CN109683481A - A kind of shaftless intaglio press horizontal register control method - Google Patents

A kind of shaftless intaglio press horizontal register control method Download PDF

Info

Publication number
CN109683481A
CN109683481A CN201910018451.0A CN201910018451A CN109683481A CN 109683481 A CN109683481 A CN 109683481A CN 201910018451 A CN201910018451 A CN 201910018451A CN 109683481 A CN109683481 A CN 109683481A
Authority
CN
China
Prior art keywords
print roller
follows
print
horizontal register
adrc
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.)
Pending
Application number
CN201910018451.0A
Other languages
Chinese (zh)
Inventor
肖泽
齐洁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Donghua University
National Dong Hwa University
Original Assignee
Donghua University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Donghua University filed Critical Donghua University
Priority to CN201910018451.0A priority Critical patent/CN109683481A/en
Publication of CN109683481A publication Critical patent/CN109683481A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G05B13/045—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance using a perturbation signal

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)

Abstract

The present invention provides a kind of shaftless intaglio press horizontal register control methods, first according to the print principle and physics law of shaftless multicolor intaglio press, establish the nonlinear model of shaftless multicolor intaglio press horizontal register system；Then the nonlinear model is linearized using perturbation method and imfinitesimal method, derives the linear model of shaftless multicolor intaglio press horizontal register system；Finally according to the linear model, the decoupling control method of the polychrome horizontal register system based on feedforward control and Active Disturbance Rejection Control is designed.The present invention is simple and reliable, has good inhibiting effect to various interference, has wide applicability；Compared with traditional PID control, at identical conditions, the fluctuation of registration error and duration all decline to a great extent, and can have good inhibiting effect, application value and vast market prospect with higher to the interference of tension variation.

