DE102007003695B4 - Method and device for controlling drives - Google Patents

Abstract

Method for controlling drives for rotating bodies in web-processing machines with the steps:
- Recording a plurality of characteristic for predetermined rotational positions of the rotating body first measured values;
- Recording a plurality of second measured values at the predetermined rotational positions, wherein the second measured values for influencing by disturbing variables representing the drive movement drive state are characteristic and wherein the first measured values are stored together with their associated second measured values in a memory device and from the in the Storage device stored first and second measured values disturbances of the drive can be detected.

Description

The The present invention relates to a method and an apparatus for the control of drives. In particular, a method and a Device for compensation of revolution-cyclic disturbances in described electrical drives of railway machines. Next to it will be too a method of monitoring from sudden disorders described in electrical drives of railway machines.

From the patent DE 197 40 153 C2 a method for controlling a drive within a printing press is known. In this case, a setpoint value is specified and an actual value and a difference between the setpoint and the actual value are determined, and to compensate for periodic or non-periodic disturbances, a share torque is applied to a torque setpoint supplied to the actuator.

Out Railway machines known in the art are commonly used by individual angle-controlled or angle-synchronous motors driven. To drive control for these engines is in the Usually a current regulator with a superimposed Speed controller and position controller provided. It is called current controller in a current control loop and as a speed controller usually a PI controller used and the position controller is usually by a P-controller (Proportional controller) realized.

These Drive controllers are for designed the synchronous operation of the respective axes. It occurs the problem on that for a given period or angular space of a motor revolution external revolution cyclic disturbances to individual Drives can occur. The currently known from the prior art control mechanisms can such disturbances only to a limited extent compensate. In particular, in the known control mechanisms revolution cyclic disturbances as well treated as unpredictable disruptions, resulting in an unnecessary capacity load the control systems leads. As an example for such cyclic disturbances can, for example Folding knife interventions on the folder in a printing press or channel attacks be called on the printing cylinder at a printing press. Further Examples are the intervention of machining tools in one Material web in a packaging or printing machine or by the squeegee roller in the inking unit of a printing press caused disturbances. In addition, are However, further revolution-cyclic disturbances conceivable.

such Disturbances occur in the form of disturbance moments at the respective drives and can of the currently known Regulators are limited only. This creates for the period the interference effect at the respective drive a higher Following error d. H. a higher one Difference between the position setpoint and the actual position value than for the period without interference effect. This increased Following error can lead to a deterioration of the printing or packaging process lead the corresponding machine.

Besides can However, in the mentioned drives also sudden d. H. unpredictable disorders occur. So are the known machine types (for example Railway machines) often several drives over a material - like For example, a material to be processed such as paper in a Printing machine - in Connection to each other. With such types of machines, the problem may arise that the material at the entry or exit of processing stations (For example, in a printing press the folder) can wind and the material clogs certain areas. In this case is Another material flow is no longer possible and it can be very size personnel occur, which in turn damage or even destruction of can cause certain machine parts.

Besides it is possible in such types of machines that the material web tears, which in turn leads to that individual machine parts are operated without material. Also This can cause damage to lead.

in the It is therefore known in the prior art in such machines use so-called "material guard" how For example, in the case of printing machines "paper guards", which visually check the flow of the material and in the cases described above Trigger signal z. B. if no material transported at one point of the machine becomes.

In In this case, the detection takes place optically and then becomes electronic to a control unit, such as a programmable logic controller, forwarded. This in turn submits Stop signal to the corresponding drives. However, this leads that requires a certain amount of time until it comes to a standstill of the drives. During this period may already be a damage the machine or the drive occurred.

The present invention is therefore based on the object to provide a method and an apparatus which allows improved monitoring of the respective drives. In addition, a method and an apparatus are to be provided which a gegenü Over the prior art allow faster response to errors occurring. In particular, an improved control of revolution-cyclic disturbances as well as an improved response to sudden disturbances should be achieved.

This is inventively a method according to claim 1 and an apparatus according to claim 16 reached. Advantageous embodiments and further developments are the subject of the dependent claims.

at the method according to the invention for controlling drives for rotating bodies In a first process step, a plurality of for given Rotational positions of the rotating body characteristic first Measured values recorded.

In Another method step is a plurality of second Measured values recorded at the predetermined rotational positions, where the second readings for a influenced by disturbances Drive state are characteristic.

there The first measured values are each assigned together with their assigned values second measured values stored in a memory device. Farther are from the stored in the memory device first and second readings disturbances of the drive detected.

