CN105245133A - Multi-axis cooperative control system and control method - Google Patents
Multi-axis cooperative control system and control method Download PDFInfo
- Publication number
- CN105245133A CN105245133A CN201510711973.0A CN201510711973A CN105245133A CN 105245133 A CN105245133 A CN 105245133A CN 201510711973 A CN201510711973 A CN 201510711973A CN 105245133 A CN105245133 A CN 105245133A
- Authority
- CN
- China
- Prior art keywords
- printing roller
- signal
- roller motor
- printing
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 claims abstract description 35
- 239000013598 vector Substances 0.000 claims abstract description 30
- 230000003993 interaction Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000004075 alteration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Landscapes
- Control Of Multiple Motors (AREA)
- Inking, Control Or Cleaning Of Printing Machines (AREA)
Abstract
The invention discloses a multi-axis cooperative control system and control method and belongs to the technical field of control, so that printing roller motors are allowed to be in synchronous movement according to optimized movement track, and deviation is adjusted smoothly and synchronously. The multi-axis cooperative control system comprises an upper computer for giving reference signals; a lower computer for generating target signals according to the reference signals given by the upper computer; an adjusting unit for generating a synchronous coordinate vector according to relation of interaction and weight of interaction of the printing roller motors and a preset algorithm, wherein elements of the synchronous coordinate vector are fine tuning signals in one-to-one correspondence to the printing roller motors respectively; an operator for receiving the target signals and the fine tuning signals, and carrying out processing on the target signals according to the fine tuning signals to generate tracking signals; and a plurality of printing units comprising the printing roller motors respectively and used for receiving the tracking signals output by the operator and synchronizing the tracking signals output by the operator to the printing roller motors respectively.
Description
Technical Field
The invention relates to the technical field of control, in particular to a multi-axis cooperative control system and a control method.
Background
In the case of a shaftless printing press which is composed of a plurality of printing units and operates at high speed, each printing unit can register only one color, so that a high register accuracy plays a crucial role in improving the quality of the printed products and reducing the reject rate. This requires a strict control of the chromatic aberration and tension deviations of the print substrate, which theoretically should always ensure the coordinated operation of the printing roller motors of the printing units.
In the existing multi-axis cooperative control method, the reference values of all printing roller motors are uniformly given, so that when some motors deviate from given values under the influence of factors such as faults, interference and the like, the motion states of all printing roller motors are not synchronous. Moreover, the movement of the motors of the printing rollers is often not synchronized during the start-up phase, during the dynamic transition phases of operation and during the stop phase, which can lead to the production of large amounts of waste products and even to the breakage of the printing material.
In order to ensure the stable synchronization of the movement track, additional real-time adjustment signals need to be applied to each printing roller, so that each printing roller can adjust the influence of overprint errors, tension variation or interference and other factors in real time, and the stable synchronization of the system in the whole movement process is maintained. Therefore, the key problem to be solved at present is how to reasonably plan the reference value of each printing roller motor, so that each printing roller motor synchronously moves according to the optimized motion track, and the deviation is stably and synchronously adjusted.
Disclosure of Invention
The invention aims to provide a multi-axis cooperative control system and a control method, so that printing roller motors synchronously move according to an optimized motion track, and deviation is stably and synchronously adjusted.
A first aspect of the present invention provides a multi-axis cooperative control system adapted to a printing machine provided with a plurality of printing roller motors, the multi-axis cooperative control system including:
the upper computer is used for giving a reference signal;
the lower computer is electrically connected with the upper computer and is used for generating a target signal according to a reference signal given by the upper computer;
the adjusting unit is used for generating a synchronous coordination vector according to the interaction relation of each printing roller motor, the interaction weight and a preset algorithm, and elements of the synchronous coordination vector are fine adjustment signals which correspond to the printing roller motors one by one;
the arithmetic unit is used for receiving the target signal and the fine tuning signal, processing the target signal according to the fine tuning signal and generating a tracking signal;
and the printing units comprise printing roller motors and are electrically connected with the arithmetic unit, and the arithmetic unit is used for receiving the tracking signals output by the arithmetic unit and synchronously acting the tracking signals output by the arithmetic unit on each printing roller motor so that each printing roller motor stably and synchronously operates in the printing process.