Description

A kind of shaftless intaglio press horizontal register control method
Technical field
The shaftless intaglio press horizontal register control method based on feedforward and ADRC decoupling control that the present invention relates to a kind of, Utilization of the feedforward ADRC decoupling control policy in the control of intaglio press register is related generally to, digital intaglio printing register is belonged to Technical field.
Background technique
Intaglio printing is that a kind of process stabilizing, pressrun be high, printing process applied widely.In recent years, with high speed And the development of high accuracy prints, shaftless actuation techniques are widely used in newest intaglio press.In the technology In, print roller is driven by independent servo motor, registration error is controlled by directly adjusting the speed of relevant servo motor, Rather than change the position of compensating roller.This mode print speed is fast and accurate, control precision is good, fringe cost is low.However, nothing Registration error under axis drive mode has additive effect, i.e. the adjustment of the registration error of upstream influences all registers in downstream and misses Difference.And alignment precision is the important indicator for measuring the product quality of printing.Registration error is defined as a two-dimentional error: along print Brush direction of motion register (MDR) error and with printing vertical direction register (CDR) error.Typically, since the longitudinal direction of paper It shakes very small, it is possible to ignore the registration error of longitudinal direction.Therefore, weighing apparatus equation is kept using quality, considers tension, speed The fluctuation of the factors such as degree, can derive the mathematical model of the MDR system of shaftless drive mode.
Since registration error directly reflects the precision of register, and the MDR mathematical model derived has multi input how defeated Out, it the characteristics of the polychromes registering system such as close coupling, strong jamming, delay, is difficult to solve hyperharmonic shock problem in control process, Limit the raising of gravure electronic equipment alignment precision.
In previous research, the integrated control method based on PID control is that intaglio printing press polychrome registering system is most common Control strategy, but the effect obtained is often not satisfactory.Due to the essence of Active Disturbance Rejection Control (ADRC) be can with real-time estimation and Inner couplings and external disturbance are compensated, therefore ADRC has been applied successfully in many industrial circles.Although being ground newest Study carefully the application to ADRC in terms of adjusting registration error and carried out preliminary assessment, but with print color number in registering system Increase, the design difficulty of proposed method increases sharply.And preceding energy regenerative compensation registration error due to caused by other disturbances.Institute With the integrated control strategy based on feedforward active disturbance rejection decoupling control is the ideal chose of multilayer registering system.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of shaftless intaglio press based on feedforward ADRC decoupling control Horizontal register control method can offset the influence of upstream printing element, compared to PID have it is anti-interference, overshoot is small, effect fastly Feature.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is to provide a kind of shaftless intaglio press horizontal registers Control method, which comprises the steps of:
Step 1: according to the print principle and physics law of shaftless multicolor intaglio press, establishing shaftless multicolour photogravure The nonlinear model of machine horizontal register system；
Step 2: the nonlinear model being linearized using perturbation method and imfinitesimal method, derives shaftless polychrome intaglio plate The linear model of printing machine horizontal register system；
Step 3: according to the linear model, designing the polychrome horizontal register based on feedforward control and Active Disturbance Rejection Control ADRC The decoupling control method of system.Wherein, feedforward control is used to compensate the variation of tension and printing cylinder angular speed or disturbance is brought Registration error, and Active Disturbance Rejection Control includes Nonlinear Tracking Differentiator (TD), extended mode observer (ESO), nonlinear state error Feedback Control Laws (NLSEF).Nonlinear Tracking Differentiator is used to transition process arranging: the reference input of its output tracking system.Extend shape State observer is the core of Active Disturbance Rejection Control, for realizing tracking to output variable and to Dynamic Coupling, Unknown Model and outer The estimation of portion's interference.Nonlinear state error Feedback Control Laws are control laws, reasonable to error and differential error for realizing Combination, and and the feedback Dynamic Coupling of Active Compensation system, Unknown Model and external disturbance together.
Preferably, the registration error of the shaftless intaglio press directly reflects alignment precision, including two kinds: along printing The horizontal register error of traffic direction and the longitudinal registration error perpendicular with printing operation direction, due to the longitudinal judder of paper It is very small, so ignoring the registration error of longitudinal direction.
Preferably, the horizontal register error is defined as the distance between two adjacent print rollers difference, i.e. upstream is printed The distance between roller and printed patterns in the latter print roller are poor；In order to eliminate unnecessary interference, simplify mathematics in step 1 Model, it is assumed that as follows:
1) it is not slided between paper material and roller, and mass transfer will not occur between paper and environment；
2) paper material property does not change with the variation of temperature and humidity；
3) in an unstretched state, paper cross section is constant and density and elasticity modulus are constant；
4) in printing process, tension is less than given threshold and keeps constant；
5) before modeling starts, print system is in stable state.
Preferably, the nonlinear model in the step 1 is as follows:
Wherein: A is the cross-sectional area of paper material, and E is the elasticity modulus of material, ei(i+1)For i-th of print roller and i-th+ Registration error between 1 print roller, i are that the positive integer and value range more than or equal to 1 are 1,2,3 ...；T is time, RiIt is The radius of i-th of print roller, Ri+1It is the radius of i+1 print roller.ωiFor the angular speed of i-th of print roller, ωi+1It is i-th The angular speed of+1 print roller.TiIt (t) is tension of i-th of print roller to paper between i+1 print roller, Ti-1It is (i-1)-th Tension of a print roller to paper between i-th of print roller；tTiIt is the transmission between i-th of print roller and i+1 print roller Time has:
Wherein, LiIt is the length between i-th of print roller and i+1 print roller, ω*It is ωiSteady-state value；
Assuming that the distance of adjacent printed units is identical, and the radius size of all print rollers is identical, under multi-color systems It is then available:
