The exact position that is based on advanced language controls the application in plastic and mechanical industry

In plastic and mechanical industry, the control of athletic orgnaization often comes true by hydraulic pressure drive, note a position combining a model of model machine for instance, inject position, full automatic hollow of the machine that blow model move modular position is waited a moment. The positional accuracy of these athletic orgnaizations has bigger effect to the integral function of the machine and goods precision, for instance, the machine that note model drives the accuracy of modular position, be helpful for manipulator entering take out finished product, inject eventually the position also meets those who affect shot and finished product repeat precision. To raise positional precision, more efficient way is the response that raises actuator and accuracy, the proportioning valve of use high accuracy or servo a powerful person. MOOG, REXROTH, italian ATOS, have product of corresponding hydraulic pressure drive. However, the control system that unit – plastic machine controls in the center of serve as a machine, the traditional method inside software is: Detect the position of electronic feet feedbacks, judgement movement is in the a fewth phase, the decision outputs corresponding discharge and pressure, whether to perhaps want to end an action. The defect of this kind of practice is, for instance, control system detects a standard that had achieved set to pattern plate position eventually the position, next discharge and pressure just begin according to set brae decelerate, the response plus a powerful person delay time, when pattern plate stops firm later, real position had exceeded set value far. Graph 1 it is common the effect sketch map that the machine that note model controls a system to dominate modular niche, can see, even if use tall answer scale direction a powerful person, too strong still inevitable, and the response when actuator when character is wronger, the situation is more bad. GEFRAN (Jiefolun) it is the person that come from the forerunner of Italian sensor and automation domain, the experience of plastic and mechanical industry that having more than 30 years. To such control circumstance, GEFRAN controls a system to use object-oriented advanced language process designing, software interior is compositive substantial functional library, these functional libraries, can analyse the speed of athletic process, brae, with the seat that selects a site, make special and algorithmic processing. Graph 2 curves are 2 　 to in an attempt to exemple, v1, v2, v3 decides rate for 3 paragraphs of constant, q1, q2 is the position was worth at 2 o'clock, should realize such dot to arrive bit of position curve, must want a consideration among add decelerate process. It is in legend: Realize a paragraph of ascendant brae first, realize two paragraphs to drop again next brae. To plastic machinery, ascendant brae uses the type that is based on time to be able to satisfy a requirement: (V of rate change △ ) T_PLC / of time of ＊ program cycle of run quickens every other of time T = the rate that cycle of run of a program needs to increase outputs change. Such acceleration that is based on time brae algorithm can come true easily very much, and to dropping brae, want to stop well and truly in Q1 position, must shift to an earlier date proper place has slowdown, this shifts to an earlier date positional coefficient, depend on the response of actuator speed, actuator is answered faster, this value can be set smallier, must increase otherwise ahead of schedule positional coefficient, extend the executive time of athletic process thereby. The program realizes such decelerate process, have 3 kinds of distinct algorithmic possibility at least, let us analyse sex of respective actor bad. The first kind, be based on time 　 If (STOP_POSITION[i]==TIME_baseD) If of ｛ 　 　 (Realpos>StartPos) If of ｛ 　 　 (StartDecreaseOut[i]>TimeRampValue [i] ) Return of 　 of 　 of ｝ of 　 of 　 of StartDecreaseOut [i] = Real_Output; of 　 of 　 of ｛ of Else of ｝ of 　 of 　 of OutPutTemp = StartDecreaseOut [i]; of 　 of 　 of ｝ of 　 of 　 of StartDecreaseOut [i] = 0; of 　 of 　 of ｛ of Else of ｝ of 　 of 　 of TimeRampValue[i]; of – of StartDecreaseOut [i] = StartDecreaseOut [i] of ｛ 　 　 (OutPutTemp) this kind of algorithm mixes Nextpage 　 of ｝ of; 　 　 quickly brae is similar, but put in a deadly defect: As a result of initiative descendent speed is uncertain, parameter has been set before calculating a machine to leave factory, final user changes mould, perhaps change a pattern speed-distance curve, need to search first-rate brae afresh initial drop, accordingly, cannot take with make control. The 2nd kind, be based on institute of plan of positional brae as above to show, once nod a value to decide ahead of schedule, the slope that is based on the position can come down certainly, how much be no matter begin to prepare set of