+

US20060145379A1 - Method and device for pressure control of electric injection molding machine - Google Patents

Method and device for pressure control of electric injection molding machine Download PDF

Info

Publication number
US20060145379A1
US20060145379A1 US10/541,470 US54147004A US2006145379A1 US 20060145379 A1 US20060145379 A1 US 20060145379A1 US 54147004 A US54147004 A US 54147004A US 2006145379 A1 US2006145379 A1 US 2006145379A1
Authority
US
United States
Prior art keywords
motor
molding machine
injection molding
screw
expression
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US10/541,470
Other languages
English (en)
Inventor
Yoshinori Okazaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ube Machinery Corp Ltd
Original Assignee
Ube Machinery Corp Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ube Machinery Corp Ltd filed Critical Ube Machinery Corp Ltd
Assigned to UBE MACHINERY CORPORATION, LTD. reassignment UBE MACHINERY CORPORATION, LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: OKAZAKI, YOSHINORI
Publication of US20060145379A1 publication Critical patent/US20060145379A1/en
Priority to US12/563,613 priority Critical patent/US7904196B2/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/77—Measuring, controlling or regulating of velocity or pressure of moulding material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76003—Measured parameter
    • B29C2945/76006—Pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76003—Measured parameter
    • B29C2945/76013—Force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76003—Measured parameter
    • B29C2945/7602—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76003—Measured parameter
    • B29C2945/7611—Velocity
    • B29C2945/7612—Velocity rotational movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/7618—Injection unit
    • B29C2945/7621—Injection unit nozzle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76494—Controlled parameter
    • B29C2945/76498—Pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76494—Controlled parameter
    • B29C2945/76595—Velocity
    • B29C2945/76605—Velocity rotational movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76655—Location of control
    • B29C2945/76658—Injection unit
    • B29C2945/76665—Injection unit screw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76822—Phase or stage of control
    • B29C2945/76859—Injection