Under the term disorders Here are both cyclic disturbances and sudden or unforeseeable disturbances Understood. Under a driving condition, the driving motion performing states like the speed of the rotary motion, the drive torque of the rotating body, following errors or the like understood. Under a influenced by disturbances drive state is understood in particular a drive state, which is due to a Can change disorder, such as the drive torque, a following error, the speed or the like. Under a detection of disturbances is understood that at least closed on the presence of a disturbance can be.

Preferably are the for the drive state characteristic values around measured values from a Group of measured values, which drive torques, following error, speed differences, Combinations thereof or the like contains. These drive states allow Conclusions on revolution cyclic disturbances. In order to An adaptive torque precontrol is performed. In addition, conclusions are also on not revolution-cyclic or sudden disturbances possible.

Especially torque setpoints or torque actual values of the corresponding drive become advantageous with the associated Target or actual positions recorded cyclically. This jointly recorded Moment or actual position values are shared in the memory device stored. From the jointly stored values d. H. the Position values of the drive and the associated torque values can possible disturbances the drive closed become. It is also possible Derive control values from the values to drive motion in response to revolution cyclic disturbances Taxes.

Prefers becomes one of the measured values stored in the storage direction Generates the measured value table that is used to control the drive. It is possible this metric table for each Re-read revolution or a multitude of revolutions.

Preferably correction values are created from the measured value table which are used for Control of the drive can be used. So it is possible, for example, that at a given rotational position, a measured torque far above a predetermined setpoint is. This can, for example, at a sudden disorder be the case. In this case can be attached to the corresponding drive a correction command is issued. Preferably, the correction values become added in the control of the drive additive. In appropriate Way you can also correction values for compensation of revolution-cyclic disturbances switched on become.

Preferably the torque of the drive is determined via a current measurement, more precisely about a determination of the torque-generating current.

advantageously, the measured values stored in the memory device are continuously updated. So can the measured values for one or more revolutions are recorded and then the respective older measured values replaced by the most recent readings. For example, each could for five turns the associated Moment values are recorded and when recording the values for the sixth turn the for the first revolution stored values are overwritten.

In another method, it is also possible that the measured values stored in the memory device are maintained for a predetermined operating time. It is thus possible to record the measured values for one or more revolutions during a calibration or calibration operation and to keep these measured values as a reference for the operation. In this case, therefore, the Measured value table formed during a special test drive.

at In another preferred method, the first correspond Measured values for the given respectively substantially equal to each other spaced rotational positions. For example, at intervals of 5 or 10 degrees in each case a position measured value (first measured value) recorded and with this position measurement a corresponding moment measurement (assigned second measured value). The measured value table is included an adjustable bearing master of fixed position values or interpolation points with the associated Torque values entered per motor revolution.

at In a further advantageous method, the first measured values can also to predetermined at least partially different from each other spaced rotational positions correspond. In this procedure Is it possible, in those ranges in which strong torque shifts too are expected to include a denser number of attitude readings. In this case, the measured value table with a variable number at bases in particular in the area of the revolution-cyclic disorder a higher one Density of bases chosen becomes. In this case, a variable storage grid is used.

at Another advantageous method is that in the measured value table stored measured values generated at least partially by interpolation. For example, a measured torque between which two recorded rotary positions was taken, a corrected one Value can be assigned by interpolation of known measured values is determined at the known positions. By this preferred Procedures can the torques for be picked up any position positions of the engine.

Preferably the measured values are filtered before the entry in the measured value table. So could For example, high-frequency components filtered out of the measured values become. Also can in the context of filtering unrealistic measured values (for example so-called "outliers") filtered out become.

The given storage grid d. H. the arrangement of the bases can also be made changeable d. H. dependent on also be changed by the rotational speed of the drive.

at a further inventive method becomes the metric table for each revolution of the rotating body formed and preferably under Use of the measured values from the respective preceding revolution or generally using previous values or metric tables. at This procedure is also used when creating the measurement table each to earlier Taken into account at times.

Preferably changes from the measured value table to a fault condition the drive is closed. Ie. in this case, the method of the invention is used for the detection of interference states the determination of cyclic processing forces whereby also here a measured value memory is used and an evaluation opposite a desired profile of the machining forces is made.

Preferably be through the inventive method controlled several drives, and in particular such drives or Drive motors whose movement is synchronized with each other.

The The present invention is further directed to the use of a method of the type described above for directed a printing or paper processing device. As above represented, find in particular in such devices a Variety of separately driven drives use, the respective drive means are synchronized with each other. In such methods, the inventive method is particularly useful.

