JP7102088B2 - Molding machine control method and molding machine - Google Patents

Description

The present invention relates to a control method and a molding machine of a molding machine that performs molding between a mold attached to one plate and a mold attached to the other plate.

As a molding machine that performs molding between a mold attached to one plate and a mold attached to the other plate, those described in Patent Documents 1 to 3 are known. Patent Document 1 relates to a compression allowance adjusting device in a vertical injection compression molding machine, and includes a rebellious cylinder that protrudes against a mold clamping cylinder. Further, Patent Document 1 describes that the mold clamping force of the mold clamping cylinder overcomes the pushing force of the rebellious cylinder and pushes in the piston of the rebellious cylinder. Further, Patent Document 2 also relates to a molding machine provided with a rebellious cylinder having the same purpose as Patent Document 1, but relates to a press molding machine.

Patent Document 3 relates to a compression molding method, and the mold clamping mechanism operates a mold clamping hydraulic cylinder by controlling a servo valve. Then, when controlling the mold clamping hydraulic cylinder as described in (0041) and (FIG. 1), it is described that the control signal based on the feedforward control is added to the control signal based on the feedback control. There is.

Utility Model Registration No. 2552877 (Claim 1), (0027) to (0029), (Fig. 1) JP-A-2019-217725 (0021) to (0026), (Fig. 1) JP-A-2004-17396 (Claim 3), (0041) (Fig. 1), (Fig. 10)

However, in Patent Document 1 and Patent Document 2, there are cases where the pressure control of the rebellious cylinder cannot be performed well with respect to the pressure applied by the mold clamping cylinder during actual control. Specifically, when pressurizing by the mold clamping cylinder while controlling the pressure of the rebellious cylinder, it may be difficult to reduce the pressure of the rebellious cylinder to a desired value because the pressing force of the mold clamping cylinder is large.

Further, Patent Document 3 relates to a combination of feedback control and feedforward control, which combines position control and pressure control in order to control a mold clamping hydraulic cylinder, and in particular, a mold clamping hydraulic cylinder. No consideration was given to being affected by external forces. Therefore, no suggestion was given regarding the control of the actuator that receives an external force.

In view of the above problems, the present invention is an actuator that generates pressure or force while receiving an external force during molding when molding is performed between a mold attached to one plate and a mold attached to the other plate. It is an object of the present invention to provide a molding machine control method and a molding machine capable of satisfactorily controlling the above.

The method for controlling a molding machine according to claim 1 of the present invention is a method for controlling a molding machine that performs molding between a mold attached to one plate and a mold attached to the other plate at the time of molding. An actuator that generates pressure or force while receiving an external force is provided, and when the actuator is pressure-controlled or force-controlled, the feedback control command signal and the negative feed forward control command signal are combined in at least a part of the steps. It is characterized by giving.

The method for controlling a molding machine according to claim 2 of the present invention is that, in claim 1, when the actuator is pressure-controlled or force-controlled, feedforward control is performed in all steps, and the step is performed in response to an external force. It is characterized by gradually increasing the command signal of negative feedforward control from the middle.

The molding machine according to claim 3 of the present invention is a molding machine that performs molding between a mold attached to one plate and a mold attached to the other plate, and is subjected to pressure or pressure while receiving an external force during molding. The actuator that generates the force, the feedback control command signal that acts in the direction of lowering the pressure or force of the actuator and the feed forward control command signal that acts in the direction of lowering the pressure or force of the actuator are given together in at least a part of the steps when controlling the actuator. It is characterized by being equipped with a control device.

The molding machine according to claim 4 of the present invention is a rebellious cylinder according to claim 3, wherein the actuator that generates pressure while receiving an external force during molding is a rebellious cylinder that generates pressure in a direction opposite to the pressurizing direction of the main cylinder. The servo valve that controls the rebellious cylinder is provided with a signal that is a combination of the feedback control command signal and the feed forward control command signal that acts in the direction of lowering the pressure or force of the actuator. ..

The control method of the molding machine of the present invention is a control method of a molding machine that performs molding between a mold attached to one plate and a mold attached to the other plate. An actuator for generating a force is provided, and when the actuator is pressure-controlled or the force is controlled, a feedback control command signal and a negative feed forward control command signal are combined and applied in at least a part of the steps. Pressure control or force control can be performed well.

