Establishment and Verification of Force Control System Design Methodfor High-performance Injection Molding Ultracompact Machine without Force Sensor

我们提出使用基于双惯量共振模型的反作用力观测器。但是，由于夹持过程和螺杆背压过程的非线性特性的影响，该方法存在一定的估计误差。反作用力观测器的估计精度取决于参数的变化和非线性摩擦现象。在保持过程中，通过在力指令值中插入小幅度周期信号来减小静摩擦的影响，从而提高估计精度。此外，当注射材料发生变化时，它有可能影响估计精度。在这项研究中，我们提出了一种考虑注射材料影响的新的注射力估计方法。利用实际测量值的仿真结果验证了所提方法的有效性。

We have proposed the use of a reaction force observer based on the two-inertia resonant model. However, this method has some estimated error because of the influence of nonlinear characteristics of the holding process and the screw back-pressure process. The estimation accuracy of the reaction force observer depends on parameter variations and the non-linear friction phenomenon. In the holding process, the influence of static friction is reduced by inserting a small-amplitude periodical signal in the force command value so as to improve the estimation accuracy. Further, when the injection material changed, it has a potential to affect the estimation accuracy. In this research, we propose a new injection force estimation method which considers the influence of injection material. Moreover, the availability of proposed method is confirmed by the simulation results using the actual measured value.