Wherein, n is positive integer, RnIndicate the radius of n-th of print roller, LnIndicate n-th of print roller and (n+1)th printing Length between roller, tTnIndicate the transmission time between n-th of print roller and (n+1)th print roller, R is the half of all print rollers The value of diameter, L are the length value of all adjacent print rollers, tTFor the transmission time value between all adjacent print rollers；
According to formula (1) and (3), formula (1) can be by abbreviation are as follows:
Formula (4) is simplified nonlinear model.
Preferably, in the step 2, variable all in formula (4) is all made of by steady-state value according to perturbation method and imfinitesimal method It is indicated with changing value, as follows:
ei(i+1)(t)=e*+Δei(i+1)(t)
ωi(t)=ω*+Δωi(t)
Ti(t)=T*+ΔTi(t)
Wherein, e* ei(i+1)(t) steady-state value, T* Ti(t) steady-state value, Δ ei(i+1)It (t) is ei(i+1)(t) change Change value, Δ ωiIt (t) is ωi(t) changing value, Δ TiIt (t) is Ti(t) changing value.
According to formula (4) and the working principle of intaglio press polychrome register, general n color horizontal register system model can be with It indicates are as follows:
Wherein: ωn(t) be n-th of print roller angular speed, e(n-1)nIt (t) is ωiIt (t) is (n-1)th print roller and n-th Registration error between a print roller, ωn-1(t) be (n-1)th print roller angular speed, Tn-1It (t) is that (n-1)th print roller arrives The tension of paper, T between n-th of print rollern-2It (t) is tension of the n-th -2 print rollers to paper between (n-1)th print roller； ωi(t) (i=1,2,3 ...) is the input signal of the registering system；e12(t)、e23(t)、…、e(n-1)nIt (t) is the registering system Output signal.
By formula (5) it is found that the n color registering system is multiple-input and multiple-output, a close coupling, has time lag, nonlinear system System.
According to the perturbation method and imfinitesimal method of the foregoing description, formula (5) can be with abbreviation are as follows:
...
...
...
Further, due to T*Very little, so T*< < AE can be obtained it is also contemplated that ignoring Δ to improve readability The linear model of following n color horizontal register system:
Using pull-type transformation, the available n color horizontal register system transter:
Wherein, s is plural number, E(n-1)n(s) the transmitting letter of the registration error between (n-1)th print roller and n-th of print roller Number, similarly, E12(s)、E23(s)、Wi(s) (i=1,2,3 ... n), Ti(s) (i=1,2,3 ... it n) is respectively its corresponding transmitting Function.GAIt (s) is the transmission function of control variable, GBIt (s) is the frequency method of upstream angular speed, GCIt (s) is upstream tension Frequency method, GD(s) it is the frequency method of upstream tension, and has:
According to formula (9), the corresponding linear of the dichromatism horizontal register error between available i-th cell and i+1 unit Model:
Ei(i+1)(s)=GA(s)Wi+1(s)+GB(s)Wi(s)+GC(s)Ti-1(s)+GD(s)Ti(s) (11)
According to formula (11), registration error Ei(i+1)By Wi+1(s)、Wi(s)、Ti-1(s) and Ti(s) it forms.In non-axis transmission, The print roller of printing machine is driven by motor control, i.e., motor adjusts registration error by adjusting the revolving speed of print roller.So Wi+1(s) be dichromatism registering system control variable, corresponding transmission function GAIt (s) is that feature passes letter.Wi(s) it is printed for upstream The coupled interference of unit angular speed, Ti(s) and Ti-1(s) be respectively upstream and upstream tension coupled interference.
Preferably, the step 3 is specific as follows:
According to the linear model solved, the decoupling control of the n color horizontal register system based on feedforward and ADRC control is designed Strategy, specifically:
CWi(s)、CTi-1(s) and CTiIt (s) is parameter ωi、Ti-1And TiThe corresponding feedforward controller of institute, compensates respectively By parameter ωi、Ti-1And TiRegistration error caused by bring disturbs, wherein i is the positive integer more than or equal to 1, eri(i+1)It is to be The reference register of system inputs (usually 0), and ADRC controller can track the reference input e of registering systemri(i+1), and in real time Actively estimate and compensate the disturbance of the coupled system.
Firstly, the angular speed of print roller and the tension of paper material can survey pressure member by being mounted on motor and paper respectively Encoder on part directly measures.Therefore, designed feedforward controller can by the signal of these sensor passes come Make up registration error caused by the interference of upstream.
Then, according to the principle of stacking of linear system, the output of adjacent color registering system is as follows:
Wherein: Ci(s) be corresponding i-th of ADRC controller transmission function, here for abbreviation below, tentatively it As an entirety, Eri(i+1)It (s) is eri(i+1)Transmission function.
Feedforward controller is designed according to front and back principle of invariance, eliminates Wi、Ti-1And TiThe caused registration error of variation. So having:
Therefore, feedforward controller are as follows:
Then, ADRC controller is designed.According to formula (11), adjacent color registering system is first-order system, so ADRC is controlled Device is also single order.ADRC controller is anti-by Nonlinear Tracking Differentiator (TD), extended mode observer (ESO) and nonlinear state error Present (NLSEF) composition.
I-th of Nonlinear Tracking Differentiator TDiIt is a non-linear element, wherein the approximate differential letter of tracking signal and system input It number can be obtained according to system input signal.Its output signal Vi1Track reference input signal eri(i+1), therefore, TDiIt is discrete Form is as follows:
Wherein: n is natural number (n=0,1,2,3 ...), riIt is velocity factor, h is sampling step length, vi2It is the another of differentiator One output.Fhan (x1, x2, r, h) is nonlinear function, it is ensured that Vi1With most fast velocity fitting eri(i+1)It can't send out Raw any overshoot, is defined as follows:
In (16), sign (y) is sign function, is defined as follows:
Sign (y)=1, y > 0
Sign (y)=0, y=0
Sign (y)=- 1, y < 0
I-th of extended state observer ESOiIt is the core of ADRC controller, it not only can be with tracking system output signal And its differential signal, and can active estimating system in real time Coupled Disturbances.Two output Zi1、Zi2Tracking input ei(i+1), and the Coupled Disturbances in energy estimating system.So second order ESOiDiscrete form are as follows:
Wherein: βi1And βi2It is the gain coefficient of ESO, biIt is penalty coefficient, uiIt is ADRCiThe output of controller.fal(e, A, δ) it is nonlinear function, form is as follows:
NLSEF is that it inputs eiNonlinear combination, wherein ei=vi1-zi1, i-th of nonlinear state error feedback control Restrain NLSEFiDiscrete form are as follows:
Wherein: δ is the length interval of linear segment, kpiIt is proportionality coefficient.
Joint type (15), (17), (19), ADRCiDiscrete expression are as follows:
In actual printing process, the reference input of registering system is 0, i.e. eri(i+1)=0.Therefore, ADRCiIt is discrete Form can be with abbreviation are as follows:
In conclusion i-th obtained of feedforward ADRC decoupling control policy, the output Δ ω of decoupling control policyi+1By ADRCiThe output u of controlleriAll outputs with feedforward controller form.