Optionally, each printing unit includes, in addition to the printing roller motor:
a detector electrically connected to the operator and the output of the printing roller motor, for receiving the tracking signal output from the operator and the output signal of the printing roller motor, and outputting a detection signal obtained according to the tracking signal output from the operator and the output signal of the printing roller motor;
and the tracking controller is connected with the detector and used for adjusting the output of the tracking controller in real time according to the detection signal output by the detector.
Optionally, the multi-axis cooperative control system further includes:
and the anti-interference regulator is connected with the printing roller motor and is used for simulating the interference of the printing roller motor in the actual engineering and outputting a simulated interference signal acting on the printing roller motor.
Optionally, the output signal of the arithmetic unit is a column vector, and each element in the column vector is used as a tracking signal of the corresponding printing roller motor.
Optionally, the adjusting unit includes:
the detection module is connected with the printing roller motors and is used for detecting the position and speed information of each printing roller motor;
the topological structure module is used for reflecting the interaction relation of the printing roller motors;
the coupling weight module is used for reflecting the weight of the interaction of each printing roller motor;
and the processor receives the signals of the detectors, generates synchronous coordination vectors according to the interaction relation and the interaction weight of each printing roller motor and a preset algorithm, wherein the elements of the synchronous coordination vectors are fine adjustment signals which correspond to the printing roller motors one by one, and fine adjustment is carried out on the target track by utilizing the synchronous coordination vectors.
Optionally, when the printing roller motors keep stable and synchronous operation, the fine tuning signal output by the processor in the adjusting unit is zero; when the motion state of each printing roller motor has deviation, the fine tuning signal output by the processor in the adjusting unit is not zero, and the stable synchronization of each printing roller motor in the whole motion process is maintained through adjusting the fine tuning signal of each printing roller motor.
The invention brings the following beneficial effects: in the technical scheme of the embodiment of the invention, when disturbance conditions such as chromatic aberration or tension deviation occur, the adjusting unit can be used for generating a synchronous coordination vector for fine adjustment of a target track and compensation of interference of the chromatic aberration or the tension deviation to a printing roller motor. The arithmetic unit is connected with the lower computer and the adjusting unit, receives the target track output by the lower computer and the synchronous coordination vector output by the adjusting unit, and outputs the processed signal to the printing unit. Each printing unit can perform printing and rolling operations according to the output signal given by the arithmetic unit. Due to fine adjustment of the synchronous coordination vector generated by the adjusting unit, all printing roller motors can synchronously move according to the optimized motion trail, and the deviation can be stably and synchronously adjusted.
A second aspect of the present invention provides a multi-axis cooperative control method applied to a device provided with a plurality of printing roller motors, the multi-axis cooperative control method including:
giving a reference signal;
generating a target signal according to the acquired given reference signal;
generating fine tuning signals acting on the target signals, wherein the fine tuning signals correspond to the printing roller motors one by one;
receiving the target signal and the fine tuning signal, and processing the target signal according to the fine tuning signal to generate a tracking signal;
and receiving the tracking signal output by the arithmetic unit, and synchronously acting the tracking signal output by the arithmetic unit on each printing roller motor to realize the stable synchronization of each printing roller motor in the printing process.
Optionally, the multi-axis cooperative control method further includes:
receiving the tracking signal and an output signal of a printing roller motor, and outputting a detection signal obtained according to the tracking signal and the output signal of the printing roller motor;
and adjusting the output of the tracking controller of each printing roller motor in real time according to the detection signal.
Optionally, the multi-axis cooperative control method further includes:
and simulating the interference of the printing roller motor in the actual engineering, and outputting a simulated interference signal acting on the printing roller motor.
Optionally, the multi-axis cooperative control method further includes:
when the motors of the printing rollers keep stable and synchronous operation, the fine adjustment signal is zero; when the motion state of each printing roller motor is deviated, the fine tuning signal is not zero, and the stable synchronization of each printing roller motor in the whole motion process is maintained through adjusting the fine tuning signal of each printing roller motor.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings required in the description of the embodiments will be briefly introduced as follows:
fig. 1 is a schematic structural diagram of a multi-axis cooperative control system provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an adjusting unit according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
As shown in fig. 1, the present invention provides a multi-axis cooperative control system. As shown in fig. 1, in this embodiment, the multi-axis cooperative control system includes an upper computer 1, a lower computer 2, an adjusting unit 3, an arithmetic unit 4, and a plurality of printing units 9.
