) for inputting operator inputs to the control device (2) - a first algorithm (4) for calculating a first trajectory for the controlled or controlled movement of the movable platen on the basis of user inputs entered via the operator interface for the desired movement of the movable platen, in particular on the basis of at least one predefined parameter value for at least one dynamic or kinematic variable of the closing mechanism, characterized in that - a measuring device (6) for measuring the at least one dynamic or kinematic variable of the closing mechanism mechanism is provided during at least one movement of the movable platen according to the first trajectory - the control device (2) is designed to produce an estimated value of at least one parameter value and - the control device (2) is designed based on estimating, using an optimization algorithm (5), a second trajectory for the controlled or controlled movement of the movable platen, and - the control device (2) is adapted to move the movable platen by means of the movement mechanism according to the second trajectory control or regulate.
    [4]
    4. Forming machine according to the preceding claim, wherein the shaping machine (1) is designed as an injection molding machine.
    [5]
    The forming machine according to at least one of the preceding claims, wherein the first algorithm (4) is the optimization algorithm (5).
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    同族专利:
    公开号 | 公开日
    CN108227486A|2018-06-29|
    AT519253B1|2018-05-15|
    US20180169922A1|2018-06-21|
    DE102017129948A1|2018-06-21|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20050218544A1|2004-03-31|2005-10-06|Nissei Plastic Industrial Co., Ltd.|Mold closure position detection method for mold clamping apparatus|
    AT502382B1|2005-09-22|2007-03-15|Engel Austria Gmbh|METHOD FOR CONTROLLING AND / OR REGULATING AN INJECTION MOLDING MACHINE|
    AT513431B1|2012-09-28|2015-10-15|Primetals Technologies Austria GmbH|Chilled, multi-layered strand guide roller|
    AT514569B1|2013-08-21|2015-02-15|Engel Austria Gmbh|Method for operating a closing unit|
    AT516497B1|2014-12-22|2016-06-15|Engel Austria Gmbh|Electric machine|
    CN104991533B|2015-06-11|2018-05-18|广州市香港科大霍英东研究院|A kind of injection mechanized production system and intelligent production method|CN111922316B|2020-08-03|2021-11-05|广东省智能制造研究所|Design method of machine hinge system of die casting machine|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA51144/2016A|AT519253B1|2016-12-15|2016-12-15|Control unit for a molding machine|ATA51144/2016A| AT519253B1|2016-12-15|2016-12-15|Control unit for a molding machine|
    US15/840,784| US20180169922A1|2016-12-15|2017-12-13|Method for controlling or regulating a closing mechanism of a moulding machine|
    CN201711333442.8A| CN108227486A|2016-12-15|2017-12-14|For the opened loop control unit or Closed Loop Control Unit of molding machine|
    DE102017129948.3A| DE102017129948A1|2016-12-15|2017-12-14|Control unit for a molding machine|
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