Therefore, in n color intaglio printing horizontal register system, feedover ADRC decoupling controller algorithm are as follows:
Due to the adoption of the above technical solution, the present invention has the following beneficial effects:
1, the present invention is based on shaftless intaglio press horizontal register control method, the horizontal register error model derived is simple It is single reliable.
2, the feedforward ADRC control method that the present invention takes has good inhibiting effect to various interference, solves intaglio plate The problem of factor close coupling, has wide applicability.
3, the present invention is compared with traditional PID control, and at identical conditions, the fluctuation of registration error and duration are all big Width decline can have good inhibiting effect to the interference that speed, tension and paper performance change.
4, method proposed by the present invention application value with higher and vast market prospect.
Detailed description of the invention
Fig. 1 is the flow chart of shaftless intaglio press horizontal register control method provided in this embodiment；
Fig. 2 is the block diagram of feedforward ADRC decoupling control policy；
Fig. 3 is building block diagram of the four-color register system on simulink；
Fig. 4 is feedforward ADRC and the simulation comparison figure of PID tension stress interference.
Specific embodiment
Below with reference to the specific embodiment of four color gravu re systems, the present invention is further explained.
Fig. 1 is the flow chart of shaftless intaglio press horizontal register control method provided in this embodiment, and described is shaftless Intaglio press horizontal register control method the following steps are included:
Step 1: according to the print principle and physics law of shaftless multicolor intaglio press, establishing the four colour gravure press The coupling nonlinear model of horizontal register system.Specifically:
Horizontal register error is defined as two adjacent print rollers, i.e., between upstream print roller and the latter print roller on The distance between printed patterns difference.In order to eliminate unnecessary interference, simplified mathematical model, it is assumed that as follows:
1. not sliding between paper material and roller, and mass transfer will not occur between paper and environment.
2. paper material property does not change with the variation of temperature and humidity.
3. in an unstretched state, paper cross section is constant and density and elasticity modulus are constant.
4. tension should be smaller and keeps constant in printing process.
5. before modeling starts.Print system is in stable state.
Based on above-mentioned it is assumed that can derive that the nonlinear model of horizontal register system is as follows:
Wherein: A is the cross-sectional area of paper material, and E is the elasticity modulus of material, ei(i+1)For i-th of print roller and i-th+ Registration error between 1 print roller, i are that the positive integer and value range more than or equal to 1 are (1,2,3 ...), and t is time, Ri It is the radius of i-th of print roller, Ri+1It is the radius of i+1 print roller.ωiFor the angular speed of i-th of print roller, ωi+1For The angular speed of i+1 print roller.TiIt (t) is tension of i-th of print roller to paper between i+1 print roller, Ti-1It is Tension of the i-1 print roller to paper between i-th of print roller.tTiIt is the biography between i-th of print roller and i+1 print roller Defeated time (i.e. time lag), has:
Wherein, LiIt is the length between i-th of print roller and i+1 print roller, ω*It is ωiSteady-state value.
Assuming that the distance of adjacent printed units is identical, and the radius size of all print rollers is identical (in actual intaglio plate In printing machine, generally it is able to satisfy assumed above), then available:
Wherein, n is positive integer, RnIndicate the radius of n-th of print roller, LnIndicate n-th of print roller and (n+1)th printing Length between roller, tTnIndicate the transmission time between n-th of print roller and (n+1)th print roller, R is the half of all print rollers The value of diameter, L are the length value of all adjacent print rollers, tTFor the transmission time value between all adjacent print rollers；
According to formula (1) and (3), formula (1) can be by abbreviation are as follows:
In general, four-color process can meet most of daily printing demand, and according to formula (4) and intaglio press The working principle of polychrome register, general four colors horizontal register system model can indicate are as follows:
Wherein: ω2(t)、ω3(t)、ω4(t) be the registering system input signal；e12(t)、e23(t)、e34It (t) is this The output signal of registering system.
By formula (5) it is found that the four-color register system is multiple-input and multiple-output, a close coupling, has time lag, nonlinear system System.
Step 2: utilizing imfinitesimal method and perturbation method, derive the linear model of horizontal register system in step 1.
It is specific as follows:
All variables are all made of steady-state value and changing value and indicate in formula (5), as follows:
Wherein, e* ei(i+1)(t) steady-state value, T* Ti(t) steady-state value, Δ ei(i+1)It (t) is ei(i+1)(t) change Change value, Δ ωi(t) changing value for being ω i (t), Δ Ti(t) changing value for being Ti (t).
Formula (6) are substituted into formula (5), ignore higher order indefinite small, formula (5) can be with abbreviation are as follows:
Further, due to T*Very little, so T*< < AE can be obtained it is also contemplated that ignoring Δ to improve readability The linear model of following four colors horizontal register system:
Using pull-type transformation, the available four colors horizontal register system transter:
In formula (9), have:
According to formula (9), the corresponding linear of the dichromatism horizontal register error between available i-th cell and i+1 unit Model:
Ei(i+1)(s)=GA(s)Wi+1(s)+GB(s)Wi(s)+GC(s)Ti-1(s)+GD(s)Ti(s) (11)
According to formula (11), registration error Ei(i+1)By Wi+1(s)、Wi(s)、Ti-1(s) and Ti(s) it forms.In non-axis transmission, The print roller of printing machine is driven by motor control, i.e., motor adjusts registration error by adjusting the revolving speed of print roller.So Wi+1(s) be dichromatism registering system control variable, corresponding transmission function GAIt (s) is that feature passes letter.Wi(s) it is printed for upstream The coupled interference of unit angular speed, Ti(s) and Ti-1(s) be respectively upstream and upstream tension coupled interference.
Step 3: according to the linear model solved, designing the solution of the polychrome horizontal register system based on feedforward and ADRC control Coupling control strategy, as shown in Fig. 2, specifically:
CWi(s)、CTi-1(s) and CTiIt (s) is parameter ωi、Ti-1And TiThe corresponding feedforward controller of institute, compensates respectively By parameter ωi、Ti-1And TiRegistration error caused by bring disturbs, wherein i is the positive integer more than or equal to 1, eri(i+1)It is to be The reference register of system inputs (usually 0), and ADRC controller can track the reference input e of registering systemri(i+1), and in real time Actively estimate and compensate the disturbance of the coupled system.