Definitions

  • the present invention relates to a method and apparatus for controlling pressure in an electric injection molding machine.
  • a typical electric molding machine employed in the art senses pressure using a pressure sensor in a control target (such as mold open/close, extrusion, and nozzle touch) and, based on a signal from the pressure sensor, configures a closed-loop control circuit to control the propelling power.
  • a control target such as mold open/close, extrusion, and nozzle touch
  • a load cell is arranged at the root of a screw, for example, to sense a force that pushes the screw (a forward force) in the form of pressure by the load cell. Then, based on the sensed pressure, feedback control is applied such that the pressure to be sensed at the load cell reaches a desired pressure value, thereby controlling the propelling power of the screw.
  • a measured signal output from a general pressure sensor such as the load cell is a weak analog signal.
  • An electric injection molding machine includes a large number of motorized instruments that also act as noise sources. Accordingly, noises caused from the motorized instruments may superimpose on the weak analog signal output from the load cell. In this case, the propelling power may not be controlled well as a phenomenon. Therefore, devices such as multistage noise filters are located on an analog signal line from the load cell to prevent a noise-caused control failure. Nevertheless, it is extremely difficult to completely eliminate such the control failure.
  • a current melt pressure value for use in melt pressure control is estimated using state equations.
  • Such a sensorless melt pressure estimating method has been disclosed (in Patent Document 1: U.S. Pat. No. 6,695,994).
  • state equations indicative of the force exerted on the resin (melt) from forward movement of the ram may be given as shown in Expression 1 (see FIGS. 9-13 ).
  • E1 is a melt pressure equation
  • E2 is an injection force equation
  • E3 is a motor acceleration equation
  • P MELT Melt pressure value
  • F inj Injection force
  • a BARREL Barrel area
  • e S Ball screw efficiency
  • e B Belt efficiency
  • N SP /N MP Diameter ratio of Transmission pulleys at Ball screw and Motor
  • 1 Ball screw lead
  • T 2 Measured torque value
  • J TOT Inertia moment
  • ⁇ Motor angular acceleration
  • T U Support bearing frictional torque
  • F LOSS Loss force
  • ⁇ Angular velocity.
  • the obtained torque command value and angular velocity associated with the motor are employed to directly solve the state equations shown in Expression 1 to obtain the melt pressure P MELT .
  • the Expression includes a differential term denoted with E3, which lowers the resistance against the noises.
  • the present invention has been made in consideration of such the problem and has an object to provide a method and apparatus for controlling pressure in an electric injection molding machine, which is capable of achieving precise propelling power control without the use of a pressure sensor such as a load cell.
  • the present invention provides a method of controlling pressure in an electric injection molding machine, comprising: detecting an angular velocity ⁇ of a motor operative to propel forward a screw in an injection molding machine; deriving an estimated melt pressure value ⁇ , based on an observer, from the detected angular velocity ⁇ of the motor and a torque command value T CMD given to the motor; and controlling the motor such that the estimated melt pressure value ⁇ follows a melt pressure setting ⁇ REF .
  • the “observer (observed state value)” defined in the present invention is an equation for obtaining an estimated value of a state variable by solving a differential equation expressed to estimate a state variable (converge at a state variable) such that a control target output coincides with a model output.
  • the “observer” of the present invention thus made by previously solving the differential equation is not required to execute differentiation on actually obtaining the estimated melt pressure value ⁇ .
  • the observer may be represented by the following Expression 2.