It is a front view of the molding machine of this embodiment. It is a top view of the molding machine of this embodiment. It is a control block diagram which shows the control method of the molding machine of this embodiment. It is a cheat diagram which shows the relationship between the command signal value and pressure of the control method of the molding machine of this embodiment. It is a front view of the molding machine of another embodiment. It is a cheat diagram which shows the relationship between the command signal value and pressure of the control method of a conventional molding machine.

The press molding machine 11 of the present embodiment, which is a kind of the molding machine of the present invention, will be described with reference to FIGS. 1 and 2. In the press forming machine 11, tie bars 14 are erected in the vicinity of the four corners of the fixing plate 13 to which the fixing dies 12 are attached, and an upper plate 15 corresponding to a pressure receiving plate is fixed to the upper portion of the tie bars 14. Then, the tie bar 14 is inserted into the guide holes near the four corners of the movable board 17 to which the movable mold 16 is attached, and the movable board 17 is guided by the tie bar 14 and can be moved up and down between the fixed board 13 and the upper board 15. It has become. The upper plate 15 is provided with a main cylinder 18 operated by hydraulic pressure, which is a main pressurizing mechanism, and a ram 19 of the main cylinder 18 is fixed to the back surface (upper surface side) of the movable plate 17. In the present invention, when one board is the fixed board 13, the movable board 17 corresponds to the other board, and when one board is the movable board 17, the fixed board 13 corresponds to the other board. do.

The cylinder portion of the mold opening / closing cylinder 20 of the mold opening / closing mechanism is attached to one side and the other side (right side and left side of FIG. 2) when the fixing plate 13 is viewed in a plan view, and the rod of the mold opening / closing cylinder 20 is attached. It is attached to one side and the other side of the movable board 17, respectively. The mold opening / closing mechanism may use another type of actuator such as a servomotor, or the stroke of the main cylinder 18 of the pressurizing mechanism may be extended without separately providing the mold opening / closing mechanism. A half nut 21 is attached around the portion through which the tie bar 14 on the back side of the movable board 17 is inserted. On the other hand, the tie bar 14 is provided with a locking groove (not shown) so that the teeth of the half nut 21 can be locked in the locking groove of the tie bar. When the stroke of the main cylinder 18 is extended, the half nut 21 is unnecessary.

Further, a rebellious pressurizing control mechanism 24 provided with a position sensor 22 and a rebellious cylinder 23 is provided between the fixed plate 13 and the movable plate 17. In the present embodiment, the rebellious cylinder 23 of the rebellious pressure control mechanism 24 is mounted at four locations inside the tie bar 14 on the mold mounting surface 13a (upper surface) of the fixing plate 13. The rebellious cylinder 23 corresponds to an "actuator that receives an external force" in the present invention, and generates pressure in a direction opposite to the pressure direction of the main cylinder 18 during pressure control (compression control) of a molded product. .. Further, the rebellious pressurization control mechanism 24 is provided with a position sensor 22 corresponding to the rebellious cylinder 23. The position sensor 22 is attached over the side surfaces of the fixed platen 13 and the movable platen 17, and a linear sensor is used here. The number and location of the anti-counterfeit pressure control mechanisms 24 are not limited. Further, the type of the position sensor 22 is not limited.

The rebellious cylinder 23 is a recovery cylinder, and the cylinder portion 23a is attached to the mold mounting surface 13a of the fixed plate 13 as described above, and the cross-sectional area of the rod 23b is attached to the tip of the rod 23b facing the movable plate 17. A larger contact portion 23c is attached. The rebellious cylinder 23 may be a single-acting cylinder that is urged by a spring and the rod 23b retracts due to the spring force at the time of depressurization.

On the other hand, the contact portion 25 of the rebellious pressurizing control mechanism 24 is mounted on the mold mounting surface 17a (lower surface) of the movable platen 17 at a position at the same position as the rebellious cylinder 23 in a plan view. The height of the contact portion 25 from the mold mounting surface 17a can be adjusted by adjusting the number of shims to be inserted. When the main cylinder 18 is attached to the side of the fixed plate 13, the cylinder portion 23a of the rebellious cylinder 23 is attached to the side of the movable plate 17 on the opposite side.

The purpose of providing the rebellious cylinder 23 of the rebellious pressure control mechanism 24 in the present embodiment is to adjust the pressing force and stroke of the main cylinder 18 as described in Patent Document 1 and Patent Document 2, and four units are provided. The total pressing force of the rebellious cylinder 23 is smaller than the pressing force of the main cylinder 18 of the main pressurizing mechanism. The four rebellious cylinders 23 are individually controlled by servo valves 26 provided corresponding to each cylinder, detect the value of the position sensor 22, and improve the parallelism of the movable plate 17 with respect to the fixed plate 13. Contribute.

