Optimal Manipulation Mixing Optimization Control Method for Injection Speed During Injection Molding Process
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摘要: 在注塑工艺过程中，注射速度控制是其重要环节之一，实现注射速度的快速可靠优化控制对于注塑产品的高效生产具有重要意义。该文针对一类典型的注塑装备中的伺服电机驱动恒泵液压系统，研究了注塑机工作过程中的注射速度最优跟踪控制问题，提出一种高效的基于控制参数化与粒子群优化相结合的混合智能优化控制方法，分别设计实现了开环最优控制器和状态反馈最优控制器，将控制器设计问题转化为一序列最优参数选择问题，实现了在给定时间内对所期望的注射速度跟踪控制的高效求解。最后通过实验仿真结果验证了所提出的混合优化控制算法对于求解注塑工艺过程中注射速度的动态优化问题的可行性和有效性。Abstract: In the process of injection molding, the injection speed control is one of the important aspects, and it is important to achieve fast and reliable optimal control of the injection speed for the efficient production of injection molded products. In this paper, an efficient hybrid intelligent optimal control method based on the combination of control parameterization and particle swarm optimization is proposed, and an open-loop optimal controller and a state feedback optimal controller are designed and implemented, respectively. The controller design problem is transformed into a sequence of optimal parameter selection problems to achieve an efficient solution for the desired injection speed tracking control in a given time. Finally, the feasibility and effectiveness of the proposed hybrid optimal control algorithm for solving the dynamic optimization problem of the injection speed in the injection molding process are verified by experimental simulation results.
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表 1 CVP-PSO混合优化控制策略算法过程
步骤1：将控制变量时间域平均分为N段，并将控制器$ u\left(t\right) $参数
化$\boldsymbol{\sigma }=\left[{\sigma }_{1},{\sigma }_{2},\cdots ,{\sigma }_{n}\right]\in {R}^{n}$；将原始注塑速度最优跟踪
问题转化为N个参数优化问题；步骤2：PSO算法参数初始化：设置生成粒子数${\boldsymbol{\sigma } }^{i}$，粒子迭代
次数${\rm{GEN}}$，粒子维度${\rm{Dim}}$，粒子影响系数$ {c}_{1} $，$ {c}_{2} $，以
及惯性权重$ w $，随机生成粒子初始位置，以及粒子初
始速度；步骤3：求解参数化动态微分方程组式(16b)和式(16c)； 步骤4：粒子目标函数值更新，根据步骤3求得的动态微分方程，
计算目标函数值式(16a)，并衡量粒子当前位置适应度值；步骤5：判断是否达到迭代次数，如果达到迭代次数，则输出最
优解，包括个体最优解pbest和全体最优解gbest，如果
未达到迭代次数，使$ k=k+1 $，继续进行步骤6；步骤6：粒子速度和位置更新：通过对自身最优解信息的获取和
与群体交流共享获取的全体最优解信息，更新粒子速度
和位置状态，返回步骤3。
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表 2 注塑系统动态模型关键参数设定值
参数名称 参数符号 参数设定值 电机时间常数 $ {\tau }_{s} $ 0.0263 电机扭矩增益 $ {k}_{s} $ 0.012 螺钉质量 $ M $ 8.663 液缸横截面积 $ {A}_{1} $ 3342.2 桶横截面积 $ {A}_{2} $ 201.06 聚合物熔体的幂指数倒数 $ s $ 1.112 液压流体体积模量 $ {\beta }_{1} $ 1120 注油侧的油量 $ {\alpha }_{10} $ 17045.3 泵流量 $ {Q}_{1} $ 7920 喷嘴体积弹性模量 $ {\beta }_{2} $ 1120 桶内聚合物的体积 $ {\alpha }_{20} $ 11678.38 聚合物熔体流动速率 $ {Q}_{2} $ 16.67
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