  • the screw in the injection molding machine and the motor may be coupled together via a belt suspended around pulleys mounted on respective rotation shafts.
  • the observer can be represented by the following Expression 3.
  • d d t ⁇ ( ⁇ ⁇ M ⁇ ⁇ L F ⁇ ⁇ ⁇ ⁇ ⁇ ) ( d 1 0 - R M J M 0 0 d 2 0 R L J L 1 J L 0 d 3 + K b ⁇ R M - K b ⁇ R L 0 0 0 d 4 K w K wd ⁇ R L J L K wd J L 1 d 5 0 0 0 0 ) ⁇ ( ⁇ ⁇ M ⁇ ⁇ L F ⁇ ⁇ ⁇ ⁇ ⁇ ) + ( 1 J M 0 0 0 ) ⁇ T CMD + ( 0 1 J L 0 K wd J L 0 ) ⁇ F d ⁇ ( ⁇ L ) - ( d
  • the present invention provides another apparatus for controlling pressure in an electric injection molding machine, comprising: an observer arithmetic unit operative to derive a value, an estimated melt pressure value ⁇ , based on an observer, from an angular velocity ⁇ of a motor operative to propel forward a screw in an injection molding machine and a torque command value T CMD given to the motor; and a torque arithmetic unit operative to calculate the torque command value T CMD for the motor based on the above Expression 3 using the estimated melt pressure value ⁇ derived at the observer arithmetic unit and feed back the torque command value to the motor.
  • melt pressure as in the estimated melt pressure value ⁇ and the melt pressure setting ⁇ REF is defined as the force of the screw in the injection molding machine that pushes the melt (resin), which differs from the force detected at the load cell in the art that pushes the screw.
  • the control target in the control of screw propelling power is different in the art from the present invention.
  • an angular velocity ⁇ of the motor operative to propel forward the screw in the injection molding machine is obtained.
  • An estimated melt pressure value ⁇ is derived from the obtained angular velocity ⁇ using the observer theory.
  • the motor is then controlled such that the estimated melt pressure value ⁇ follows the melt pressure setting ⁇ REF .
  • the melt pressure can be controlled precisely without the use of any pressure sensor such as a load cell.
  • FIG. 1 is a block diagram of a controller for an electric injection molding machine according to an embodiment of the present invention.
  • FIG. 2 is a detailed block diagram of the controller.
  • FIG. 3 is a graph showing variations over time in torque command value for the controller and in estimated propelling power value.
  • FIG. 4 is an illustrative view of a transmission system in an electric injection molding machine according to another embodiment of the present invention.
  • FIG. 5 is a detailed block diagram of a controller for the electric injection molding machine according to the embodiment.
  • FIG. 6 is an illustrative view of a method of acquiring a velocity-dependent component of the dynamic frictional resistance in the electric injection molding machine.
  • FIG. 7 is an illustrative view of a method of acquiring a load-dependent component of the dynamic frictional resistance in the electric injection molding machine.
  • FIG. 1 is a block diagram showing a configuration of a pressure controller for an electric injection molding machine according to an embodiment of the present invention.
  • a control target or motor 1 is an injection motor operative to move a screw back and forth in an injection cylinder, not shown.
  • the motor 1 is equipped with an encoder 2 , which detects positional information (rotational angle) ⁇ of the motor and provides it to external.
  • the positional information ⁇ from the encoder 2 is converted at a differentiator 6 into an angular velocity ⁇ , which is then fed to an observer arithmetic unit 3 .
  • the observer arithmetic unit 3 estimates the propelling power of the screw (melt pressure) ⁇ based on the output ⁇ from the differentiator 6 .
  • a torque arithmetic unit 4 Based on a melt pressure setting ⁇ REF set at a melt pressure setting unit 5 and an estimated melt pressure value ⁇ derived at the observer arithmetic unit 3 , a torque arithmetic unit 4 obtains a torque command value T CMD , which is fed back to the control target or motor 1 .
  • the observer (observed state value) is herein defined as the following Expression 6.
  • d d t ⁇ ( ⁇ ⁇ ⁇ ⁇ ) ( d 1 1 / J d 2 0 ) ⁇ ( ⁇ ⁇ ⁇ ⁇ ) + ( 1 / J 0 ) ⁇ ⁇ T CMD + ( 1 / J 0 ) ⁇ F ⁇ ( ⁇ ) - ( d 1 d 2 ) ⁇ ⁇ ⁇ [ Expression ⁇ ⁇ 6 ]