The inventive method is also used to compensate for process variables that by movements of a folding blade cylinder or cross cutter, a printing cylinder or by movements of inking rollers or transfer rollers especially occur on printing units. Through these process variables, as mentioned above, revolution-cyclical disturbances causes the electrical drives of railway machines. Especially for this Disturbances is suitable the method according to the invention, because it allows a quick detection and compensation of these disturbances.

The Inventive storage device with The torque values may be in a fixed position grid for each revolution be updated to a monitoring to reach the moment of the drive. It is possible for the values of the measured value memory to achieve parameterizable setpoint profiles. It is possible for the Values of the measured value memory Programmable nominal profiles cyclically to calculate. These nominal profiles may depend on predefined Parameters above or below the measured values of the measured value memory lie. For example, it can be specified that nominal profiles always 10% over or below the measured values of the measured value memory.

In the incidents listed above can it always a sudden Increase or decrease of the torque in the drive come. This leads to the cyclically recorded measured values the calculated nominal profiles fall below or exceed at least once. This under or exceeding is being supervised and the drive can shut down very quickly due to this monitoring or generally corrected, since no detour via an optical detection but directly to the original problem d. H. an increase or the fall of the moment can be reacted. This can with the method according to the invention also on such disorders are reacted, which are not revolution-cyclic.

The The present invention is further directed to an apparatus for controlling of drives for rotating bodies addressed with a memory device, wherein in the memory device a variety of for predetermined rotational positions of the rotating body characteristic first Measured values and a variety of second measured values at the given Rotary positions are stored, the second measured values for a influenced by disturbances Drive state are characteristic. Furthermore, a processorein direction is provided, from the stored first and second measured values, a measured value table forms and from this measurement table at least one for one the drive acting disturbance outputs characteristic signal. Under disturbances are also here both revolution cyclic disturbances understood, which also occur in a normal operation of the machine can, including unpredictable disturbances, which usually indicate a faulty operation. Preferably vote the numbers of the recorded first and second measured values match.

Preferably the device has a control device which in response at least one operating state on the characteristic signal the device changes. As shown above, a deviation of an actual moment from detected a desired torque at a certain rotational position and this will be reported to the user. Also it is possible that the faulty one Moment or a difference between the setpoint and the actual value is output or directly and preferably additive for correction is used. Preferably, the second measured value is a reading taken from a group of values, the drive torques, trailing distances, Speed differences, combinations thereof and the like.

Especially preferred is a measured value for a Drive torque recorded and this example of a current flow determined by the drive. Also the other embodiments mentioned above of the method according to the invention can accordingly on the device according to the invention be applied. Thus, the device according to the invention is also suitable both for detection of revolution-cyclic disturbances and for compensation sudden Disorders.

Further Advantages and embodiments emerge from the attached Drawings.

In this demonstrate:

1 a block diagram of a control according to the prior art;

2 a block diagram illustrating the method according to the invention; and

3 a block diagram of a total control with the in 2 shown section.

1 shows a block diagram illustrating a method according to the prior art. In this case, the reference numeral 2 a position controller that is executed here as P-controller. This position controller outputs a speed setpoint n _W. The reference number 3 refers to a speed controller that outputs a torque _setpoint M _setpoint . The reference sign 4 denotes a current loop in its entirety, which outputs an internal motor torque M _i . In an addition element 8th is determined from this internal engine torque M _i and a load torque M _L an acceleration torque M _B and in a summation device 5 converted into a speed value n. Another summation point 9 serves to output a rotational angle value φ. The speed value n and the rotation angle value φ are via connections 6 on difference limbs 7 returned to be taken into account in a further control of the values for the speed n and the torque M. The speed can also be determined by differentiation of the position or position values.

In the case of the occurrence of a non-cyclic fault, this is taken into account via the load torque M _L and the control loop controls accordingly. There is no difference in the prior art between revolution-cyclic disturbances and other non-cyclic or not predictable disturbances. Both incidents are readjusted in the same relatively complex manner shown. The invention thus describes a possibility to consider cyclic disturbances much faster and considerably less expensive. In addition, the invention can react more quickly to non-predictable disturbances.

More accurate The invention relates to the revolution-cyclic Disturbances as Add additive torque to the output of the speed controller to relieve the known from the prior art controllers.

2 shows a block diagram for illustrating the method according to the invention. Here are torque values in a filter device 12 filtered and via an amplifier or gain factor 14 output. This serves the amplifier 14 for the weighting for the summation of additive torque and setpoint torque M _setpoint . The reference numerals 16a . 16b . 16c identify the measured value table or the measured value memory in which the individual torque values are recorded as a function of the respective rotational position of the drive. The switchover to the different grid values depends on the position of the switch 15 shown.

The individual blocks 16a . 16b . 16c thus represent the measured value table stored in the memory device (not shown), wherein each measured value is assigned to a storage grid. This reading table with the blocks 16a . 16b . 16c can be supplied with new values for each revolution, whereby new measured values can be calculated according to a specific calculation rule with the old measured values of the previous revolution. The two amplifiers or amplification factors serve for this calculation 13 and 14 where with the gain factor 13 It can be weighted how strong the influence of the recorded moment actual values for the additive torque application is. The reference number 17 refers to addition elements.

3 shows a block diagram of a complete control according to the invention. Here is the in 2 shown block 10 marked with. If the normal load torque is taken into account, these measurements characterize in some way the moment for the cyclic disturbance. These measured values are added to the output of the speed controller as additive torque 3 given to relieve the previous drive controller. In other words, that's in 2 sketched block diagram in 3 in the block 10 summarized and the output of this block is added to the moment additively.

By the inventive method can a reduction of the following error for the period of (revolution-cyclic) Störgrößeneinwirkung be achieved and thus improve the drive control especially in railway machines.

All Features disclosed in the application documents are considered to be essential to the invention as long as they are individually or in combination with respect to State of the art are new.

2

position controller

3

Speed governor

4

Current Loop

5

Summing means

6

connection

7

differential element

8th, 17

addition element

10

block

12

filtering device

13 14

Amplifier or gain

15

switch

16a, 16b, 16c

Table of measurements

φ

Rotation angle value

n

Speed value

M _i

inner engine torque

M _Soll

Torque setpoint

n _W

Speed setpoint

M _L

load torque

M _B

moment of acceleration

Claims (17)

Method for controlling drives for rotating body in web-processing machines with the steps: - Admission a variety of for predetermined rotational positions of the rotating body characteristic first Measurements; - Admission a plurality of second measured values at the predetermined rotational positions, the second readings for a influenced by disturbances the driving movement representing drive state characteristic are and where the first readings each in common with their assigned second measured values are stored in a memory device and from the first and second measured values stored in the memory device disorders of the drive are detected. Method according to claim 1, characterized in that that for Drive state characteristic values from a group of values which drive torques, lag distances, speed differences, Combinations thereof or the like contains. Method according to at least one of the preceding Claims, characterized in that from the in the memory device stored measured values a measurement value table is generated, which is used for Control of the drive is used. A method according to claim 3, characterized in that from the measured value table correction values used to control the drive. Method according to at least one of the preceding Claims, characterized in that the stored in the memory device measured values be updated continuously. Method according to at least one of the preceding Claims, characterized in that the stored in the memory device measured values while be maintained for a predetermined operating time. Method according to at least one of the preceding Claims, characterized in that the first measured values for each substantially equally spaced rotational positions of the rotating body are characteristic. Method according to at least one of the preceding claims 1-6, by characterized in that the first measured values for at least partially different characteristic of spaced apart rotational positions of the rotating body are. Method according to at least one of the preceding claims 3-8, by characterized in that the measured values stored in the measured value table at least partially generated by interpolation. Method according to at least one of the preceding claims 3-9, by characterized in that the measured values before the entry in the measured value table be filtered. Method according to at least one of the preceding claims 3-10, characterized in that the measurement value table for each revolution of the rotating body is formed and preferably using the measured values from the each previous revolution is formed. Method according to at least one of the preceding claims 3-11, characterized in that from the determined measured value table to a fault condition the drive is closed. Method according to at least one of the preceding Claims, characterized in that by the method a plurality of drives to be controlled. Use of a method according to at least one of the preceding claims for a printing or paper processing device. Use of a method according to at least one of the preceding claims 1-13 to Compensation of process variables, the by movements of a folding blade cylinder or cross cutter, a printing cylinder, by inking rollers, or by transfer rollers especially on printing units caused. Device for controlling drives of a web-processing Machine and in particular a printing or paper processing device for themselves rotating bodies the web-processing machine with a storage device, in of a variety of for predetermined rotational positions of the rotating body characteristic first Measured values and a variety of second measured values at the given Rotary positions are stored, the second measured values for a influenced by disturbances the driving movement representing drive state characteristic are, and a processor device, from the filed first and second measured values forms a measured value table and from this Measured value table at least one characteristic of the disturbance acting on the drive Value determined. Device according to Claim 16, having a control device, at least one in response to the characteristic signal Operating state of the device changes.