DE102009045679B4 - Method for controlling a drive of at least one rotary body to be driven in register of a printing press - Google Patents

Abstract

Method for controlling a drive of at least one rotary body (12; 21) of a printing press to be driven in register, wherein the rotary body (12; 21) to be driven in register is driven in rotation by a drive motor (19) via a drive train and / or in a drive network, and wherein Drive motor (19) by a drive controller (22) in the manner regulated by a control circuit is supplied with drive power that an actual angular position (ΦI) of the drive motor (19) or by this drive motor (19) driven component of the drive controller (22 ) as a reference variable from an electronic master axis (Φ) predetermined desired angular position (ΦS) in a fixed or determinable correlation follows, characterized in that at least one of the reference variable different, a controller behavior of the drive controller (22) influencing parameter (kX) in dependence from an operating or target state character is set or changed as a function of a uniform rotary motion superimposed on the uniform rotational movement, that the parameter (kX) influencing the controller behavior of the drive controller (22) is dependent on a current ...

Description

The invention relates to a method for controlling a drive of at least one rotary body to be driven in register in a printing press according to the preamble of claim 1.

The EP 1 498 264 A2 discloses a longitudinal shaftless printing machine, in particular a commercial or commercial printing machine with a plurality of I-printing units arranged one behind the other in the web path, wherein one position-controlled drive motor is provided per I-printing unit, which drives a gear train coupling the four printing couple cylinders via a transmission.

In new-generation longitudinal shaftless printing machines, the printing units or printing units are no longer mechanically driven by longitudinal shafts ("king shafts") via a central drive, but have individual, position-controlled drives for each printing unit or each printing unit or even individual cylinders. To achieve a good passport / register of the synchronization of the cylinder within the same printing unit, as well as printing on the same paper web cylinder of different printing units or even printing units is important. The angular synchronism between different drives is electronically, z. B. via a "virtual master axis" guaranteed. A printing press with such position-controlled drives and drive assemblies, for example, discloses the EP 644 048 A2 , There are coupled by gear connection pairs of cylinders driven by a belt drive from a motor, which in turn is regulated by a drive controller with respect to an angular position of the lead axis with power supplied. In order to reduce vibrations in the drive caused in the load / motor system due to the moments of inertia, the control is performed here essentially by means of an actual value, which is located at the load, ie at one of the cylinders. Furthermore, the stability of the control is improved by the preferred use of a toothed belt with high damping as coupling between the engine and load.

The EP 0 882 588 B1 also discloses printing units of a longitudinally shaftless printing machine with respect to an angular position controlled by drive controller drive motors. A register error or register error between successive printing units is countered by an additional register controller, which is assigned a speed-dependent circumferential register characteristic, and which provides the drive controller concerned with a correction value to be added to the Leitachswinkellage. Controller parameters of the register controller can also be varied with respect to error propagation times - due to the distance between the affected pressure point and the register sensor - as a function of a machine speed.

By the EP 0 592 850 A1 a sheet-fed printing machine is known, wherein each printing unit is driven by a drive motor. To counteract asynchronous, detected by vibration oscillations, the drive motors are driven by a control device such that it does not provide a constant drive torque, but due to the special control by the control device applies additional actuating forces, which counteract the asynchronous vibrations.

The printing cylinder within a printing unit or a printing unit are usually with each other and / or with the drive motor z. T. coupled via a gear train or a different kind gear. Due to the production-related - within the tolerance of the respective quality level - always existing runout, especially the Einflankenwalzabweichung, the gears or gear seats or gear or Antriebsradlagerungen and / or out of roundness of shafts, couplings, bearings or even the rotating bodies to be driven (eg Cylinders, rollers) itself there are kinematic synchronism deviations between the engine or drive shaft and the cylinder or the cylinders.

The DE 10 2005 041 697 A1 wants to avoid synchronous fluctuations in printing units with dampening units in the so-called delta operation, which are caused by channel passages. The forme cylinder is driven by a direct drive, which receives a corresponding control signal from a control device for synchronization control. When channel passage, the torque transmitted between dampening unit and forme cylinder changes abruptly, which leads to short-term drift deviations. Since the channel passages are carried out in a known and defined angular position, the control device of the direct drive is now acted upon by channel overrun corresponding to a pulse-like compensation variable. Control parameters for changing the control signal for the direct drive can be obtained adaptively from a rotational angle signal or its time derivative.

By the DE 10 2004 048 151 A1 is a method for optimizing drive controllers on sheetfed presses known, wherein in the parameterization of the drive controller differences in the aggregate or printing unit-specific dynamics of the control loops, which ultimately depend on the design of the printing press and the specific job, are taken into account. The parameter sets are stored as default values. Now if a print job is to be processed, then a corresponding stored control parameter set is loaded and transferred to the controllers of the relevant aggregates.

In the DE 10 2006 023 825 A1 Drive controllers are coupled by drives of different transport or processing equipment with each other in order to be able to take account of compensation processes by feedforward control. In this case, parameters of the coupling to the material web speed are preferably adapted. A time constant of the compensation process is assumed to be proportional to the reciprocal speed.

The DE 10 2008 000 184 A1 discloses a method for reducing unwinding errors by first determining an unwinding error relative to the input angular position, calculating therefrom an error eliminating cam, and superposing this cam to the drive motor control.