  • the estimated angular velocity ⁇ and the estimated melt pressure value ⁇ are represented as the following Expression 9.
  • d 1 , d 2 may be determined such that the real number in the eigenvalue of A becomes negative.
  • FIG. 2 is a block diagram showing details of the observer arithmetic unit 3 .
  • the positional information ⁇ output from the encoder 2 is differentiated at the differentiator 6 into the angular velocity ⁇ .
  • This angular velocity is then subtracted at both adders 31 and 32 from an estimated angular velocity value ⁇ ⁇ 1 , obtained at immediately preceding processing, to provide ( ⁇ ⁇ 1 ⁇ ), which is sent through adjusters 33 and 34 and adjusted into amplitude corresponding to coefficients d 1 and d 2 .
  • a torque command value T CMD ⁇ 1 and an estimated melt pressure value ⁇ ⁇ 1 are summed at an adder 35 .
  • the dynamic frictional resistance and static frictional resistance over the injection mechanism, F( ⁇ ) is further added at an adder 36 .
  • the sum from the adder 36 is sent through an adjuster 37 and adjusted into amplitude corresponding to a coefficient 1/J. This adjusted value is added at an adder 38 with the output from the adjuster 33 .
  • the content between brackets ⁇ ⁇ in the second term on the right side in the upper equation of the Expression 10 can be obtained.
  • the content between brackets ⁇ ⁇ in the second term on the right side in the lower equation of the Expression 10 can be obtained based on the output from the adjuster 35 .
  • the estimated melt pressure value ⁇ thus obtained is subtracted from a target pressure setting ⁇ REF at an adder 7 and the resultant difference is fed to the torque arithmetic unit 4 .
  • the torque arithmetic unit 4 computes a torque command value T CMD based on the following Expression 14 in the simplest, which is fed back to the motor 1 .
  • T CMD k p ( ⁇ REF ⁇ )
  • the torque command value T CMD may be computed based on the following Expression 15 and fed back to the motor 1 .
  • T CMD k p ( ⁇ REF ⁇ )+ k ⁇ ( ⁇ REF ⁇ ) d t
  • the equation of motion in Expression 11 is solved using the observer theory to calculate the melt pressure ⁇ . Therefore, any pressure sensor such as a load cell is not required.
  • the inertia moment J and the dynamic frictional resistance and static frictional resistance F( ⁇ ) herein employed are unique parameters of the injection mechanism. Accordingly, the control can be executed independent of the molding resin.
  • the dynamic frictional resistance can be derived from a relation between a torque of the motor and an advancing speed of the screw. Namely, the dynamic frictional resistance is derived from a torque command and a measured value of the injection speed (calculated from the encoder output) at the time when the screw is advanced under no load (without any resin).
  • the tensed condition of the belt that couples the motor and the pulleys in the electric injection molding machine may vary the dynamic frictional resistance possibly. Accordingly, periodic recalculations and updates are desired.
  • FIG. 3 is a graph showing the torque command value T CMD and the estimated melt pressure value ⁇ obtained when the injection molding is performed actually using the controller according to the embodiment.
  • the first half shows the injection step from the beginning of filling a resin into a mold until almost the completion of filling while the screw is velocity-controlled.
  • the second half shows the retaining step after the mold is almost filled with the resin while the screw is propelling power-controlled.
  • the estimated melt pressure value rises up to 600 N ⁇ m during the velocity control period and the estimated melt pressure value is retained at 100 Nm in the retaining step.
  • the above can be suitably used when a delay in the transmission system from the motor to the screw is negligible, for example, when the motor is directly connected to the screw, or when the motor is linked to the screw via a high-stiffness system such as gears.
  • a rotational shaft 11 of the motor 1 is coupled to a pulley 12 , then the pulley 12 is linked via a belt 13 to a load-side pulley 14 , and a rotational shaft 15 of the pulley 14 rotates to drive the screw rotationally.