The upper computer 1 is electrically connected with the lower computer 2, the upper computer 1 is used for giving reference signals, and the reference signals comprise ideal tension of a printed matter and ideal speed of a printing roller motor. The lower computer 2 simulates an ideal motor and can be used for generating a target track of the printing roller motor 7 in the printing unit 9, namely an ideal motion track of the printing roller motor 7 according to a reference signal given by the upper computer. The target trajectory at this time is obtained through simulation without any disturbance of the printing roller motor 7, and therefore the target trajectory is the same for each printing roller motor 7.
When disturbance conditions such as color difference or tension deviation occur, the adjusting unit 3 can be used for generating a synchronous coordination vector, and is used for fine adjustment of a target track to make up interference brought to the printing roller motor 7 by the color difference or the tension deviation. The arithmetic unit 4 is connected with the lower computer 2 and the adjusting unit 3, receives the target track output by the lower computer 2 and the synchronous coordination vector output by the adjusting unit 3, and outputs the processed signal to the printing unit 9. Each printing unit 9 can perform printing and scrolling operations based on the tracking signal given by the arithmetic unit 4. Due to the fine adjustment of the synchronous coordination vector generated by the adjusting unit 3, each printing roller motor can synchronously move according to the optimized motion track, and the deviation can be stably and synchronously adjusted.
The output of the arithmetic unit 4 is a column vector, each element in the column vector is used as a tracking signal of each printing roller motor 7, and each tracking signal is not fixed.
In one specific embodiment of the present invention, the printing unit 9 may mainly include a detector 5, a tracking controller 6, a printing roller motor 7, and an anti-interference regulator 8.
The detector 5 is connected with the arithmetic unit 4, the printing roller motor 7 and the tracking controller 6, and is used for receiving output signals of the arithmetic unit 4 and the printing roller motor 7 and outputting a detection signal obtained according to the output signal of the arithmetic unit and the output signal of the printing roller motor to the tracking controller 6. That is, the detector 5 detects parameters such as the movement locus of the printing roller motor 7 in the same printing unit 9 at any time, and detects whether the actual operation condition of the printing roller motor 7 has a deviation or not by combining the obtained parameters such as the movement locus with the tracking signal output by the arithmetic unit 4.
The tracking controller 6 is connected with the printing roller motor 7, and the output tracking control signal is used for driving the printing roller motor 7. The anti-interference regulator 8 is connected with the printing roller motor 7 and is used for simulating the interference of the printing roller motor 7 in the actual engineering and outputting a simulated interference signal acting on the printing roller motor 7.
Fig. 2 shows a specific embodiment of the internal structure of the adjusting unit 3 provided by the present invention. In this particular embodiment, the adjusting unit 3 may include a detection module 12, a topology module 13, a coupling weight module 14, and a processor 15. Wherein, the detection module 12 is connected with the printing roller motor 7 and is used for receiving the output signal of the printing roller motor 7. The processor 15 is connected to the detection module 12, the topology structure module 13, the coupling weight module 14 and the arithmetic unit 4, and is configured to receive output information of the detection module 12, the topology structure module 13 and the coupling weight module 14, perform arithmetic according to a predefined algorithm, and output processed information to the arithmetic unit 4.
In this embodiment, as shown in FIG. 2, the processor 15 needs to first generate a synchronized co-ordinate matrix based on the topology of each print roll motor. Each element in the synchronous coordination matrix is a position or speed deviation of each printing roller motor 7, and then a synchronous coordination vector is generated according to a predefined algorithm according to the coupling weight of each printing roller motor 7, namely the interaction degree between each printing roller motor 7.
Obviously, the synchronization coordination vector is advantageous for restoring the state of synchronous operation of the respective printing roller motors 7 in which position or speed deviations occur.