Firstly, the angular speed of print roller and the tension of paper material can survey pressure member by being mounted on motor and paper respectively Encoder on part directly measures.Therefore, designed feedforward controller can by the signal of these sensor passes come Make up registration error caused by the interference of upstream.
Then, according to the principle of stacking of linear system, the output of dichromatism registering system is as follows:
Wherein: Ci(s) be corresponding ADRC controller transmission function, here for abbreviation below, tentatively it as One entirety.Eri(i+1)It (s) is eri(i+1)Transmission function.
Feedforward controller is designed according to front and back principle of invariance, eliminates Wi、Ti-1And TiThe caused registration error of variation. So having:
Therefore, feedforward controller are as follows:
Then, ADRC controller is designed.According to formula (11), dichromatism registering system is first-order system, so ADRC controller It also is single order.ADRC controller is fed back by Nonlinear Tracking Differentiator (TD), extended mode observer (ESO) and nonlinear state error (NLSEF) it forms.
Four-color register system includes three registering systems, and each registering system needs three feedforwards plus ADRC decoupling control Device processed, so i-th of Nonlinear Tracking Differentiator TDiIt is a non-linear element, wherein the approximate differential of tracking signal and system input Signal can be obtained according to system input signal.It exports Vi1Track reference input signal eri(i+1), therefore, TDiDiscrete shape Formula is as follows:
Wherein: n is natural number (n=0,1,2,3 ...), riIt is velocity factor, h is sampling step length.fhan(x1,x2,r, It h) is nonlinear function, it is ensured that Vi1With most fast velocity fitting eri(i+1)Any overshoot can't occur, be defined as follows:
In formula (16), sign (y) is sign function, is defined as follows:
Sign (y)=1, y > 0
Sign (y)=0, y=0
Sign (y)=- 1, y < 0
ESOiIt is the core of ADRC controller, it not only can be with tracking system output signal and its differential signal, Er Qieke With the Coupled Disturbances of real-time active estimating system.It exports Zi1、Zi2Tracking input ei(i+1), and the coupling in energy estimating system Disturbance.So second order ESOiDiscrete form are as follows:
Wherein: βi1And βi2It is the gain coefficient of ESO, biIt is penalty coefficient, uiIt is ADRCiThe output of controller.fal(e, A, δ) it is nonlinear function, form is as follows:
NLSEF is that it inputs eiNonlinear combination, wherein ei=vi1-zi1, NLSEFiDiscrete form are as follows:
Wherein: δ is the length interval of linear segment, kpiIt is proportionality coefficient.
Joint type (15), (17), (19), ADRCiDiscrete expression are as follows:
In actual printing process, the reference input of registering system is 0, i.e. eri(i+1)=0.Therefore, ADRCiIt is discrete Form can be with abbreviation are as follows:
In conclusion obtained feedforward ADRC decoupling control policy block diagram is as shown in Figure 2.Wherein, decoupling control policy Export Δ ωi+1By ADRCiThe output u of controlleriAll outputs with feedforward controller form.
In the present embodiment, the emulation experiment on MATLAB is designed, realizes the good control of polychrome horizontal register system.Tool Body are as follows:
Firstly, setting parameter, such as in L=6.28m, R=0.2m, T0=100N, A=2*10-5m2, E=2.1*109Pa Parameter Conditions under registering system is initialized.Then, reference input (generally 0) is set, h=10ms, ω*= 1000rad/min, and the feedforward ADRC decoupling controller of design is realized on MATLAB, specifically:
Firstly, setting fixed step size mode for emulation in Simulink module.
Then, TD, ESO and NLSEF are constructed according to the registering system parameter of design, forms ADRC controller, design parameter Steps are as follows for adjusting:
Parameter beta in step 1:ESOi1Equal to the inverse of step-length h.So βi1=100.
Parameter beta in step 2:ESOi2Greater than βi1.Under open loop condition, β is adjustedi2Z is exported in ESOi2Make under the conditions of without friction zi1Track ei(i+1)It is without friction and make βi2It is big as far as possible.
Step 3: under open loop condition, adjusting the parameter r of TDiMake v respectivelyi1And vi2THE FAST TRACKING SYSTEM FOR reference input eri(i+1)With its differential signal.
Step 4: under closed loop conditions, adjusting the parameter k of NLSEFipSo that output ei(i+1)Stablize in reference input eri(i+1) It is interior and without friction.
Then, after the completion of parameter tuning, the system function Functional Design decoupling controller on SIMULINK is utilized.
It is built on Simulink further according to the feedforward controller solved, using subsystem encapsulation technology four-color register System is packaged, final as shown in Figure 3.
Finally, as shown in figure 3, the registration error that two methods export is put into oscillograph to show.It is steady in system Surely after running 5s, T0130N is risen to from 100N step, and after 10s, and step decrease returns 100N and runs the system and check oscillography The simulation waveform of device.
Comparing result is as shown in figure 4, solid line is PID simulation result, and dotted line is the simulation result of feedforward ADRC, when horizontal axis is Between, the longitudinal axis is wave crest, it can be seen that the error peak of feedforward ADRC decoupling control is much smaller than the error peak of PID control, and super It turns down, the duration is short.
Simulation result shows in feedforward ADRC decoupling controller, causes registration error to carry out effectively tension interference Ground estimation and compensation, obtain the tension stress jamming performance for being much better than PID controller.
It is not difficult to find that compared to traditional PID control method then the present invention is used and is taken the photograph using the MDR model derived Dynamic method and imfinitesimal method are linear model the nonlinear model abbreviation, finally, proposing based on this model a kind of based on feedforward The decoupling control policy of ADRC has achieved the effect that tension stress changes, and can realize quick response to interference, solves shaftless recessed The not high problem of version printing horizontal register precision.Control strategy application value with higher proposed by the present invention and wide city Field prospect.
The above, only presently preferred embodiments of the present invention, not to the present invention in any form with substantial limitation, It should be pointed out that under the premise of not departing from the method for the present invention, can also be made for those skilled in the art Several improvement and supplement, these are improved and supplement also should be regarded as protection scope of the present invention.All those skilled in the art, Without departing from the spirit and scope of the present invention, when made using disclosed above technology contents it is a little more Dynamic, modification and the equivalent variations developed, are equivalent embodiment of the invention；Meanwhile all substantial technologicals pair according to the present invention The variation, modification and evolution of any equivalent variations made by above-described embodiment, still fall within the range of technical solution of the present invention It is interior.

Claims (6)

1. a kind of shaftless intaglio press horizontal register control method, which comprises the steps of:
Step 1: according to the print principle and physics law of shaftless multicolor intaglio press, it is horizontal to establish shaftless multicolor intaglio press To the nonlinear model of registering system；
Step 2: the nonlinear model being linearized using perturbation method and imfinitesimal method, derives shaftless multicolour photogravure The linear model of machine horizontal register system；
Step 3: according to the linear model, designing the polychrome horizontal register system based on feedforward control and Active Disturbance Rejection Control ADRC Decoupling control method；
Wherein, feedforward control is used to compensate the variation of tension and printing cylinder angular speed or disturbs brought registration error, and from Disturbance rejection control includes Nonlinear Tracking Differentiator, extended mode observer, nonlinear state error Feedback Control Laws；Nonlinear Tracking Differentiator is used to Transition process arranging, and the reference input of output tracking system；Extended mode observer is the core of Active Disturbance Rejection Control, is used to real The now estimation to the tracking of output variable and to Dynamic Coupling, Unknown Model and external disturbance；The feedback control of nonlinear state error System rule is control law, for realizing to error and differential error reasonable combination, and it is dynamic with feedback together Active Compensation system State coupling, Unknown Model and external disturbance.
2. a kind of shaftless intaglio press horizontal register control method as described in claim 1, it is characterised in that: shaftless intaglio plate The registration error of printing machine directly reflects alignment precision, including two kinds: along printing operation direction horizontal register error and with The perpendicular longitudinal registration error in printing operation direction, since the longitudinal judder of paper is very small, so ignoring longitudinal direction Registration error.
3. a kind of shaftless intaglio press horizontal register control method as claimed in claim 2, it is characterised in that: the transverse direction Registration error is defined as the distance between two adjacent print rollers difference, i.e. printing in upstream print roller and the latter print roller The distance between pattern difference；In order to eliminate unnecessary interference, simplified mathematical model in step 1, it is assumed that as follows:
1) it is not slided between paper material and roller, and mass transfer will not occur between paper and environment；
2) paper material property does not change with the variation of temperature and humidity；
3) in an unstretched state, paper cross section is constant and density and elasticity modulus are constant；
4) in printing process, tension is less than given threshold and keeps constant；
5) before modeling starts, print system is in stable state.
4. a kind of shaftless intaglio press horizontal register control method as claimed in claim 3, it is characterised in that: the step Nonlinear model in 1 is as follows:
Wherein: A is the cross-sectional area of paper material, and E is the elasticity modulus of material, ei(i+1)For i-th of print roller and i+1 Registration error between print roller, i are the positive integer more than or equal to 1, and t is time, RiIt is the radius of i-th of print roller, Ri+1It is The radius of i+1 print roller；ωiFor the angular speed of i-th of print roller, ωi+1For the angular speed of i+1 print roller；Ti(t) It is tension of i-th of print roller to paper between i+1 print roller, Ti-1(i-1)-th print roller to i-th print roller it Between paper tension；tTiIt is the transmission time between i-th of print roller and i+1 print roller, has:
Wherein, LiIt is the length between i-th of print roller and i+1 print roller, ω*It is ωiSteady-state value；
Assuming that the distance of adjacent printed units is identical, and the radius size of all print rollers is identical, then may be used under multi-color systems To obtain:
Wherein, n is positive integer, RnIndicate the radius of n-th of print roller, LnIndicate n-th of print roller and (n+1)th print roller it Between length, tTnIndicate the transmission time between n-th of print roller and (n+1)th print roller, R is the radius of all print rollers Value, L are the length value of all adjacent print rollers, tTFor the transmission time value between all adjacent print rollers；
According to formula (1) and (3), formula (1) can be by abbreviation are as follows:
Formula (4) is simplified nonlinear model.
5. a kind of shaftless intaglio press horizontal register control method as claimed in claim 4, it is characterised in that: the step In 2, variable all in formula (4), which is all made of steady-state value and changing value, according to perturbation method and imfinitesimal method is indicated, as follows:
ei(i+1)(t)=e*+Δei(i+1)(t)
ωi(t)=ω*+Δωi(t)
Ti(t)=T*+ΔTi(t)
Wherein, e* ei(i+1)(t) steady-state value, T* Ti(t) steady-state value, Δ ei(i+1)It (t) is ei(i+1)(t) changing value, ΔωiIt (t) is ωi(t) changing value, Δ Ti(t) changing value for being Ti (t)；
According to formula (4) and the working principle of intaglio press polychrome register, general n color horizontal register system model can be indicated Are as follows:
Wherein: ωn(t) be n-th of print roller angular speed, e(n-1)nIt (t) is ωiIt (t) is (n-1)th print roller and n-th of print Registration error between brush roll, ωn-1(t) be (n-1)th print roller angular speed, Tn-1It (t) is (n-1)th print roller to n-th The tension of paper, T between a print rollern-2It (t) is tension of the n-th -2 print rollers to paper between (n-1)th print roller, ωi It (t) is the input signal of the registering system, i=1,2,3 ...；e12(t)、e23(t)、…、e(n-1)nIt (t) is the registering system Output signal；
By formula (5) it is found that the n color registering system is multiple-input and multiple-output, a close coupling, has time lag, nonlinear system；