Next, the hydraulic device 27 of the press molding machine 11 will be described. The hydraulic device 27 includes a tank 28, a pump 29, a circuit 30 including various switching valves other than the servo valve 26, and the like. A valve capable of feedback control such as a servo valve 26 is provided in a pipeline for supplying hydraulic oil from the pump 29 to the rebellious cylinder 23 via the circuit 30. Then, the P port of the servo valve 26 is connected to the pipeline connected from the pump 29, and the T port is connected to the tank 28. Further, the A port of the servo valve 26 is connected to the cylinder side oil chamber 23d of the rebellious cylinder 23 via a pipeline 31 or the like, and the B port is connected to the rod side oil chamber via another pipeline. A pressure sensor 32 is attached to the pipeline 31. Each of the four rebellious cylinders 23 includes the servo valve 26 and the pressure sensor 32.

Next, the control device 33 of the press molding machine 11 will be described. The control device 33 is connected to a valve of an actuator (not shown) that operates a half nut, including a pump 29 of the hydraulic device 27, a switching valve, and a servo valve 26. Further, the control device 33 is also connected to various sensors such as the position sensor 22 and the pressure sensor 32 via a signal line. The control device 33 includes a command signal generation unit 34 that generates a command signal in the servo valve 26, a storage unit 35 that stores a sequence and molding conditions, and the like.

Next, the control method of the press molding machine 11 of the present embodiment will be described with reference to the explanatory diagram of FIG. 3 and the chart diagram of FIG. Although only the control block and the chart of the rebellion cylinder 23 of one rebellion pressurization control mechanism 24 are shown in FIGS. 3 and 4, the same control is performed for each rebellion cylinder 23. Further, although only the actual pressure control part of the rebellion cylinder 23 is described here, the purpose of the rebellion cylinder 23 is to improve the parallelism, and the position control of the rebellion cylinder 23 is also performed by detecting the position of the position sensor 22. .. The position control of the rebellious cylinder 23 is performed in parallel with the pressure control at least in the initial stage of the pressurizing step PP started after the contact portions 23c and 25 come into contact with each other.

Explaining the control block diagram of FIG. 3, the command signal generation unit 34 of the control device 33 sends a command signal a (voltage value), which is a base for controlling the pressure of the servo valve 26, to the adder 36. Further, the pressure of the hydraulic oil in the cylinder side oil chamber 23d of the rebellious cylinder 23 is detected by the pressure sensor 32 and sent to the control device 33 as a pressure detection signal b, and the command signal generation unit 34 in the adder 36 of the control device 33. A command signal c for feedback control is generated by being added to the command signal a sent from. On the other hand, apart from the feedback control loop, the command signal generation unit 34 of the control device 33 sends a negative command signal d of feedforward control to the adder 37. Then, the feedback control command signal c and the feed forward control command signal d are added by the adder 37, and finally the total command signal e sent from the control device 33 to the servo valve 26 solenoid is obtained. Will be generated.

Next, before explaining the operation of the press forming machine 11 and the hydraulic pressure control of the rebellious cylinder 23 of the present invention, the state of the hydraulic pressure control of the conventional rebellious cylinder 23 will be described with reference to the chart shown in FIG. First, hydraulic oil is also supplied to the cylinder side oil chamber 23d of the rebellious cylinder 23, the rod 23b is projected toward the movable platen 17, and the measured pressure mp (detected value of the pressure sensor 32) of the cylinder side oil chamber 23d is almost a target. Control is performed by a command signal of feedback control so that the pressure becomes tp. When it is detected that the measured pressure mp of the cylinder side oil chamber 23d has reached the target pressure tp or its vicinity, the mold closing process CP is started, the mold opening / closing cylinder 20 is operated, and the half nut 21 is engaged. After that, the main cylinder 18 is started to operate. During this mold closing step CP, the feedback control command signal sent from the control device 33 to the servo valve 26 has a positive signal value (plus voltage) lower than that at the time of boosting. After that, when the movable platen 17 is further lowered by the operation of the main cylinder 18 and the contact portion 25 of the movable platen 17 is touched with respect to the contact portion 23c of the rebellious cylinder 23, the pressurizing process PP by the main cylinder 18 starts. Will be done. In the pressurizing step PP, the measured pressure mp of the cylinder side oil chamber 23d of the rebellious cylinder 23 rises.