In a preferred embodiment, when each printing roller motor 7 keeps running smoothly and synchronously, the fine adjustment signal output by the processor 15 in the regulating unit 3 is zero; when the motion state of each printing roller motor 7 is deviated, the fine adjustment signal output by the processor 15 in the adjusting unit 3 is not zero, the output signal is used as the fine adjustment of the target track, and the stable synchronization of the system in the whole motion process is maintained by adjusting the tracking signal of each printing roller.
Specifically, when r1＝r2＝…＝rnWherein r isiIndicates the current position of the printing roller motor i, i.e. the printing roller motors 7 work synchronously and stably at the moment, and does not need the processor 15 in the adjusting unit 3 to generate a synchronous coordination vector rc(t) the movement locus and the movement state of each printing roller motor 7 are adjusted, and therefore rc0; the actual trajectory of each printing roller motor 7Wherein,is the target trajectory of each printing roller motor 7.
In addition, when the motion states of the printing roller motors 7 are not synchronous due to disturbance of part of the printing roller motors 7, r existsi≠rj(i, j ═ 1, 2.. times, n), processor 15 in conditioning unit 3 needs to generate a synchronous coordination vector rc(t) to adjust the movement locus and the movement state of each printing roller motor 7. The actual trajectory of the printing roller motor 7 should now be the result of the superposition of the target trajectory and the synchronization and coordination vector, i.e.
If the synchronous coordination error is presentThat is, when the synchronous cooperative error vector E is 0, the tracking error E is required1＝e2＝…＝enWhereinThat is, in the embodiment of the present invention, when the movement states of the printing roller motors 7 are not synchronized, in order to adjust the printing roller motors 7 back to the synchronized state more quickly, the movement speed of the printing roller motor 7 with the high speed is first reduced, and the movement speed of the printing roller motor 7 with the low speed is increased. However, in this case, the printing roller motors 7 are adjusted to E equal to 0 by adjusting each printing roller motor 7 without using any printing roller motor 7 as a reference.
Since the tracking error of each printing roller motor 7 is not zero and is equal when E is 0, that is, the actual trajectory of each printing roller motor 7 is not necessarily equal to the target trajectory. Although the printing roller motors 7 are operated in synchronization at this time, the printing quality of the printing roller motors 7 cannot be as expected, and therefore, further adjustment of the printing roller motors 7 is required. Is adjusted to e1＝e2＝…＝enAfter that, the actual trajectory of the printing roller motor 7 is equal to the target trajectory, and the printing roller motors 7 can be operated smoothly and synchronously, thereby producing a printed product with ideal printing quality.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A multi-axis cooperative control system adapted to a printing machine provided with a plurality of printing roller motors, comprising:
the upper computer is used for giving a reference signal;
the lower computer is electrically connected with the upper computer and is used for generating a target signal according to a reference signal given by the upper computer;
the adjusting unit is used for generating a synchronous coordination vector according to the interaction relation of each printing roller motor, the interaction weight and a preset algorithm, and elements of the synchronous coordination vector are fine adjustment signals which correspond to the printing roller motors one by one;
the arithmetic unit is used for receiving the target signal and the fine tuning signal, processing the target signal according to the fine tuning signal and generating a tracking signal;
and the printing units comprise printing roller motors and are electrically connected with the arithmetic unit, and the arithmetic unit is used for receiving the tracking signals output by the arithmetic unit and synchronously acting the tracking signals output by the arithmetic unit on each printing roller motor so that each printing roller motor stably and synchronously operates in the printing process.
2. The multi-axis coordinated control system according to claim 1, wherein each printing unit includes, in addition to the printing roller motor:
a detector electrically connected to the operator and the output of the printing roller motor, for receiving the tracking signal output from the operator and the output signal of the printing roller motor, and outputting a detection signal obtained according to the tracking signal output from the operator and the output signal of the printing roller motor;
and the tracking controller is connected with the detector and used for adjusting the output of the tracking controller in real time according to the detection signal output by the detector.
3. The multi-axis coordinated control system according to claim 2, further comprising:
and the anti-interference regulator is connected with the printing roller motor and is used for simulating the interference of the printing roller motor in the actual engineering and outputting a simulated interference signal acting on the printing roller motor.