  • the differentiated value ⁇ of the melt pressure ⁇ is defined as Expression 17 where the elastic modulus of the resin is herein represented as K w , the coefficient of viscosity as K wd and the force of the screw pushing the resin as ⁇ .
  • the observer (observed state value) is herein defined as the f ollowing Expression 19.
  • d d t ⁇ ( ⁇ ⁇ M ⁇ ⁇ L F ⁇ ⁇ ⁇ ⁇ ⁇ ) ( d 1 0 - R M J M 0 0 d 2 0 R L J L 1 J L 0 d 3 + K b ⁇ R M - K b ⁇ R L 0 0 0 d 4 K w K wd ⁇ R L J L K wd J L 1 d 5 0 0 0 0 ) ⁇ ( ⁇ ⁇ M ⁇ ⁇ L F ⁇ ⁇ ⁇ ⁇ ⁇ ) + ( 1 J M 0 0 0 0 ) ⁇ T CMD + ( 0 1 J L 0 K wd J L 0 ) ⁇ F d ⁇ ( ⁇ L ) - ( d 1 d 2 d 3 d 4 d 5 ) ⁇ ⁇ M [
  • the observer (observed state value) is herein defined as the following Expression 22.
  • d d t ⁇ ( ⁇ ⁇ M ⁇ ⁇ L F ⁇ ⁇ ⁇ ) ( d 1 0 - R M J M 0 d 2 0 R L J L 1 J L d 3 + K b ⁇ R M - K b ⁇ R L 0 0 d 4 0 0 0 ) ⁇ ( ⁇ ⁇ M ⁇ ⁇ L F ⁇ ⁇ ⁇ ) + ( 1 J M 0 0 0 ) ⁇ T CMD + ( 0 1 J L 0 0 ) ⁇ F d ⁇ ( ⁇ L ) - ( d 1 d 2 d 3 d 4 ) ⁇ ⁇ M [ Expression ⁇ ⁇ 22 ]
  • the estimated melt pressure value ⁇ can be derived without containing any differential term. Accordingly, it is possible to realize a control system excellent in resistance against noises.
  • Expression 22 is replaced by the following Expression 24.
  • FIG. 5 is a block diagram showing details of an observer arithmetic unit 8 operative to execute the computation of Expression 24.
  • v the dynamic frictional resistance F d ( ⁇ L )
  • X ⁇ ⁇ 1 the estimated value X ⁇ ⁇ 1 , obtained immediately before, is adjusted at an adjuster 85 into amplitude corresponding to the coefficient D.
  • the output from the adder 84 is added to the output from the adjuster 85 . From the sum, the output from the adjuster 81 is subtracted to obtain the differentiated value shown in Expression 24 that is derived from X ⁇ or the estimated value of X. This value is integrated at an integrator 87 to obtain the estimated value ⁇ based on Expression 23.
  • the estimated melt pressure value ⁇ thus obtained is subtracted from the target pressure setting ⁇ REF at the adder 7 and the resultant difference is fed to the torque arithmetic unit 4 to compute the torque command value T CMD , which is fed back to the motor 1 .
  • the dynamic frictional resistance F d ( ⁇ L ) is determined in a method (calibration method), which is described next with reference to FIGS. 6 and 7 .
  • a dynamic frictional resistance model is herein defined as a sum of a velocity-dependent component and a load-dependent component.
  • the velocity-dependent component can be derived from a relation between a motor velocity (or position) and a torque value (or current value) at the time of injection with no resin loaded.
  • the load-dependent component can be derived from a relation between a torque value (or current value) and a pressure value at the time of injection with a plugged nozzle.
  • the torque value 1 , 2 is measured to obtain the dynamic frictional resistance 1 , 2 when injection with no resin loaded varies the velocity as 1 , 2 on forward movement for injection. This is plotted on the graph in the right half of FIG. 6 to obtain a characteristic curve of the velocity-dependent component.
  • the velocity-dependent component on backward movement for injection can be obtained similarly.
  • a calibration tool is prepared with an attached sensor for measuring pressure (such as a pressure sensor and a strain gauge). Then, the torque value and the pressure value are measured on injection with a plugged nozzle tip to obtain the dynamic frictional resistance 1 , 2 as shown in the left half of FIG. 7 . This is plotted on the graph in the right half of FIG. 7 to obtain a characteristic curve of the load-dependent component.
  • pressure such as a pressure sensor and a strain gauge
  • velocity-dependent component and load-dependent component in combination can be employed as the dynamic frictional resistance model of the injection mechanism for pressure estimation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)
US10/541,470 2003-09-17 2004-09-13 Method and device for pressure control of electric injection molding machine Abandoned US20060145379A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/563,613 US7904196B2 (en) 2003-09-17 2009-09-21 Method and apparatus for controlling pressure in electric injection molding machine

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2003324893 2003-09-17
JP2003-324893 2003-09-17
PCT/JP2004/013318 WO2005028181A1 (ja) 2003-09-17 2004-09-13 電動式射出成形機の圧力制御方法および装置

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2004/013318 A-371-Of-International WO2005028181A1 (ja) 2003-09-17 2004-09-13 電動式射出成形機の圧力制御方法および装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/563,613 Continuation US7904196B2 (en) 2003-09-17 2009-09-21 Method and apparatus for controlling pressure in electric injection molding machine

Publications (1)

Publication Number Publication Date
US20060145379A1 true US20060145379A1 (en) 2006-07-06

Family

ID=34372761

Family Applications (2)

Application Number Title Priority Date Filing Date
US10/541,470 Abandoned US20060145379A1 (en) 2003-09-17 2004-09-13 Method and device for pressure control of electric injection molding machine
US12/563,613 Expired - Fee Related US7904196B2 (en) 2003-09-17 2009-09-21 Method and apparatus for controlling pressure in electric injection molding machine

Family Applications After (1)

Application Number Title Priority Date Filing Date
US12/563,613 Expired - Fee Related US7904196B2 (en) 2003-09-17 2009-09-21 Method and apparatus for controlling pressure in electric injection molding machine

Country Status (3)

Country Link
US (2) US20060145379A1 (ja)
JP (1) JP3741150B2 (ja)
WO (1) WO2005028181A1 (ja)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007080056A1 (de) * 2006-01-09 2007-07-19 Siemens Aktiengesellschaft Einspritzeinrichtung einer spritzgiessmaschine und verfahren zu deren betrieb
US20090045537A1 (en) * 2007-08-17 2009-02-19 National Chung Cheng University Method of sensing melt-front position and velocity
US20110175248A1 (en) * 2009-05-18 2011-07-21 Noriyuki Akasaka Device and method for pressure control of electric injection molding machine
US8119044B1 (en) 2010-11-07 2012-02-21 Noriyuki Akasaka Device and method for plasticization control of electric injection molding machine
US20130004609A1 (en) * 2011-06-30 2013-01-03 Yushin Precision Equipment Co., Ltd. Apparatus for taking out molded product
US20130033221A1 (en) * 2010-05-18 2013-02-07 Mitsubishi Electric Corporation Motor control device
US20130033220A1 (en) * 2010-05-18 2013-02-07 Mitsubishi Electric Corporation Motor control device
US20130063068A1 (en) * 2010-07-14 2013-03-14 Mitsubishi Electric Corporation Motor control device
US8871128B2 (en) 2010-11-01 2014-10-28 Noriyuki Akasaka Device and method for pressure control of electric injection molding machine
US9073255B2 (en) 2010-02-09 2015-07-07 Noriyuki Akasaka Device and method for plasticization control of electric injection molding machine
US10150238B2 (en) * 2015-05-12 2018-12-11 Fanuc Corporation Injection molding machine controlling drive of movable part with motor
CN112172067A (zh) * 2020-08-19 2021-01-05 广东伊之密精密注压科技有限公司 用于注塑机电射台的控制方法、装置及注塑机
CN113741189A (zh) * 2021-08-31 2021-12-03 广东工业大学 一种注塑机自适应学习快速控制方法
US20220263239A1 (en) * 2019-12-31 2022-08-18 Korea Aerospace Research Institute Method, apparatus and computer program for optimizing driving of antenna

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5093750B2 (ja) * 2007-07-19 2012-12-12 宇部興産機械株式会社 電動射出成形機の制御方法
US10684603B2 (en) 2015-01-13 2020-06-16 Bucknell University Dynamically controlled screw-driven extrusion
JP6137368B1 (ja) * 2016-03-24 2017-05-31 宇部興産機械株式会社 トグル式型締機構を有する射出成形機の型締制御方法
CN107370702B (zh) * 2016-05-11 2021-08-31 北京三星通信技术研究有限公司 一种通信系统中的信号发射、接收方法和装置
JP6962213B2 (ja) * 2018-01-23 2021-11-05 宇部興産機械株式会社 ダイカストマシンの溶湯の圧力算出方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4759705A (en) * 1985-04-30 1988-07-26 Fanuc Ltd Switching control system for unit torque limit value of servo motor for injection molding machine
US4887012A (en) * 1985-04-08 1989-12-12 Fanuc Ltd. Injection control apparatus for injection molding machine
US5102587A (en) * 1989-07-26 1992-04-07 Canon Kabushiki Kaisha Injection mold using screw thrust control
US5362222A (en) * 1993-08-31 1994-11-08 Cincinnati Milacron Inc. Injection molding machine having a vector controlled AC drive system
US5728329A (en) * 1994-05-02 1998-03-17 Guergov; Milko G. Method and apparatus for injecting a molten material into a mold cavity
US5911924A (en) * 1993-04-05 1999-06-15 Procontrol Ag Process for injection molding machine with electric drives
US20030062643A1 (en) * 2001-09-29 2003-04-03 Bulgrin Thomas C. Melt pressure observer for electric injection molding machine
US6562264B1 (en) * 1997-07-07 2003-05-13 Toyo Machinery & Metal Co., Ltd. Method of controlling a compression injection molding machine