At this time, when the pressure sensor 32 detects an increase in the pressure of the oil chamber 23d on the cylinder side, the command signal sent from the control device 33 to the servo valve 26 by the feedback circuit reduces the pressure as shown in the A portion of FIG. It becomes a negative state. However, the large pressing force of the main cylinder 18 has a large effect on the rebellious cylinder 23, which can generate only a relatively small pressing force. As a result, as shown in the portion B of FIG. 6, the actually measured pressure mp of the cylinder side oil chamber 23d of the rebellious cylinder 23 rises even though the negative command signal f is sent to the servo valve 26. There was a problem that the pressure of the rebellious cylinder 23 could not be reduced as intended. Further, there is a problem that the pressurization control by the main cylinder 18 and the accompanying advancement of the movable mold 16 cannot be performed as originally expected. Attempts were made to change the value of the PID gain used for the feedback control of the servo valve 26 to solve these problems, but no drastic solution was achieved.

In response to the above problem, in the present invention, when the rebellious cylinder 23 (actuator) is pressure-controlled or force-controlled during molding, a feedback control (closed loop control) command signal c and negative feed forward control are performed in at least a part of the steps. It is characterized in that the command signal d of is also given. Here, the negative feedforward control command signal d refers to a command signal that acts in the direction of lowering the pressure or force of the actuator. Explaining the specific control with reference to FIG. 4, the operation until the contact portion 23c and the contact portion 25 abut is the same as in the example of FIG. 6, and the pressure in the cylinder side oil chamber 23d of the rebellious cylinder 23 is the target pressure. The measured pressure mp is controlled to match the tp. In this case, the operation order of each operating portion may be such that the rebellious cylinder 23 may be projected after the mold closing operation is started, or the main cylinder 18 may be operated after the abutting portions are in contact with each other. Is not limited.

Then, when the movable platen 17 is further lowered by the operation of the main cylinder 18 and the like, the contact portion 23c and the contact portion 25 are brought into contact with each other and the pressurizing step PP is started, the measured pressure in the cylinder side oil chamber 23d of the rebellious cylinder 23 is started. mp starts to rise. In the present invention, when the contact portion 23c and the contact portion 25 are brought into contact with each other, a negative feedforward control command signal d is output from the command signal generation unit 34 from the middle of the pressurizing step PP at the same time or slightly later. do. Here, the negative feedforward control command signal d is a signal (here, a negative voltage value) that operates the servo valve 26 in the direction of lowering the measured pressure mp, and has almost the same concept as the open loop control command signal. Is.

As shown in FIG. 3, the negative feed forward control command signal d in the pressurizing step PP is added to the feedback control command signal c by the adder 37 and finally sent to the servo valve 26. The command signal e is generated, and the command signal e is sent from the control device 33 to the solenoid of the servo valve 26. Then, in reality, the negative feedback control command signal b shown in the C part of FIG. 4 is further added with the negative feedforward control command signal d shown in the D part, and a large negative as shown in the E part is added. Is sent to the solenoid of the servo valve 26 as the total command signal e. At this time, exceptionally, in the rebellious cylinder 23 in which the rod 23b is most retracted among the four rebellious cylinders 23, the measured pressure mp of the cylinder side oil chamber 23d is lower than the target pressure tp (set pressure), and feedback control is performed. It is possible that the command signal c of the above becomes a positive value for a short time or a certain period of time. Further, the feedforward control command signal d may be only given in at least a part of the steps such as the initial stage of the pressurizing step PP. The feeding of the feedforward control command signal d is to keep the pressure of the rebellious cylinder 23 at a set value. Therefore, the feedforward control command signal d may be applied within a range in which the pressure rise can be avoided even if the pressure applied by the main cylinder 18 is applied, and may not be applied in the entire process of the pressurizing step PP. ..

Regarding the feed forward control command signal d sent from the command signal generation unit 34, if the value of the command signal d is rapidly increased (the absolute negative value is increased), it may cause a shock or the like. As shown, it is desirable to gradually increase the command signal d of the negative feed forward control (increase the absolute negative value) from the beginning or the middle of the pressurizing process in response to the external force. At this time, as a method of increasing the command signal d of the negative feedforward control, in addition to gradually increasing the negative absolute value of the command value in a slope shape, the negative absolute value of the command value is gradually increased. It may be increased gradually.