4. The multi-axis cooperative control system according to claim 1, wherein the output signal of the operator is a column vector, and each element in the column vector is used as a tracking signal of a corresponding printing roller motor.
5. The multi-axis cooperative control system according to claim 1, wherein the adjustment unit comprises:
the detection module is connected with the printing roller motors and is used for detecting the position and speed information of each printing roller motor;
the topological structure module is used for reflecting the interaction relation of the printing roller motors;
the coupling weight module is used for reflecting the weight of the interaction of each printing roller motor;
and the processor receives the signals of the detectors, generates synchronous coordination vectors according to the interaction relation and the interaction weight of each printing roller motor and a preset algorithm, wherein the elements of the synchronous coordination vectors are fine adjustment signals which correspond to the printing roller motors one by one, and fine adjustment is carried out on the target track by utilizing the synchronous coordination vectors.
6. The multi-axis cooperative control system according to claim 5, wherein when each printing roller motor keeps running stably and synchronously, the fine adjustment signal output by the processor in the adjustment unit is zero; when the motion state of each printing roller motor has deviation, the fine tuning signal output by the processor in the adjusting unit is not zero, and the stable synchronization of each printing roller motor in the whole motion process is maintained through adjusting the fine tuning signal of each printing roller motor.
7. A multi-axis cooperative control method that is applied to a device provided with a plurality of printing roller motors, the multi-axis cooperative control method comprising:
giving a reference signal;
generating a target signal according to the acquired given reference signal;
generating fine tuning signals acting on the target signals, wherein the fine tuning signals correspond to the printing roller motors one by one;
receiving the target signal and the fine tuning signal, and processing the target signal according to the fine tuning signal to generate a tracking signal;
and receiving the tracking signal output by the arithmetic unit, and synchronously acting the tracking signal output by the arithmetic unit on each printing roller motor to realize the stable synchronization of each printing roller motor in the printing process.
8. The multi-axis cooperative control method according to claim 7, further comprising:
receiving the tracking signal and an output signal of a printing roller motor, and outputting a detection signal obtained according to the tracking signal and the output signal of the printing roller motor;
and adjusting the output of the tracking controller of each printing roller motor in real time according to the detection signal.
9. The multi-axis cooperative control method according to claim 8, further comprising:
and simulating the interference of the printing roller motor in the actual engineering, and outputting a simulated interference signal acting on the printing roller motor.
10. The multi-axis cooperative control method according to claim 7, further comprising:
when the motors of the printing rollers keep stable and synchronous operation, the fine adjustment signal is zero; when the motion state of each printing roller motor is deviated, the fine tuning signal is not zero, and the stable synchronization of each printing roller motor in the whole motion process is maintained through adjusting the fine tuning signal of each printing roller motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510711973.0A CN105245133B (en) | 2015-10-28 | 2015-10-28 | A kind of multiaxis cooperative control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510711973.0A CN105245133B (en) | 2015-10-28 | 2015-10-28 | A kind of multiaxis cooperative control system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105245133A true CN105245133A (en) | 2016-01-13 |
| CN105245133B CN105245133B (en) | 2018-07-24 |
Family
ID=55042660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510711973.0A Active CN105245133B (en) | 2015-10-28 | 2015-10-28 | A kind of multiaxis cooperative control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105245133B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443894A (en) * | 2016-05-23 | 2017-12-08 | 住友重机械工业株式会社 | Polychrome printing system and control method |
| WO2018133256A1 (en) * | 2017-01-23 | 2018-07-26 | 长胜纺织科技发展(上海)有限公司 | Control system for printing apparatus and control method therefor |
