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中華民國九十七年十一月八日 論文編號:A09-37
It is noted that nonlinear property is not considered From (9)-(12) and Fig. 4, the following relationships
here. For clarification, the term “synchronization error” can be obtained:
is herein defined as the position or velocity differences 1 + G2* G1*
between the dual parallel linear motors. v1 = u1G1 + u G (13)
1 + G1* + G2* 1 + G1* + G2*
2 2
3.2 Design of synchronous controller typical pressure curve in the mold cavity shown in Fig.
To prevent the damage caused by the asynchronous 12. Therefore, this load simulator can be used for
motion of the two motors, a synchronous controller injection control experiments. The spring constants for
containing a velocity controller Kv_syn and a the spring and damper are KSpring=0.8468 N/mm and
synchronous position controller Kx_syn is employed. The KDamper=3.45 N/mm, respectively. The damping
output of the synchronous controller is expressed as: constant of the damper is CDamper=4.46 N/m/s.
usyn = K x _ syn ∆ x + K v _ syn ∆v (19) The specification of the linear motors is given in
The controller enables the force command to be Table 1, and the experimental setup is shown in Fig. 1.
dynamically tuned according to the synchronization The origin is defined as the initial position to each
errors of both velocity and position to reduce the risk on injection process so that the injector operates on the
damage of the system. The designed controller negative side to the origin. During the entire injection
Kx_syn=99.73 and Kv_syn=0.06. process, there are a number of control switchovers
based on position of the injector. Three velocity control
3.3 Force command regulator phases are arranged in the filling stage, and force
As shown in Fig. 9, ideally, the following equation control is employed in the packing/holding/cooling
should be satisfied to achieve an identical output stage. The filling-to-packing switchover is based on the
response of the two motors (in order to improve the estimation of the designed observer. On completion of
synchronization ability): cooling, the motor will be switched to position control
u2G2 = u1G1 (20) for returning to initial position for next injection cycle.
Thus, It is noted that control for melting material and feeding
K2 K1 into the barrel through a hopper is not the target of this
K c u1 = u1 (21) study, and the position control here is only for the
s + p2 s + p1
injector returning to the initial position.
K1 s + p2
Kc = (22) The entire stroke is 120 mm (0 mm to -120 mm).
K 2 s + p1 The velocity is arranged to be -300mm/s for the position
From (22), the controller can be tuned based on the of 0 mm to -20mm, -900mm/s for -20 mm to -80mm,
characteristics of the two motors. and -600mm/s for beyond -80 mm. As shown in Fig. 14,
the red dotted line is the command and the blue solid
3.4 Design of Observer
line is the output response of motor 1. The velocities
The disturbance observer combines the low
required for filling are successfully achieved (before
acceleration estimator (LAE) and the Luenberger
0.23 s). The motor is then switched to force control
observer [10], as shown in Fig. 10. The closed-loop
based on the observed load force that represents the
transfer function for the LAE part is compared to a
prescribed cavity pressure. In this condition, the
standard second order system, thus:
observed load force dramatically rises due to the contact
ωn
2
K o1
= (23) with the damper and the spring, as shown in Fig. 15.
s 2 + K o 2 s + K1o s 2 + 2ζω n s + ω n
2
The durations for packing/holding and cooling are set to
Thus, be 1 s and 0.5 s, respectively. The injectors are then
moved back to the initial position by position control, as
K o1 = ω n
2
3. P. Sarachik, J. R. Ragazzini, “A 2-dimensional Fig. 3 Block diagram for the coupled dual motor system
feedback control system,” Transaction of the AIEE vol.
K2
76(2), pp. 55-61, 1957 s + p2
4. R. D. Lorenz and P. B. Schmidt, “Synchronized G2 cs + d
motion control for process automation”, Proceedings of s 2 + p2 s
G2*
the 1989 IEEE Industry Applications Annual
5. FANUC, Parameter manual of a-series AC servo
as + b
motor, FANUC, 1994 G*
s 2 + p1 s 1
6. SIEMENS, 840D/FM-NC Description of functions,
special functions (Part 3), SIEMENS, 1999 K1
s + p1
7. Y. B. Bang and K. M. Lee, “Large thrust linear
G1
motors for low-duty-cycle operation”, Mechatronics,
Fig. 4 Simplified diagram for the coupled system
vol. 14, pp. 891-906, 2004
8. Y. B. Bang and K. M. Lee, “Linear motor for ejector
mechanism,” International Journal of Advanced
Manufacturing Technology, vol. 24, pp. 582-589, 2004
9. G. Ellis, “PDFF: An evaluation of a velocity loop
control method”, PCIM-Europe, 1999.
10. K. S. Wu, Design and realization of differential and
power-assisted control for power chairs, Master Thesis,
National Cheng Kung University, 2005.
7. Chart arrangement Fig. 5 Process for verification of system model
Fig. 1 Investigated system with load simulator Fig. 6 Response for command fed to motor 1
2008 第六屆全國精密製造研討會論文集 崑山科技大學 台南、永康
中華民國九十七年十一月八日 論文編號:A09-37
Fig. 7 Response for command fed to motor 2 Fig. 8 Response for command fed to both motors
1
s
1
s
F̂d
1
s
v̂1
1
s
TMotor
TˆDisturbance
1
Ĵ Ĵ
θ α̂ 1 ω̂ 1 θˆ
Ko1
s s
Ko2
Time (sec)
雙線型馬達伺服系統於射出成型機
Fig. 13 The load curve of load simulator
之應用
1 2 3
謝旻甫 、姚武松 、王盛篁
1
國立成功大學系統及船舶機電系副教授
2
國立成功大學機械系博士後研究
3
國立成功大學系統及船舶機電系研究生
摘要
本文主要目的在於應用一雙平行線型馬達系統
於射出成型機之射出單元,針對其發展一系統鑑別方
法以及同動控制技術。該雙平行馬達以一耦合機構使
Fig. 14 Motor 1 output response in an injection cycle 兩者得以共同出力,做為射出所需之力。因此,可比
單線型馬達多出約一倍之射出力,亦可降低對於大推
力馬達之需求。本文所發展之同動控制架構可滿足射
出過程中之多段控制切換,例如從充填到保壓過程須
由速度控制切換為力量控制。在本控制架構使用一同
Load force (N)
動控制器以降低雙馬達之間之同動誤差,另有一外擾
估測器用以估測模穴壓力,作為充填切換為保壓之依
據。在實驗驗證中,本文以一負載模擬器來實現模穴
在射出過程中之壓力變化情形,並經實驗驗證其可行
性。藉由實驗結果可驗證本控制架構以及雙馬達伺服
系統應用於射出成型機之可行性。
Fig. 15 The observed load curve for an injection cycle 關鍵字 : 線型馬達,同動控制,射出成型,保壓切
換,估測器