As a result, the pressure applied by the main cylinder 18 is relatively large, and even in the case where the pressure in the cylinder side oil chamber 23d of the rebellious cylinder 23 is difficult to be released, the measured pressure mp of the cylinder side oil chamber 23d is set to the target pressure tp. It can be lowered almost along the line. As a result, the main cylinder 18 can pressurize the optimum molding material. In particular, in the case where the thickness of each part of the molding material and each part of the mold shape are different and uniform pressurization cannot be performed only by the main cylinder 18, the most protruding rod 23b of the four rebellious cylinders 23 is quickly pushed. It became possible to quickly improve the parallelism of the movable platen 17 with respect to the fixed platen 13.

The press molding machine 11 of the present embodiment molds a plate-shaped molding material such as a prepreg or a resin plate in a cavity formed between the fixed mold 12 and the movable mold 16. May be a molten material such as a molten resin alone or a molten resin containing fibers. That is, the present invention may be a pressure molding machine of a type called a compression molding machine that compresses a molten material. Further, the die of the press forming machine 11 may be a hot plate having a flat pressure surface. In that case, a closed cavity is not formed between the molds of the press forming machine.

Next, the molding machine of another embodiment shown in FIG. 5 will be described focusing on the differences. Another embodiment is an example of applying the present invention to an injection molding machine 51. In the injection molding machine 51 of FIG. 5, the safety cover, the safety door, and a part of the tie bar 59 are omitted, and the cross section of the fixing plate 56 is drawn. The injection molding machine 51 is known and includes an injection device 53 and a mold clamping device 54 on the bed 52. The mold clamping device 54 is provided so that the movable platen 58 to which the movable mold 57 is attached is guided by the tie bar 59 and the guide on the bed 52 so as to be movable in the mold opening / closing direction with respect to the fixed platen 56 to which the fixed mold 55 is attached. ing. On the other hand, a mold clamping servomotor 61 is attached to the mold clamping housing 60, and a toggle mechanism 62 operated by the mold clamping servomotor 61 is provided between the mold clamping housing 60 and the movable platen 58. In another embodiment, the mold clamping servomotor 61, the toggle mechanism 62, and the like form a main pressurizing mechanism.

Four cylinder portions 63a of the rebellious cylinder 63, which is an actuator of the rebellious pressurizing mechanism, are provided around the portion where the fixing mold 55 is attached to the fixed plate 56, and the rod 63b and the contact portion 63c at the tip thereof are movable plates. It is provided at a position facing the contact portion 64 fixed to the 58. The rebellious cylinder 63 is operated by a feedback-controllable valve such as a servo valve 65, and hydraulic oil is supplied from the hydraulic device 66. Further, the injection molding machine 51 is provided with a control device 67 for controlling a mold clamping servomotor 61 that generates a mold clamping force in a direction facing the servo valve 65 and the rebellious cylinder 63. The control device 67 includes a command signal generation unit 68. Further, the rebellious pressurizing mechanism includes a pressure sensor (not shown) that detects the pressure of the rebellious cylinder 63 and a position sensor (not shown) that detects the distance between the fixed platen 56 and the movable platen 58.

The control of the rebellion cylinder 63 of the injection molding machine 51 of another embodiment is the same as the control of the rebellion cylinder 23 of the press molding machine 11 of the embodiment shown in FIG. 1 and the like, and thus the details are not described. However, the parallelism of the movable platen with respect to the fixed plate cannot be corrected and controlled by the mold clamping control of the injection molding machine provided with only the conventional toggle mechanism, but in the present invention, the gold between the fixed platen 56 and the movable platen 58 is formed. By providing at least three anti-counterfeit pressurizing mechanisms around the mold, parallel control of the movable plate 58 with respect to the fixed plate 56 becomes possible at the time of mold clamping.

The injection molding machine 51 of the present invention performs injection compression molding or injection press molding in which the volume of the cavity is changed during molding to compress the molding material, or the foam molding material injected into the cavity is foamed while the movable metal is formed. It is particularly useful when performing foam molding in which the mold 57 is retracted in the mold opening direction. The present invention can also be applied to a mold clamping device for a vertical injection molding machine.

Further, the actuator of the present invention is not limited to the molding machine of the above-described embodiment as long as it is an actuator that generates pressure or force while receiving an external force during molding. The number of actuators of the present invention may be one. Further, the actuator of the present invention may use an electric motor such as a servomotor and a ball screw mechanism. When the actuator is an electric motor, a toggle mechanism may be used as a mechanism for generating a force in the opposite direction to the pressurizing direction of the main pressurizing mechanism. Further, the actuator may use an electromagnet and generate a repulsive force on the electromagnet. When the actuator is an electric motor or an electromagnet, the external force received by the rebellious pressurizing mechanism is detected by a strain detector such as a load cell, a torque value of an electric motor, or the like, and force control is performed.