| CN109534056A (en) * | 2018-12-18 | 2019-03-29 | 清华大学 | It is a kind of can speed coordination control multiple roll system and its speed coordination control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5757147A (en) * | 1995-06-09 | 1998-05-26 | Man Roland Druckmaschinen Ag | Method and apparatus for controlling multiple motor drive of printing machine |
| EP1150420A1 (en) * | 2000-04-26 | 2001-10-31 | Kabushiki Kaisha Tokyo Kikai Seisakusho | Synchronous control device |
| US20080048592A1 (en) * | 2006-08-23 | 2008-02-28 | Omron Corporation | Motor control device |
| CN203562983U (en) * | 2013-11-18 | 2014-04-23 | 湖南工业大学 | Multi-motor synchronous control system |
| CN104362908A (en) * | 2014-10-29 | 2015-02-18 | 湖南工业大学 | System and method for synchronously controlling multiple motors in real time |
| CN104935217A (en) * | 2015-05-29 | 2015-09-23 | 天津大学 | Improved deviation coupling control method suitable for multi-motor system |
-
2015
- 2015-10-28 CN CN201510711973.0A patent/CN105245133B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5757147A (en) * | 1995-06-09 | 1998-05-26 | Man Roland Druckmaschinen Ag | Method and apparatus for controlling multiple motor drive of printing machine |
| EP1150420A1 (en) * | 2000-04-26 | 2001-10-31 | Kabushiki Kaisha Tokyo Kikai Seisakusho | Synchronous control device |
| US20080048592A1 (en) * | 2006-08-23 | 2008-02-28 | Omron Corporation | Motor control device |
| CN203562983U (en) * | 2013-11-18 | 2014-04-23 | 湖南工业大学 | Multi-motor synchronous control system |
| CN104362908A (en) * | 2014-10-29 | 2015-02-18 | 湖南工业大学 | System and method for synchronously controlling multiple motors in real time |
| CN104935217A (en) * | 2015-05-29 | 2015-09-23 | 天津大学 | Improved deviation coupling control method suitable for multi-motor system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443894A (en) * | 2016-05-23 | 2017-12-08 | 住友重机械工业株式会社 | Polychrome printing system and control method |
| WO2018133256A1 (en) * | 2017-01-23 | 2018-07-26 | 长胜纺织科技发展(上海)有限公司 | Control system for printing apparatus and control method therefor |
| CN109534056A (en) * | 2018-12-18 | 2019-03-29 | 清华大学 | It is a kind of can speed coordination control multiple roll system and its speed coordination control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105245133B (en) | 2018-07-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105245133B (en) | A kind of multiaxis cooperative control system and control method | |
| CN104155988B (en) | Multichannel attitude controller of aircraft | |
| CN103941588B (en) | Modeling and control method for color register system in electronic shaft gravure printing machine acceleration process | |
| CN105353623B (en) | A kind of gravure alignment control method based on Active Disturbance Rejection Control | |
| CN204451528U (en) | The multi-axis synchronized control device of circular screen printer | |
| Zhang et al. | Full state hybrid lag projective synchronization in chaotic (hyperchaotic) systems | |
| Dou et al. | Robust control of multistage printing systems | |
| CN104772978B (en) | Machine set type electronic shaft synchronized mechanical shaft device and controlling method | |
| Chen et al. | Model-based feedforward register control of roll-to-roll web printing systems | |
| Chen et al. | Modeling and register control of the speed-up phase in roll-to-roll printing systems | |
| US9513617B2 (en) | Industrial control system with position offsets embedded in remote devices | |
| CN104772975B (en) | A kind of full servo cylinder printing Embosser of set type and control method | |
| Malloci et al. | Robust steering control of hot strip mill | |
| CN203752680U (en) | Synchronous control system for servo shafts of intaglio printing press | |
| Chen et al. | Nonlinear web tension control of a roll-to-roll printed electronics system | |
| JP5013607B2 (en) | Two-axis synchronous drive control device and servo press and die cushion device using this device | |
| CN102501593B (en) | Material film fixed-length drawing control system suitable for secondary overprinting | |
| CN106406337A (en) | Method and system for optimizing the robustness of spacecraft attitude control system | |
| JP5790993B2 (en) | Gravure printing machine and control method thereof | |
| Komatsu et al. | Improvement of printing accuracy via web handling control in multi-colors printing machines | |
| CN203562983U (en) | Multi-motor synchronous control system | |
| CN103244137A (en) | Synchronous servo control simulation device of cutter disc driving motor of earth pressure balance shield | |
| CN111293927B (en) | Multi-motor synchronous driving control method, device and system | |
| CN110320756A (en) | Motion control device, motion control method, reticle stage system and litho machine | |
| JPH07108551A (en) | Automatic thickness control device of calender device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |