CN105252889A - Shaftless gravure press chromatography system based on automatic-disturbance-resisting algorithm and control method of shaftless gravure press chromatography system - Google Patents
Shaftless gravure press chromatography system based on automatic-disturbance-resisting algorithm and control method of shaftless gravure press chromatography system Download PDFInfo
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Abstract
The invention relates to a control method of a shaftless gravure press chromatography system based on the automatic-disturbance-resisting algorithm. The shaftless gravure press chromatography system comprises a main control cabinet, a chromatography control box, an executing structure, a communication module and a monitoring interface. The shaftless gravure press chromatography system has the beneficial effects that the control algorithm of the system is improved, the system function is enhanced, and the printing quality is improved. The invention further discloses the shaftless gravure press chromatography system based on the automatic-disturbance-resisting algorithm.
Description
Technical field
The present invention relates to a kind of shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm and control method thereof.
Background technology
That the earliest shaft-less drive technology is introduced printing machine is gondola Ceruttl Co., Ltd (Cerutti), the Individual cells such as carry-over pinch rolls group, folding apparatus of publication gravure machine adopts independently motor actuation techniques, after be applied in again packaging intaglio printing press some unit on, as line cold seal coater unit, line coating and recombiner unit, line transverse cutting unit etc., although do not formed complete without axle system, for its development provides valuable experience.
1994, First non-axis transmission web press is proposed in the world, open shaft-less drive technology application research boom on the printer, the high-grade printing machine 95% that Europe printer manufacturers manufactured in recent years adopts shaft-less drive technology, also has the intaglio printing press product of 30% to adopt shaft-less drive technology in Japan
[5] [6].At present, the Development and Production of shaftless intaglio printing press has reached quite advanced level, there are Ceruttl Co., Ltd, Le Duwensi company (Rotomec), W & H company etc. in main device fabrication producer, and such as the companies such as Siemens, Bei Jialai, Mitsubishi of some general-purpose servo manufacturers also start to march printing equipment field.Wherein, the ASTRAFLEXCCI satellite-type 8 look packaging intaglio printing press of W & H company exploitation, the highest printing speed reaches 470m/min; In the printing equipment that Ceruttl Co., Ltd produces, more than 95% have employed independent non-axis transmission, the cigarette-brand paper shaftless intaglio printing press fabric width 820m released, print speed printing speed is 200 ~ 300m/min, the shaftless intaglio printing press maximum speed of flexible package can reach 500m/min, the market order of shaftless intaglio printing press has exceeded traditional mechanical axis, reaches 60%; The shaftless intaglio printing press of POTOPAK4000-1 of ValmentRotomee company development, all can realize quick alignment in the acceleration and deceleration stage of machine, use full-automation more changing device, without any need for manual intervention, print speed printing speed can reach 650m/min the soonest.In May, 2013, in 8th the international printing technology exhibition in Beijing, 1326 exhibiters from 28 countries and regions present numerous new type printing press and printing solution one after another, and various top printing equipment adopts advanced digital printing technologies, starts the competition upsurge of digital printing technologies.
At present, the print speed printing speed of the shaftless intaglio printing press of external flexible package reaches 150 ~ 450m/min, and the print speed printing speed of the shaftless intaglio printing press of paper can reach 800 ~ 1000m/min, and the print speed printing speed of domestic shaftless intaglio printing press is generally 100 ~ 300m/min.
The development of domestic shaftless intaglio printing press is more late, starts to walk lower.20th century 70 ~ the mid-80, only have several to produce low speed satellite type gravure press, the not producer of production middle and high end intaglio printing press.After this many decades, domestic intaglio printing press equipment vendors, from the medium-to-high grade intaglio printing press starting of Introduced From Abroad, slowly start independent research and produce.1992, Shaanxi printing press factory Introduced from Japan FX-6 type intaglio printing press manufacturing technology was the beginning of automatic, the semi-automatic high speed intaglio printing press of domestic product, produced the domestic set type intaglio printing press of platform of informing against afterwards in 1997.After the nineties in 20th century, the manufacture level fast lifting of domestic intaglio printing press, print speed printing speed brings up to 200 ~ 250m/min from 120 ~ 150m/min.2003, middle illawarra mountain pine moral Co., Ltd released the shaftless intaglio printing press of high speed of First independent research, and print speed printing speed reaches 300m/min, and China enters the new stage of development & production high-speed gravure press.Between 2003 ~ 2006 years, extensively promote shaftless printing technology, domestic intaglio printing press equipment complete upgrading is regenerated, and domestic gravure equipment incorporates the new trend of international gravure techniques.After 2006, domestic intaglio printing press technology day by day ripe, performance become better and better, complete in specifications, wide in variety, by the 8 look shaftless flexible printing machine of Wuhan Hua Mao industrial automation company and the co-production of Xi'an space flight Huayang printing equipment company, the highest print-out rate reaches 300m/min, belongs to domestic top level.2010, the highest print speed that Song De releases reached the high-speed film electronical line shaft printing machine of 400m/min, and chromatography precision is 0.1mm, and product reaches world level.Over 30 years, domestic intaglio printing press achieves the achievement of attracting attention, and competitive advantage is increasing, and product turns to international market from domestic market, and export volume significantly increases.But compared with developed countries and regions, also there is certain gap, the speed of international advanced gravure equipment is faster, intelligent level is higher, reliability and stability are stronger, the opportunity to develop of domestic gravure techniques and challenge are also deposited.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm and control method thereof, solves the deficiencies in the prior art.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of control method of the shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm, and this shaftless intaglio printing press Chromatography System comprises main control rack, chromatography control box, execution architecture, communication module, monitoring interface; From the 2nd look unit, each look unit has error detection mechanism, and photocell eye obtains chromatography error by the analysis of described chromatography control box, passes to industrial computer process by CAN after current color and front colour code position of the same colour being detected; When not having registration deviation, do not need to carry out correction and control, Synchronization Control instruction is passed to servo-driver by motion control board, each driven by servomotor printing plate cylinder run-in synchronism; When there is registration deviation, obtaining the controlled quentity controlled variable of current control period according to chromatography correction algorithm, belonging to amount trimmed, in the Synchronization Control that is added to instruction, adjusted by driven by servomotor printing plate cylinder, correct error; The detection of each unit registration deviation, calculate and carry out in independently chromatography control box, and give host computer process by corresponding data and state, the analysis and control of lateral deviation is then completed by respective chromatography control box.
The invention has the beneficial effects as follows: the control algolithm of improved system, enhance system function, improve printing quality.
The present invention also announces a kind of shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm, and it comprises main control rack, chromatography control box, execution architecture, communication module, monitoring interface, industrial computer; The mainboard of described industrial computer adopts and grinds magnificent IPC-610H, Intel Pentium 4 CPU, 3.0G dominant frequency, 10/100MD-link network interface card, 1G internal memory, uses dos operating system; Described chromatography control box is arranged circuit formed by DSP control circuit, CPLD auxiliary control circuit, level shifting circuit, telecommunication circuit, error-detector circuit, I/O interface circuit, channel number.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the hardware chart of unit chromatography control box;
Fig. 3 is CAN communication circuit diagram;
Fig. 4 is error-detector circuit figure;
Fig. 5 is the location drawing of CANopen agreement in CAN frame;
Fig. 6 is Modbus frame format figure;
Fig. 7 is ModbusTCP/IP frame format figure;
Fig. 8 is MBAP heading figure;
Fig. 9 is that photocell eye detects and signal output map;
Figure 10 is monochromatic control structure figure;
Figure 11 is servo system control structure chart
Figure 12 is master-slave mode synchronous control structure figure.
Detailed description of the invention
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
In the present invention, electronical line shaft chromatography control system adopts the centralized and distributed control program combined, each chromatography train unit has an independently chromatography control box, for overlapping the subsystem of color control, the chromatography of energy complete independently two adjacent units, as the slave computer of Chromatography System, industrial computer is as host computer, between adopt hypotactic CAN communication, industrial computer enters CAN by the CAN clamping on slot, colour process box slave computer is then connected into CAN by CAN transceiver, forms distributed control mode.Meanwhile, industrial computer carries out centralized Control to all chromatography control boxes, and realize chromatography correction algorithm, the correction process of unified management registration deviation, coordinates the control action of each chromatography control box.Whole control system is primarily of formations such as main control rack, chromatography control box, execution architecture, communication module, monitoring interfaces, and for 8 look units, master-plan structure chart as shown in Figure 1.
The control flow of system is as follows: from the 2nd look, each unit has error detection mechanism, and photocell eye obtains chromatography error by the analysis of chromatography control box, passes to industrial computer process by CAN after current color and front colour code position of the same colour being detected.When not having registration deviation, do not need to carry out correction and control, Synchronization Control instruction is passed to servo-driver by motion control board, each driven by servomotor printing plate cylinder run-in synchronism; When there is registration deviation, obtaining the controlled quentity controlled variable of current control period according to chromatography correction algorithm, belonging to amount trimmed, in the Synchronization Control that is added to instruction, adjusted by driven by servomotor printing plate cylinder, correct error.The detection of each unit registration deviation, calculate and carry out in independently chromatography control box, and give host computer process by corresponding data and state.The analysis and control of lateral deviation is then completed by respective chromatography control box.Each chromatography control box is furnished with man-machine interface, adopts 485 communications, for monitoring the running status of this unit and arranging relevant parameter.Ethernet communication is adopted between the monitoring human-computer interface of host computer and industrial computer, can the running status of monitoring system, also can arrange or preserve parameter, control accordingly and analyze.
Industrial control computer mainboard
Industrial control computer mainboard adopts and grinds magnificent IPC-610H, and backplane slot supports ISA and pci bus, similar with the hardware configuration of ordinary PC.Intel Pentium 4 CPU, 3.0G dominant frequency, 10/100MD-link network interface card, 1G internal memory, use dos operating system, can carry out multitasking, chromatography primary control program, in the mainboard of industrial computer, forms the control of Chromatography System together with each Control card.
Chromatography control box
Colour process box is each unit independently control box, is mainly used in pre-cover, the correction control of lateral deviation and the detection computations etc. of chromatography error.Each chromatography control box is arranged circuit etc. formed by DSP control circuit, CPLD auxiliary control circuit, level shifting circuit, telecommunication circuit, error-detector circuit, I/O interface circuit, channel number.Hardware elementary diagram is illustrated in fig. 2 shown below.
The TMS320LF2407 that master controller DSP adopts TI company to produce, integrates real-time digital process and enriches peripheral hardware, for control system provides a set of desirable solution.It has 40 multiplexing IO pins able to programme, two event manager modules, control area net（CAN） (CAN) module, serial communication interface (SCI) module, 16 Bits Serial Peripheral Interface (SPI) modules, 5 external interrupt etc.Each event manager module comprises photoelectric encoder interface circuit etc. in 2 general purpose timers, 3 capturing units, 8 PWM passages and sheets, is applicable to the control of stepper motor, AC induction motor, direct current generator etc.CAN control module integrated in chip is a CAN controller completely, support CAN2.0B agreement, 6 mailboxes for receiving and sending messages, programmable interrupt configuration, reception/transmission bit rate and bit timing device, can complete the function of physical layer (PHY) and data link layer (DLL) in CAN communication protocol, an external CAN transceiver just can communicate with other CAN controller.CAN communication circuit as shown in Figure 3.
Wherein, the SN65HVD251DR that CAN transceiver selects TI company to produce equally, drive the interface between CAN controller and physical bus, meet ISO11898 standard completely, provide the difference transmitting capacity to bus and the differential received ability to CAN controller, sending/receiving speed is up to 1Mbps, there are high speed, slop control and low-power consumption three kinds of operator schemes, determined by RS pin, when RS pin ground connection, chip operation is at fast mode.Because SN65HVD251DR uses 5V power voltage supply, and the pin voltage of 2407 is 3.3V, therefore, needs to carry out level conversion.
Error-detector circuit is one of key component of chromatography control box, what two photocell eyes of photometer head detected that two paths of signals that Mark line produces receives DSP via CPLD catches (CAP) pin, the input signal of photoelectric code disk receives the TCLKINB pin of DSP via CPLD, the external clock as general purpose timer in task manager B inputs.The hardware elementary diagram of testing circuit as shown in Figure 4.The two paths of signals produced by analyzing photocell eye can obtain chromatography error, obtains position control instruction through certain control algolithm, is exported and delivers to drive circuit through CPLD, drive small electromotor action by the GPIO pin of DSP.
The EPM3256APC that CPLD then selects ALTERA company to produce.It is based on many array matrixs (MAX) structure, it is the EEPROM device of a high-performance based on CMOS technology, low cost, main feature has: built-in IEEEStd.1149.1JTAG interface, can realize online programming (ISP) by it; Supply voltage is 3.3V; 600-1000 available programming gate circuit is provided; Pin is 4.5ns etc. to the logical time delay of pin.MAX+PLUS II platform is developed, adopts hardware description language Verilog to programme, be mainly used in auxiliary DSP and control.
In addition, because system adopts host-guest architecture, industrial computer is main website, each chromatography control box is slave station, therefore each chromatography control box have one corresponding to station number, arranged by the toggle switch of 4, the channel number of the state reading these 4 pins just this colour process box of identifiable design.4 configuration switch are maximum arranges 16 from station number, meets the requirement of chromatography unit number.
Executing agency
Executing agency is made up of six axis motion control cards, servo-driver and servomotor.Six axle control panels adopt the 0755 stepping/impulse type Serve Motor Control card of Hua Mao company independent research, comprise the module such as CPLD and peripheral circuit, DAC change-over circuit, pci bus interface and differential received/transmitter, by pci bus and industrial computer communication, various control function is provided, as impuse repeating mechanism, acceleration and deceleration driving, servo feedback step-by-step counting etc., can export 6 tunnel independence pulse commands simultaneously, control the run-in synchronism of 6 kinematic axis, it is 250us that pulse exports the cycle minimum.In 8 look electronical line shaft systems, 8 printing units add the servo of charging, discharging unit, and 10 groups of servo-drive systems, just can meet the demands with two piece of six axle control card altogether.
And the printing shaft of unit, unreel, rolling, charging and discharging axis of traction all adopt servo-driver and the servomotor of Siemens ITF6 series, track and localization fast, accurately can be realized, reach the object of correction fast according to control instruction.
Man-machine interface
Monitoring human-computer interface adopts Siemens TP1200 touch-screen, is one of product of Siemens's essence intelligence screen series, carries WinCE operating system in screen, friendly interface, feature richness, reliability is high, support Ethernet and serial communication simultaneously, be applicable to the real-time monitoring of industrial equipment.It uses engineering software SIMATICWinCCProfessionalV12 to carry out configuration, the inside provides the functions such as various picture editing's element, warning view control, trend view control, log recording, such as read/write can be carried out to external variable in I/O territory, the operational factor of display and initialization system; Button member can show different listed files or graphical list according to variate-value, and triggers various event in use, can customize and trigger which kind of event under which kind of mode; The changing trend diagram of trend view energy display system process variable, as the variation diagram etc. of chromatography error.Software inhouse, except the system function carried, also supports C language and VB script, and user can compile script program as required, makes touch-screen can complete some not too complicated calculating and controlling functions.
The communication scheme of system
In chromatography control system of the present invention, mainly contain three section communication functions: the CAN communication of industrial control host and colour process box slave computer, man-machine interface communicate with the EPA of industrial computer and the serial communication of unit colour process box and man-machine interface.Wherein CAN communication and serial communication only carry out usually in the same network segment, from the angle of OSI network model, only need the 1st layer of physical layer, the 2nd layer data link layer and the 7th layer of application layer, in reality, layers 1 and 2 is by hardware implementing, and application layer then needs developer's designed, designed.In like manner, in EPA communication, industrial computer only achieves the function of Internet and transport layer, must could realize final communication function by Application and Development layer protocol.
Present system, in the application layer exploitation CANopen agreement of CAN communication, in the application layer exploitation Modbus agreement of serial communication, develops ModbusTCP/IP agreement in the application layer of EPA.
CANopen agreement
CANopen agreement is one of standard of defining of CAN-in-Automation (CIA), and be an opening, standardized application layer protocol, in Europe, CANopen consensus standard accounts for leadership in based on the industrial system of CAN.Can be configured the equipment of different vendor by CANopen agreement.
Object dictionary
The key concept of CANopen agreement is device object dictionary, each node in CANopen network has an object dictionary (OD), for describing the facility information of present node, network behavior and parameter, it is an orderly group of objects, each object adopts 16 bit index value to carry out addressing, and visits the individual element in data structure with the subindex of 8.The concordance list of object dictionary is as shown in table 1.
The concordance list of table 1 object dictionary
| Index | Object |
| 0000 | Do not use |
| 00001-001F | Static data types (standard data type, as Boolean, Integer16) |
| 0020-003F | Complex data type (predefined structure, is combined by simple data type) |
| 0040-005F | The complex data type that manufacturer specifies |
| 0060-007F | The static data types that equipment sub-protocol specifies |
| 0080-009F | The complex data type that equipment sub-protocol specifies |
| 00A0-0FFF | Retain |
| 1000-1FFF | Communication sub-protocol region (as device type, error register etc.) |
| 2000-5FFF | Manufacturer's particular child agreed territory |
| 6000-9FFF | The equipment sub-protocol region (as DSP401I/O module device sub-protocol) of standard |
| A000-BFFF | Interface specification explanation |
| C000-FFFF | Retain |
Wherein 0x1000 to 0x1FFF and 0x6000 to 0x9FFF region can be used for creating device object dictionary, and other regions are then the defined region of getting well or retaining, and can not be used for developing.
CANopen communication mechanism
In CAN communication, CAN Frame is made up of 7 different bit fields, and CANopen agreement is exactly specify arbitration territory wherein and data field, as shown in Figure 5.
CANopen agreement is as shown in table 2 to the definition of 11 ID in arbitration territory.
The definition of 11 ID in table 2CANopen agreement
| ID position | ID.10～7 | ID.6～0 |
| Definition | Function code | Node ID |
CAN2.B agreement supports two kinds of frame formats: standard frame and expansion frame.The ID arbitrating territory in standard frame is 11, and the ID in expansion frame is 29, and high 11 ID in expansion frame are identical with 11 ID of standard frame, and low 18 ID are Extended ID.11 ID allocation tables that CANopen agreement defines only are needed to be mapped to the high 11 of expansion frame identifier.
During 11 ID distribute, low 7 is node station number, scope is 1 to 127, and arrange by the toggle switch on equipment, the chromatography port number in native system supports at most 15, there is a slave station station number each cover chrominance channel, main frame carries out addressing by this station number to from machine, only has a main equipment to know the station number ID of all connections from equipment, can carry out peer-to-peer communications with these from equipment, and from the station number of not knowing between equipment each other, can not directly communicate.
The function code of 4 is for representing the communication object of CANopen, CANopen Communication Model defines 4 kinds of messages, i.e. 4 kinds of communication objects: administrative message, Service Data Object (SDO), process data object (PDO), predefined message or specific function object.Partial function code is as shown in table 3 with corresponding communication object.
The definition of part function code in table 3CANopen agreement
| Function code | 0000 | 0011 | 0100 | 1011 | 1100 |
| Object | NMT controls | PDO1 sends | PDO1 receives | SDO sends | SDO receives |
According to the difference of communication object, the form definition of CANopen agreement to data field is also different, distinguishes as shown in Table 2-4 the data format definition of NMT.
The data format of table 4NMT object
| Byte 0 | Byte 1 |
| Command word (CS) | From node ID |
NMT message only has main website to send, and does not need response message.Different CS command words represents different NMT services, and during as CS=1, for starting remote node service, all slave stations must support that NMT controls service.When being 0 from node ID, all slave stations are all addressed.
The data format definition of CANopen agreement to SDO communication object is as shown in table 5.
The data format of table 5SDO object
| Byte 0 | Byte 1-2 | Byte 3 | Byte 4-7 |
| SDO command word | Object indexing | Object subindex | Data value |
SDO message, for the object dictionary visited a node, conducts interviews to device parameter, must obtain the response of access node.First character joint is SDO command word, comprises following information: the data length in download/upload, request/response, segmentation/acceleration transmission, Frame, the trigger set position of segmented message.4 bytes next are the data in message frame, data to transmission are greater than 4 bytes, and can adopt segmentation load mode, the message frame of segmentation can carry at most the data of 7 bytes, do not have object indexing and object subindex two, byte 1 to 7 all belongs to the data in message frame.
When the communication object of CANopen is PDO, does not have specified data form, encapsulated by User Defined in agreement, every frame can transmit at most the data of 8 bytes.
Before communication network connects, all parameter informations of each node should stored in the object dictionary of oneself, the data structure of dictionary item should comprise object indexing value, subindex value, access limit and object data several, main website just by the object dictionary of slave station can be conducted interviews to the parameter of slave station or network behavior and revise, after the index that slave station obtains accessed parameter and subindex value, search from object dictionary, after finding respective items, perform corresponding operating.
Modbus agreement
Modbus is developed by Modicon company at first, is the real bus protocol for industry spot in first, the whole world, has become a kind of general industrial standard, supported RS-232, RS-485, RS422 and ethernet device.
Modbus agreement defines a simple protocol data cell (PDU) irrelevant with Base communication layer, master slave mode is adopted to carry out communication, main equipment (client computer) initiates request of data, responds from equipment (server) according to request.The application data (ADU) of request/response as shown in Figure 6.
Application data is created by client computer, and address field is device address, and account for a byte, scope is 1 to 247, and main equipment realizes the addressing to child node by this territory; Function code indicates which kind of operation of this execution of server, account for 1 byte, conventional function code has: 0X01 read coil, 0X03 read multiple register, 0X05 writes single coil, 0X06 writes single register, 0X0F writes multiple coil, 0X10 writes multiple registers etc.Data field accounts for 0 to 252 byte, and error checking and correction (CRC) territory takies 2 bytes, and calculated by transmitting apparatus and fill in, accepting device recalculates crc value when receiving message, and compares with original value, judges whether data transmission is correct.The response message of server also uses identical form, consistent with request message of address field, and during normal response, the same also with request message of function code, if communication process occurs abnormal, then returns abnormal function code, the highest significant position of former function code is put 1.
Modbus has two kinds of transmission mode: RTU and ASCII, and the transmission mode of each Modbus equipment must be kept consistent with serial communication parameter.
In a system of the invention, man-machine interface is client computer, and initiate request message, unit colour process box is server, and the request of response man-machine interface, both sides adopt RS-485 electric interfaces.
ModbusTCP agreement
ModbusTCP agreement is the derivatives of Modbus, is the application layer Message Protocol of the 7th layer in osi model, has become the universal standard of network information transfer in industrial automation.ModbusTCP/IP communication equipment is connected on EthernetTCP/IP network, and equipment room adopts the communication pattern of client/server.
ModbusTCP acquiescence uses TCP502 port, data frame format as shown in Figure 7, by MBAP heading, function code and data three part form, cast out the error checking and correction territory in Modbus agreement, the correctness of data message is ensured by ICP/IP protocol.Function code defines identical with data with the PDU in Modbus agreement, and MBAP heading for identifying Modbus application data on ICP/IP protocol.MBAP heading is totally 7 bytes, and it is defined as follows shown in Fig. 8.
Transaction identification: for issued transaction pairing, by client completed, the mark of server in response message in duplicate requests message.
Protocol identifier: for intrasystem multiplexed, be fixed as value 0, identifies Modbus agreement.
Length: from the next field, to the byte number altogether that whole ADU terminates.
Element identifier (element ID): long-range tributary address, is filled in by the request message of client computer, copies this address in response message.
In present system, man-machine interface is ModbusTCP client computer, and industrial computer is ModbusTCP server, and each chromatography slave computer has a tributary address, and man-machine interface can monitor the running status of each printing element by tributary address.
The major control technology of system
In Chromatography System, except the first look, printing often of the same colour all must be carried out on the assigned address of printable fabric, otherwise will produce chromatography deviation, affects product quality.Carry out the key control point that accurate chromatography need solve several key: the detection of constant tensile control, chromatography error, the correction of chromatography error, multi-axis synchronized control etc.
Constant tensile control
Tension control system is the important component part of all Chromatography System, must make the tension force that material keeps certain, and material settling out just can be made to advance, and is not easy distortion.The control effects of tension force directly affects chromatography precision, and tension fluctuation is less, more easily controls.Tension control system comprise unreel, rolling, paper feed and discharge port constant tensile control
[27].Unreeling and paper-feeding section, when the tension force of printing material is too small, the speed of the motor that slows down to increase material tension, otherwise should accelerate motor speed; Rolling and discharge port then just the opposite, material tension is too small, need accelerate motor speed and material tension is increased.In addition, also to consider to unreel, the change of winding portion point coil diameter, in rolling part, along with coil diameter increases, the moment acting on inside material increases, even material is extruded, crowded bad phenomenon to be easy to occur skidding material, and in order to make, the material surface of rolling part is smooth, degree of tightness is appropriate, needs to reduce material tension when rolling coil diameter increases.
The detection of chromatography error
Print a colour code and " ten " font Mark line at the margin of every width pattern, the colour code 20mm apart with a upper secondary pattern, detects the Mark line of adjacent two colour cells with two photoelectric scanning head.Two photocell eyes of photometer head are strict with 20mm, and when not having chromatography deviation, while front colour code of the same colour arrives photocell eye 1, the colour code of current color arrives photocell eye 2, does not have phase difference between the two pulse signals that sensor exports.If there is chromatography deviation, the pulse that two photocell eyes detect will produce phase difference.For the 1st look and the 2nd look, two photocell eye detects the two pulse signals of colour code and output as shown in Figure 9.In 2-10 (b), two pulse signals is without phase difference, without chromatography deviation between 1,2 look units; There is phase difference in two paths of signals in 2-10 (c), and the 2nd look lags behind the 1st look, the 1st, produce overgauge between the pattern of 2 looks.
Record the pulse number of encoder feedback during two pulses generation, just can calculate current color and front chromatography error value of the same colour.Suppose that the umber of pulse that encoder often turns is N, roller girth is C, two photocell eyes receive corresponding pulses poor during this period of time in, the pulse number difference of encoder feedback is n, then the chromatography error between dichromatism is:
The correction of chromatography error
Each printing element has a set of independently servo-drive system, drives the printing plate cylinder run-in synchronism of each unit, drives printable fabric forward impelling, and revises in time when there is chromatography error.
Chromatography error comprises lateral deviation and longitudinal bias two kinds.Lateral deviation is the deviation that the vertical direction of advancing with material produces, and shows that material deviate from print direction, is eliminated by the lateral attitude adjusting roller.Longitudinal bias refers to the deviation occurred along print direction, except being subject to the impact of this unit controlled quentity controlled variable, also be subject to the impact that unit correction above controls, produce comparatively complicated, in traditional mechanical axis, by controlling to adjust the upper-lower position of roller, thus changing the length of material between unit, reaching the object eliminating chromatography error.And in shaftless Chromatography System, the elimination of deviation then realizes by adjusting separately independently roller phase place.
To independently printing element, its deviation correction control system is one is inner ring with servo-drive system, and Chromatography System is the two close cycles printing control system of outer shroud, and Systematical control requires that outer shroud precision is high, inner loop velocity is fast.The Chromatography System of outer shroud is made up of master controller, printing object and error detection mechanism, main target formulates control algolithm, export corresponding control instruction according to chromatography error, drive printing plate cylinder to carry out aligning by servo-drive system, reach the object eliminating error.The servo-drive system of inner ring is made up of servo-driver and servomotor, and target has been the execution of position control instruction, makes angular position of rotation and the control impuls instruction stringent synchronization of printing plate cylinder, realizes cover color control.Its control structure figure is illustrated in fig. 10 shown below.
Wherein θ
reffor the desired locations of printing; E is the chromatography deviation of actual printing position and desired locations, is calculated by formula (2-1); U is the output of deviation correcting device, is also the given position input of double-closed-loop control in servo-drive system; θ
mit is the angular displacement of servomotor; θ is the actual printing position of current pattern.Concerning the first look, θ
refvalue determined by programmed instruction, concerning other colour cells, its value is the actual position value θ of last colour cell.
Inner ring servo-drive system is the executing agency of whole system, select servo-driver and the servomotor of Siemens, adopt the control mode of position command pulse, the corresponding motor corner of each command pulse equivalent, be made up of electric current loop, speed ring and position ring, as shown in figure 11.
After the parameters of reasonable disposition servo-driver, from the position of servo-drive system, the given angular displacement to servo-drive system exports, a regulating time order of magnitude less of the control cycle of whole Chromatography System, negligible in Practical Project, the locating speed of servo-drive system and positioning precision can meet the requirement of chromatography control system completely, the pulse position of controller exports can regard linear relationship as with the angular displacement outlet chamber of servomotor, has θ
m=Ku, K are proportionality constants.
Therefore, the positioning precision not considering servo-drive system in working control and the impact controlled correction positioning time, the pulse position that controller exports is exactly the angular displacement that printing plate cylinder will rotate.Printing plate cylinder often circles, and photoelectric sensor gathers a signal, calculates a chromatography error, control of once rectifying a deviation, so the sampling period of chromatography control system is:
Wherein C is roller girth, V
*for the run-in synchronism speed of printing plate cylinder.
Multi-axis synchronized control
Synchronization Control between servomotor is key point and the difficult point of shaft-less drive technology.In Chromatography System, if the running speed of each printing plate cylinder is inconsistent, folding of material can be made, cannot push forward, directly have influence on quality and the production efficiency of product.The present invention adopts master-slave mode synchronous control mode, and structure chart as shown in figure 12.Except first kinematic axis, each kinematic axis be last kinematic axis from axle and after the main shaft of a kinematic axis, the output of main shaft is the input from axle, the input of first kinematic axis is determined by given instruction, first look prints on blank material, there is not chromatography error, from the second look, every of the same colour before of the same colour be standard, control objectives accurately follows the tracks of front actual displacement of the same colour.The same physical arrangement of empty wire frame representation in figure, master controller algorithm realizes in the chromatography program of industrial computer.
In this control program, the printing of current monochromatic pattern must before of the same colour be standard, just inevitably there is the situation that between colour cell, correction control intercouples in this.This coupling condition shows following two aspects:
(1), speed is coupled with tension force.When not having registration deviation, each colour cell presses command speed synchronous operation, control of not rectifying a deviation.If now, because deviation has appearred in interference between one or two colour cells, in order to eliminate deviation, second colour cell needs adjustment roller phase place (advanced or delayed), the change of the second colour cell roller phase place directly causes the tension variation of printable fabric between two, three colour cells, to originally not having the 3rd colour cell of error to form interference, it is made to occur deviation.
(2), the problem of transmission of tension force.If the tension force between the one or two colour cell is due to interference appearance change, cause occurring deviation, at this moment the second colour cell carries out adjusting accordingly eliminating deviation, along with the reduction of deviation, tension force between one or two colour cells recovers gradually, but due to the motility of material, the tension force of change is delivered to back, between two or three colour cells there is change in tension force, and making does not have the 3rd colour cell of chromatography deviation to occur deviation originally.This interference caused by tension force transmission is progressive, least manageable.
Owing to there is the situation of this close coupling between unit, how to remove or reduce this coupling and make system have stronger antijamming capability, having vital effect to the raising of chromatography precision, printing efficiency.In addition, the physical characteristic of various printing material differs greatly, and how strengthening controller is also one of important content that will consider to the applicability of different printing material.These are all had higher requirement to control algolithm.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. based on a control method for the shaftless intaglio printing press Chromatography System of active disturbance rejection algorithm, it is characterized in that: this shaftless intaglio printing press Chromatography System comprises main control rack, chromatography control box, execution architecture, communication module, monitoring interface;
From the 2nd look unit, each look unit has error detection mechanism, and photocell eye obtains chromatography error by the analysis of described chromatography control box, passes to industrial computer process by CAN after current color and front colour code position of the same colour being detected;
When not having registration deviation, do not need to carry out correction and control, Synchronization Control instruction is passed to servo-driver by motion control board, each driven by servomotor printing plate cylinder run-in synchronism; When there is registration deviation, obtaining the controlled quentity controlled variable of current control period according to chromatography correction algorithm, belonging to amount trimmed, in the Synchronization Control that is added to instruction, adjusted by driven by servomotor printing plate cylinder, correct error;
The detection of each unit registration deviation, calculate and carry out in independently chromatography control box, and give host computer process by corresponding data and state, the analysis and control of lateral deviation is then completed by respective chromatography control box.
2. the control method of a kind of shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm according to claim 1, is characterized in that: the mainboard of described industrial computer adopts and grinds magnificent IPC-610H, Intel Pentium 4 CPU, 3.0G dominant frequency, 10/100MD-link network interface card, 1G internal memory, uses dos operating system.
3. the control method of a kind of shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm according to claim 1, is characterized in that: described chromatography control box is arranged circuit formed by DSP control circuit, CPLD auxiliary control circuit, level shifting circuit, telecommunication circuit, error-detector circuit, I/O interface circuit, channel number.
4. the control method of a kind of shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm according to claim 3, it is characterized in that: what two photocell eyes of the photometer head of described error-detector circuit detected that two paths of signals that Mark line produces receives DSP via CPLD catches (CAP) pin, the input signal of photoelectric code disk receives the TCLKINB pin of DSP via CPLD, the external clock as general purpose timer in task manager B inputs.
5. the control method of a kind of shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm according to claim 4, is characterized in that: the EPM3256APC that described CPLD selects ALTERA company to produce.
6. based on a shaftless intaglio printing press Chromatography System for active disturbance rejection algorithm, it is characterized in that: comprise main control rack, chromatography control box, execution architecture, communication module, monitoring interface, industrial computer;
The mainboard of described industrial computer adopts and grinds magnificent IPC-610H, Intel Pentium 4 CPU, 3.0G dominant frequency, 10/100MD-link network interface card, 1G internal memory, uses dos operating system;
Described chromatography control box is arranged circuit formed by DSP control circuit, CPLD auxiliary control circuit, level shifting circuit, telecommunication circuit, error-detector circuit, I/O interface circuit, channel number.
7. a kind of shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm according to claim 6, it is characterized in that: what two photocell eyes of the photometer head of described error-detector circuit detected that two paths of signals that Mark line produces receives DSP via CPLD catches (CAP) pin, the input signal of photoelectric code disk receives the TCLKINB pin of DSP via CPLD, the external clock as general purpose timer in task manager B inputs.
8. a kind of shaftless intaglio printing press Chromatography System based on active disturbance rejection algorithm according to claim 7, is characterized in that: the EPM3256APC that described CPLD selects ALTERA company to produce.
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Application publication date: 20160120 |