According to perturbation method and imfinitesimal method, formula (5) can be with abbreviation are as follows:
...
...
...
Further, due to T*Very little, so T*< < AE can be obtained as follows it is also contemplated that ignoring Δ to improve readability The linear model of n color horizontal register system:
Using pull-type transformation, the available n color horizontal register system transter:
Wherein, s is plural number, E(n-1)n(s) transmission function of the registration error between (n-1)th print roller and n-th of print roller, Similarly, E12(s)、E23(s)、Wi(s)、TiIt (s) is respectively its corresponding transmission function；GAIt (s) is the transmission function of control variable, GBIt (s) is the frequency method of upstream angular speed, GCIt (s) is the frequency method of upstream tension, GDIt (s) is upstream The frequency method of power, and have:
According to formula (9), the corresponding linear model of the dichromatism horizontal register error between available i-th cell and i+1 unit:
Ei(i+1)(s)=GA(s)Wi+1(s)+GB(s)Wi(s)+GC(s)Ti-1(s)+GD(s)Ti(s) (11)
According to formula (11), registration error Ei(i+1)By Wi+1(s)、Wi(s)、Ti-1(s) and Ti(s) it forms；In non-axis transmission, printing The print roller of machine is driven by motor control, i.e., motor adjusts registration error by adjusting the revolving speed of print roller；So Wi+1(s) It is the control variable of dichromatism registering system, corresponding transmission function GAIt (s) is that feature passes letter；WiIt (s) is upstream printing element angle The coupled interference of speed, Ti(s) and Ti-1(s) be respectively upstream and upstream tension coupled interference.
6. a kind of shaftless intaglio press horizontal register control method as claimed in claim 5, it is characterised in that: the step 3 is specific as follows:
According to the linear model solved, the decoupling control policy of the n color horizontal register system based on feedforward and ADRC control is designed, Specifically:
CWi(s)、CTi-1(s) and CTiIt (s) is parameter ωi、Ti-1And TiThe corresponding feedforward controller of institute, compensates respectively by parameter ωi、Ti-1And TiRegistration error caused by bring disturbs, wherein i is the positive integer more than or equal to 1, eri(i+1)It is the ginseng of system Register input is examined, and ADRC controller can track the reference input e of registering systemri(i+1), and actively estimate and compensate in real time The disturbance of the coupled system；
Firstly, the angular speed of print roller and the tension volume by being mounted on motor and paper load cell respectively of paper material Code device directly measures；Therefore, designed feedforward controller can make up upstream by the signal that the encoder transmits Registration error caused by interference；
Then, according to the principle of stacking of linear system, the output of adjacent color registering system is as follows:
Wherein: Ci(s) be corresponding i-th of ADRC controller transmission function, here for abbreviation below, tentatively it as One entirety, Eri(i+1)It (s) is eri(i+1)Transmission function；
Feedforward controller is designed according to front and back principle of invariance, eliminates Wi、Ti-1And TiThe caused registration error of variation, has:
Therefore, feedforward controller are as follows:
Then, ADRC controller is designed；According to formula (11), adjacent color registering system is first-order system, so ADRC controller For single order；ADRC controller is made of Nonlinear Tracking Differentiator, extended mode observer and nonlinear state error feedback；
I-th of Nonlinear Tracking Differentiator TDiIt is a non-linear element, wherein tracking signal and the approximate differential signal of system input can To be obtained according to system input signal；Its output signal Vi1Track reference input signal eri(i+1), therefore, TDiDiscrete form It is as follows:
Wherein: n is natural number, n=0,1,2,3 ...；riIt is velocity factor, h is sampling step length, vi2It is another of differentiator Output；Fhan (x1, x2, r, h) is nonlinear function, it is ensured that Vi1With most fast velocity fitting eri(i+1)It can't occur to appoint What overshoot, is defined as follows:
In (16), sign (y) is sign function, is defined as follows:
Sign (y)=1, y > 0
Sign (y)=0, y=0
Sign (y)=- 1, y < 0
I-th of extended state observer ESOiIt is the core of ADRC controller, it not only can be with tracking system output signal and its micro- Sub-signal, and can active estimating system in real time Coupled Disturbances；Two output Zi1、Zi2Tracking input ei(i+1), and Coupled Disturbances in energy estimating system；So second order ESOiDiscrete form are as follows:
Wherein: βi1And βi2It is the gain coefficient of ESO, biIt is penalty coefficient, uiIt is ADRCiThe output of controller；Fal (e, a, δ) is Nonlinear function, form are as follows:
NLSEF is that it inputs eiNonlinear combination, wherein ei=vi1-zi1, i-th of nonlinear state error Feedback Control Laws NLSEFiDiscrete form are as follows:
Wherein: δ is the length interval of linear segment, kpiIt is proportionality coefficient；
Joint type (15), (17), (19), ADRCiDiscrete expression are as follows:
In actual printing process, the reference input of registering system is 0, i.e. eri(i+1)=0；Therefore, ADRCiDiscrete form It can be with abbreviation are as follows:
In conclusion i-th of feedforward ADRC decoupling control policy is obtained, the output Δ ω of decoupling control policyi+1By ADRCiControl The output u of deviceiAll outputs with feedforward controller form；
Therefore, in n color intaglio printing horizontal register system, feedover ADRC decoupling controller algorithm are as follows:
CN201910018451.0A 2019-01-09 2019-01-09 A kind of shaftless intaglio press horizontal register control method Pending CN109683481A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910018451.0A CN109683481A (en) 2019-01-09 2019-01-09 A kind of shaftless intaglio press horizontal register control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910018451.0A CN109683481A (en) 2019-01-09 2019-01-09 A kind of shaftless intaglio press horizontal register control method

Publications (1)

Publication Number Publication Date
CN109683481A true CN109683481A (en) 2019-04-26

Family

ID=66192079

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910018451.0A Pending CN109683481A (en) 2019-01-09 2019-01-09 A kind of shaftless intaglio press horizontal register control method

Country Status (1)

Country Link
CN (1) CN109683481A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112270065A (en) * 2020-08-26 2021-01-26 天津大学 Dynamic stability prediction method for eccentric rotation annular periodic structure
CN113515046A (en) * 2021-07-19 2021-10-19 西安理工大学 Winding tension control method of web coating machine based on feedforward control

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009104841A1 (en) * 2008-02-19 2009-08-27 Konkuk University Industrial Cooperation Corp. Feedforward control of downstream register errors for electronic roll-to-roll printing system
CN102208891A (en) * 2010-11-18 2011-10-05 东南大学 Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation
CN105353623A (en) * 2015-12-17 2016-02-24 西安理工大学 Gravure register control method based on auto-disturbance rejection control

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009104841A1 (en) * 2008-02-19 2009-08-27 Konkuk University Industrial Cooperation Corp. Feedforward control of downstream register errors for electronic roll-to-roll printing system
CN102208891A (en) * 2010-11-18 2011-10-05 东南大学 Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation
CN105353623A (en) * 2015-12-17 2016-02-24 西安理工大学 Gravure register control method based on auto-disturbance rejection control

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
刘善慧 等: "印刷电子装备套准系统解耦控制策略", 《西安理工大学学报》 *
刘善慧 等: "多色套准系统前馈自抗扰控制器设计", 《机械工程学报》 *
陈义君 等: "基于自抗扰算法的无轴凹印机套色系统设计", 《控制理论与应用》 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112270065A (en) * 2020-08-26 2021-01-26 天津大学 Dynamic stability prediction method for eccentric rotation annular periodic structure
CN112270065B (en) * 2020-08-26 2023-09-08 天津大学 Dynamic stability prediction method for eccentric rotary annular periodic structure
CN113515046A (en) * 2021-07-19 2021-10-19 西安理工大学 Winding tension control method of web coating machine based on feedforward control

Similar Documents

Publication Publication Date Title
CN108773182B (en) Color register control method and system in stable-speed printing process of electronic shaft gravure press
CN101870211B (en) Cold foil transfer print having dynamic foil tension
CN109683481A (en) A kind of shaftless intaglio press horizontal register control method
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
CN104242769A (en) Permanent magnet synchronous motor speed composite control method based on continuous terminal slip form technology
CN104742518A (en) Chromatography control method used in low-speed printing process of electronic shaft intaglio printing press
Zhu et al. Design and experimental evaluation of robust motion synchronization control for multivehicle system without velocity measurements
Wang et al. Event-based disturbance compensation control for discrete-time SPMSM with mismatched disturbances
CN101510072A (en) Servo system controller with self-adapting fuzzy frictional compensation
Dou et al. Robust control of multistage printing systems
CN102904496A (en) Double-motor synchronous control system and synchronous control method thereof
Selvaraj et al. Equivalent-input-disturbance estimator-based event-triggered control design for master–slave neural networks
Liu et al. Machine Directional Register System Modeling for Shaft‐Less Drive Gravure Printing Machines
CN109189112A (en) A kind of idler roller strip tension sliding-mode control and control device
Chen et al. Fully decoupled control of the machine directional register in roll-to-roll printing system
Chen et al. Nonlinear web tension control of a roll-to-roll printed electronics system
Liu et al. Tension controller design for unwinding tension system based on active disturbance rejection control
WO2009104841A1 (en) Feedforward control of downstream register errors for electronic roll-to-roll printing system
CN110802924A (en) Speed-stabilizing printing control method and system for mechanical shaft gravure press
Yoshida et al. Register control of sectional drive rotogravure printing press
CN101973163A (en) Ink amount controller based on calculating feedforward nonlinear compensation control algorithm
CN113515046B (en) Winding tension control method of web coating machine based on feedforward control
KR101005234B1 (en) Compensation method of register errors due to tension disturbance for high precise electronic roll-to-roll printing system
Wang et al. Design Tension Controller for the Rewinding System of Roll-to-roll Precision Coating Machine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20190426

WD01 Invention patent application deemed withdrawn after publication