the discharge when dropping,accordingly, slope always is certain, and the position that begins executive brae truly, it is not certain however, matter with discharge, slope is as follows certainly: If (STOP_POSITION==POSITION_RAMP_baseD) If of 　 of 　 of Real_Output / Maxout; of ＊ of Position_Ramp = AdvancePoint of ｛ 　 　 (Realpos>StartPos) ＊ of OutTemp = Maxoutabs of ｛ 　 　 (EndPos - RealPos) / If of Position_Ramp; 　 　 (Real_Output <= OutTemp) Return of 　 of 　 of ｝ of 　 of 　 of OutPutTemp = Real_Output; (OutPutTemp) annotate of 　 of ｝ of; 　 　 (　 　 STOP_POSITION: POSITION_RAMP_baseD of 　 of brae means option: Be based on AdvancePoint of 　 of positional brae means: Begin to fall ahead of schedule fast positional 　 Position_Ramp: Brae scale 　 Realpos: The 　 of current and real position of electronic feet StartPos: Begin to carry out brae to fall fast OutTemp of 　 of electronic feet position: Intermediate variable, discharge 　 Real_Output: 　 of actual output discharge) 　 the 3rd kind, be based on positional brae and array array platoon to choose a magic art the 3rd kind of algorithm is try to improve and be optimized on the 2nd kind foundation do not have in method of the 2nd kind of control solve the position that begins executive brae to decide an issue, this is OK standard of feature of platoon of array of array of have the aid of is solved. For instance predefine an array of 32 bits, the numerical value inside the watch decided the form of final motion curve, if we nod each in reference axis the above-listed to come out, OK very clear those who see it is form of a line is linear, go up protruding arc, leave sunken curve, or S curve. Bits of 16 output is the for instance biggest value 32767, can differentiate its 32 paragraphs, ｛ of = of 　 of 　 of EXTERN Int TAB_POS [33] 0, 3913, 6330, 8242, 9882, 11331, 12651, 13875, 15012, 16076, 17092, 18060, 18981, 19869, 20717, 21541, 22341, 23110, 23862, 24598, 25310, 25998, 26679, 27343, 27991, 28631, 29247, 29863, 30463, 31056, 31632, 32200, simple FOR can be used inside program of 　 of ｝ of 32767 　 　 circular statement, real time gets the brae curve figure with good predefine, computational section position is worth, be worth according to real position next, correction speed is outputted. If (STOP_POSITION==POSITION_RAMP_ARRAY__baseD) For of ｛ 　 　 (Int J = 0; J <= 32; J++ ) If of 　 of 　 of Temp1 = AdvancePoint / 32;nextpage of 　 of RealPos; 　 of – of DeltaStop = EndPos of 　 of 　 of ｝ of 　 of 　 of TableTemp[j] = TAB_POS[j]; of ｛ 　 　 (DeltaStop>AdvancePoint) Return of 　 of 　 of OutPutTemp = OutPutTemp + TableTemp [stepg]; of 　 of 　 of Temp2 / Temp1; of ＊ of OutPutTemp = Restg of 　 of 　 of Temp2 = TableTemp [stepg+1] - TableTemp [stepg]; of 　 of 　 of ｝ of 　 of 　 of Restg = DeltaStop - Restg; of 　 of Stepg; 　 of ＊ of Restg = AdvancePoint / 32 of 　 of 　 of 32 / AdvancePoint; of ＊ of Stepg = DeltaStop of 　 of 　 of ｛ of Else of ｝ of 　 of 　 of Restg = Temp1; of 　 of 　 of Stepg = 31; of ｛ 　 　 (OutPutTemp) 　 annotate of ｝ of; 　 　 : POSITION_RAMP_ARRAY__baseD of 　 of brae means option: The AdvancePoint of 　 of positional brae means that is based on array array to discharge a dot: Begin to fall ahead of schedule fast positional 　 TableTemp: Get the TAB_POS of 　 of this locality variable that defines array beforehand: The Temp1 of array array 　 with good predefine: Intermediate variable, will shift to an earlier date the position counts Temp2 of 　 of divide into equal parts by array: Intermediate variable, be worth the position map to be worth 　 RealPos into discharge: The EndPos of 　 of current and real position of electronic feet: Open DeltaStop of modular position 　 finally: Odd need walks along how many position to be worth 　 Stepg: Current sampling nods pattern plate position to be in Restg of 　 of array of the a fewth pace: Odd sampling dot shares 　 of array of a few paces) 　 needs to consider additionally is, grow too when the time of total cycle time of the controller of executive program, array fractionize is too little, or valve leaves degree forbid to wait for a reason truly, cause speed to drop to stopped to be before positional set value to zero hour, right now need has value of a the minorrest rate, assure to be below this kind of circumstance, can continue to advance to target position. Graph 3 was to apply the machine noting model after this kind of position controls algorithm to open modular effect picture, the VEDO controller that the hardware carrier that controls a system is GEFRAN company and GiLogik2 are distributed long-range IO, depend on GDnet determinism net of real time aether, the input outputs signal to be able to complete renovation inside 100us, can make sure PLC program cycle finishs a loop inside 1ms thereby, cooperate the actuator of the positional algorithm that above place narrates and pinpoint accuracy, can control the machine that note model to leave combine a model, ask a model, with inject unit position error is in 0.

In 1mm limits. CNC Milling