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2204268B (en) * 1987-03-24 1990-05-23 Toshiba Machine Co Ltd Control systems for injection moulding machines
JP2649996B2 (ja) * 1991-04-09 1997-09-03 ファナック株式会社 射出圧力モニタ方法
US5645775A (en) * 1995-10-04 1997-07-08 Barber-Colman Company Adaptive controller for injection molding
JPH09220748A (ja) 1996-02-19 1997-08-26 Japan Steel Works Ltd:The 電動射出成形機における射出樹脂圧力の表示方法および表示装置
JP3569068B2 (ja) * 1996-04-12 2004-09-22 東芝機械株式会社 射出成形機の射出制御方法および装置
JP3168289B2 (ja) * 1996-07-31 2001-05-21 株式会社日本製鋼所 射出成形機の圧力制御方法および圧力制御装置
US20040047935A1 (en) * 1998-04-21 2004-03-11 Synventive Molding Solutions, Inc. Apparatus and method for simulating an injection molding process
US6682669B2 (en) * 2001-09-29 2004-01-27 Van Dorn Demag Corporation Model predictive control apparatus and methods for motion and/or pressure control of injection molding machines

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4887012A (en) * 1985-04-08 1989-12-12 Fanuc Ltd. Injection control apparatus for injection molding machine
US4759705A (en) * 1985-04-30 1988-07-26 Fanuc Ltd Switching control system for unit torque limit value of servo motor for injection molding machine
US5102587A (en) * 1989-07-26 1992-04-07 Canon Kabushiki Kaisha Injection mold using screw thrust control
US5911924A (en) * 1993-04-05 1999-06-15 Procontrol Ag Process for injection molding machine with electric drives
US5362222A (en) * 1993-08-31 1994-11-08 Cincinnati Milacron Inc. Injection molding machine having a vector controlled AC drive system
US5728329A (en) * 1994-05-02 1998-03-17 Guergov; Milko G. Method and apparatus for injecting a molten material into a mold cavity
US6562264B1 (en) * 1997-07-07 2003-05-13 Toyo Machinery & Metal Co., Ltd. Method of controlling a compression injection molding machine
US20030062643A1 (en) * 2001-09-29 2003-04-03 Bulgrin Thomas C. Melt pressure observer for electric injection molding machine
US6695994B2 (en) * 2001-09-29 2004-02-24 Van Dorn Demag Corporation Melt pressure observer for electric injection molding machine

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007080056A1 (de) * 2006-01-09 2007-07-19 Siemens Aktiengesellschaft Einspritzeinrichtung einer spritzgiessmaschine und verfahren zu deren betrieb
US20090065962A1 (en) * 2006-01-09 2009-03-12 Siemens Aktiengesellschaft Injection Device of an Injection Molding Machine and Method for the Operation Thereof
US20090045537A1 (en) * 2007-08-17 2009-02-19 National Chung Cheng University Method of sensing melt-front position and velocity
US7758780B2 (en) * 2007-08-17 2010-07-20 National Chung Cheng University Method of sensing melt-front position and velocity
US20110175248A1 (en) * 2009-05-18 2011-07-21 Noriyuki Akasaka Device and method for pressure control of electric injection molding machine
US9073255B2 (en) 2010-02-09 2015-07-07 Noriyuki Akasaka Device and method for plasticization control of electric injection molding machine
US20130033221A1 (en) * 2010-05-18 2013-02-07 Mitsubishi Electric Corporation Motor control device
US20130033220A1 (en) * 2010-05-18 2013-02-07 Mitsubishi Electric Corporation Motor control device
US8878479B2 (en) * 2010-05-18 2014-11-04 Mitsubishi Electric Corporation Motor control device
US8786245B2 (en) * 2010-05-18 2014-07-22 Mitsubishi Electric Corporation Motor control device
US20130063068A1 (en) * 2010-07-14 2013-03-14 Mitsubishi Electric Corporation Motor control device
US8860355B2 (en) * 2010-07-14 2014-10-14 Mitsubishi Electric Corporation Motor control device
US8871128B2 (en) 2010-11-01 2014-10-28 Noriyuki Akasaka Device and method for pressure control of electric injection molding machine
US8119044B1 (en) 2010-11-07 2012-02-21 Noriyuki Akasaka Device and method for plasticization control of electric injection molding machine
US8678803B2 (en) * 2011-06-30 2014-03-25 Yushin Precision Equipment Co., Ltd. Apparatus for taking out molded product
US20130004609A1 (en) * 2011-06-30 2013-01-03 Yushin Precision Equipment Co., Ltd. Apparatus for taking out molded product
US10150238B2 (en) * 2015-05-12 2018-12-11 Fanuc Corporation Injection molding machine controlling drive of movable part with motor
US20220263239A1 (en) * 2019-12-31 2022-08-18 Korea Aerospace Research Institute Method, apparatus and computer program for optimizing driving of antenna
US12183983B2 (en) * 2019-12-31 2024-12-31 Korea Aerospace Research Institute Method, apparatus and computer program for optimizing driving of antenna
CN112172067A (zh) * 2020-08-19 2021-01-05 广东伊之密精密注压科技有限公司 用于注塑机电射台的控制方法、装置及注塑机
CN113741189A (zh) * 2021-08-31 2021-12-03 广东工业大学 一种注塑机自适应学习快速控制方法

Also Published As

Publication number Publication date
US7904196B2 (en) 2011-03-08
US20100032854A1 (en) 2010-02-11
WO2005028181A1 (ja) 2005-03-31
JPWO2005028181A1 (ja) 2006-11-30
JP3741150B2 (ja) 2006-02-01

Similar Documents

Publication Publication Date Title
US7904196B2 (en) Method and apparatus for controlling pressure in electric injection molding machine
US8442685B2 (en) Robot control apparatus
JP5238885B2 (ja) ロボット制御装置
KR101671527B1 (ko) 부하 무게에 따른 실시간 서보 모터 제어기
JP5096019B2 (ja) サーボモータ制御装置
EP2828631B1 (en) Torque detecting method and arm device
WO2000019288A1 (fr) Dispositif de commande de position
US20050033460A1 (en) Position control device and position control method for machine tools
JP2000148210A (ja) ゲイン算出装置
US7630813B2 (en) Method for controlling electromechanical brakes using parameter identification and no additional sensors
JP4929026B2 (ja) 射出成形機の圧力制御装置及び圧力制御方法
JP3724504B1 (ja) 電動式射出成形機の圧力制御方法および装置
JPH03110607A (ja) サーボモータの制御方式
JP4022646B2 (ja) サーボモータを用いた圧力制御装置
JP4636271B2 (ja) サーボ制御装置とその調整方法
JP2000009561A (ja) アクチュエータの出力トルク検出方法
JP5660482B2 (ja) 工作機械の送り駆動系の制御方法及び制御装置
US11993327B2 (en) Method for estimating and adjusting friction to be adjusted, and controlling hysteresis of a steering wheel torque, and corresponding power steering system
JP3246572B2 (ja) 電動機駆動系の負荷定数測定方法
JP2007331160A (ja) 電動射出成形機の制御装置、電動射出成形機の圧力検出方法
CN113167699B (zh) 材料试验机及材料试验机的控制方法
CN108073188B (zh) 伺服电动机控制装置
JP2009023185A (ja) 電動射出成形機の制御方法
CN116000916B (zh) 一种手术机器人的关节扭矩控制方法、装置及手术机器人
JP2000238092A (ja) 射出成形機の制御方法

Legal Events

Date Code Title Description
AS Assignment

Owner name: UBE MACHINERY CORPORATION, LTD., JAPAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:OKAZAKI, YOSHINORI;REEL/FRAME:016314/0779

Effective date: 20050711

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION

点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载