In a molding machine such as a press molding device 11 or an injection molding machine 51, the main pressurizing mechanism for generating an external force during molding may be a hydraulic cylinder or an electric mechanism such as a servomotor. When the main pressurizing mechanism is an electric motor, a toggle mechanism, a boosting mechanism such as a crank mechanism or a knuckle mechanism, a friction mechanism, or the like is used as the force transmission mechanism. Further, the number of main pressurizing mechanisms is not limited, and those having parallel control may be provided with four pressurizing cylinders.

Further, the present invention detects a pressure detected by a pressure sensor 32 or the like, a force detected by a tie bar sensor or a load cell, and commands a negative feed forward in the direction of lowering the pressure or force with respect to a command signal for feedback control of the actuator. The main target is those that give signals. However, for those that detect the position with a position sensor and control the feedback of the actuator, those that give a negative feed forward command signal, and those that control the feedback of the actuator based on the detection values of both the position sensor and the pressure sensor. It does not exclude those that give a negative feedback command signal.

Further, the molding machine of the present invention includes an actuator of a main pressurizing mechanism such as a hydraulic cylinder or a servomotor that generates pressure or force from the opposite side to an actuator that generates pressure or force while receiving an external force during molding. It may not be. Specifically, the hydraulic cylinder or the servomotor itself, which is the main pressurizing mechanism, may be an actuator that generates pressure or force while receiving an external force during molding. In the above case, the external force received by the actuator during molding is brought about by the resin pressure including the injection pressure and the foaming pressure. Further, in a hollow molding machine such as a PET bottle, there may be pressurizing mechanisms on both sides of the mold, and the molding material between the molds may be pressurized from each of the pressurizing mechanisms. Even in those cases, the actuator of one pressurizing mechanism receives an external force from the other pressurizing mechanism.

Although the present invention is not listed one by one, it is not limited to the above-described embodiment, but a combination of various parts of the above-described embodiment or a modification made by a person skilled in the art based on the gist of the present invention. Needless to say, it applies.

11 Press molding machine 12,55 Fixed mold 13,56 Fixed plate 16,57 Movable mold 17,58 Movable plate 18 Main cylinder 23,63 Rebellion cylinder 24 Rebellion pressurizing mechanism 26,65 Servo valve 27,66 Hydraulic device 32 Pressure sensor 33, 67 Control device 34, 68 Command signal generator 36, 37 Adder 51 Injection molding machine a Command signal b Pressure detection signal c Feedback control command signal d Ford forward control command signal e Combined command signal mp Measured pressure tp Target pressure

Claims (3)

In the control method of a molding machine that performs molding between a mold attached to one plate and a mold attached to the other plate,
An actuator that generates pressure or force while receiving an external force during molding is provided in the press molding machine or mold clamping device.
When the actuator is pressure-controlled or force-controlled, feedforward control is performed in all processes, and a negative feedforward control command signal is gradually transmitted from the beginning or the middle of the pressurizing process in response to an external force during molding. To increase
A control method for a molding machine, characterized in that a command signal obtained by further adding up the negative feedforward control command signal is given to the feedback control command signal. In a molding machine that molds between a mold attached to one plate and a mold attached to the other plate
Actuators that generate pressure or force while receiving external force during molding,
When controlling the actuator, feedback control is performed in all processes, feed forward control is performed in all processes, and negative feed forward control is performed from the beginning or the middle of the pressurizing process in response to an external force during molding. It is equipped with a control device that gradually increases the command signal and gives a command signal that is a sum of the negative feed forward control command signals that act in the direction of lowering the pressure or force of the actuator with respect to the feedback control command signal. A molding machine characterized by being fed back. In a molding machine that molds between a mold attached to one plate and a mold attached to the other plate
Actuators that generate pressure or force while receiving external force during molding,
When controlling the actuator, at least in a part of the steps, a control device is provided which gives a command signal of feedback control and a command signal of feedforward control acting in a direction of lowering the pressure or force of the actuator in combination.
The actuator that generates pressure while receiving an external force during molding is a rebellious cylinder that generates pressure in the direction opposite to the pressurizing direction of the main cylinder, and the feedback control command signal to the servo valve that controls the rebellious cylinder. A molding machine characterized in that a signal is added by combining a command signal of a feed forward control that acts in a direction of lowering the pressure or force of the actuator .

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