The DE 197 40 153 A1 discloses a single drive regulated by closed loop control of a printing unit wherein a load torque is obtained from a rotational angle or angular velocity and a current or torque setpoint or actual value by an observer, which torque is applied to the actuator as a component of the desired torque.

By the DE 100 31 529 A1 is a method for operating a web-processing machine, for. As printing press, textile machine, Druckfolgemaschine, sheet metal processing machine, using the example of a punching device having sheet-processing machine disclosed, which is increased to achieve increased accuracies computing power only if this is required to control dynamic motion sequences. For this purpose, for different production cycles different, namely hard and soft control parameters -. B. different cycle times - applied to achieve a graded control behavior. For the punching process, hard control parameters are used in the motion interval and soft parameters in the standstill interval. By switching between the hard and soft parameters, the resonance behavior of the machine can also be deliberately detuned.

If, for example, the angle encoder is used for position control of the drive with respect to the actual value on the drive shaft or motor shaft, then the sum of the concentricity errors of the drive connections and gear wheels appears as a register error or register error with ideal drive control behavior. By appropriate choice of the quality level of the gears and other components of the drive train this kinematic runout "is limited to a tolerable level. If the speed of a runout z falls. B. with a resonant frequency of the drive train together, it can lead to a dynamic increase in the runout. The reduction of the dynamic increase of the runout by increasing the quality level of the gears and other components is expensive and not possible in any quality.

The invention is therefore an object of the invention to provide a method for controlling a drive of at least one in register to be driven rotating body of a printing unit for improved register-oriented unwinding thereof.

The object is achieved by the features of claim 1.

The achievable with the present invention consist in particular in that circumferential register errors, which can be caused by kinematic concentricity errors and / or Abwälzfehler can be kept in a simple and cost-saving manner within acceptable limits. This is particularly advantageous for higher engine speeds, in which resonances in the drive train and its controlled system, and thus strong resonance peaks in the vibration amplitude in the circumferential direction can occur. Particularly advantageous is the invention i. V. m. Use printing units of commercial printing machines, since there i. d. R. higher quality requirements are placed on the printed product.

Embodiments of the invention are illustrated in the drawings and will be described in more detail below.

Show it:

1 a schematic embodiment of a rotary printing machine;

2 an embodiment of a printing unit;

3 an embodiment of a drive assembly of cylinders and rollers of a printing unit according to 2 ;

4 Example of the amplitude of a concentricity error on a cylinder for different rotational frequencies;

5 The course of a resonance peak as a function of a gear rotation frequency for different values of the proportional part;

6 a schematic representation of an embodiment of a drive controller with control device.

1 shows a z. B. designed as a commercial or commercial printing press. A train 01 , z. B. paper web, for example, by a paster 06 unwound, through a feeder 07 encouraged and tense, by an imaging aggregate 02 , especially printing unit 02 but preferably by several the web 01 one after the other, z. B. on a same web page, imaging units 02 , z. B. printing units 02 , printed, if necessary, through a dryer after printing 08 guided, possibly via cooling rollers 09 cooled again and, if necessary after a longitudinal fold over a former 11 through the train 01 cross-cutting aggregate 03 , z. B. a sheeter of a folder 03 , cut into product sections and crossfolded if necessary.

In the present example, each form two printing units 02 in pairs on both sides of the train 01 one as a "standing" double printing unit 04 trained printing unit 04 , here as a so-called I-printing unit with a substantially horizontal web run. The several printing units 02 having printing unit 04 can in the case of a printing tower having newspaper printing press also one or more, z. B. essentially "horizontal" double printing units 04 (in "n", "u" or "linear arrangement") on top of each other with predominantly vertical web course, or as a satellite printing unit with four arranged around one or two satellite cylinders printing units 02 be educated.

The printing works 02 show as in 2 each represent at least one imaging cylinder 12 , z. B. form cylinder 12 , on. The here aLs offset printing units 02 trained printing works 02 additionally have a print image of the forme cylinder 12 on the train 01 transferring, so z. B. image bearing cylinder 13 , z. B. transfer cylinder 13 , as well as a form cylinder 12 inked inking unit 14 and - in the case of wet offset - a dampening unit 16 on. At least the forme cylinder 12 and preferably the transfer cylinders 13 are, as indicated by a cross, rotationally by a drive motor 19 positively driven ( 1 ). As in 2 indicated by further crosses, are preferably also the transfer cylinder 13 positively driven, and can also have one or more rollers 17 of the inking unit 14 , z. B. distribution cylinder 17 , and possibly one or more rollers 18 of the dampening unit 16 , z. B. distribution cylinder 18 , be executed positively driven. The positive drive can basically be done in different ways individually or in groups via corresponding drive connections. For example, as in 3 exemplified, all forcibly driven cylinder 12 ; 13 and possibly the or part of the forcible rollers 17 ; 18 a double printing unit 04 by a common drive motor 19 via corresponding drive connections, eg. As gearbox, be rotationally driven. However, it can also per printing unit 02 the positively driven cylinders 12 ; 13 and possibly the or part of the forcible rollers 17 ; 18 by a common, from the other drive motor 19 mechanically independent drive motor 19 via corresponding drive connections, eg. As gearbox, be rotationally driven. Likewise it is possible that the two cylinders 12 ; 13 every printing unit 02 by a drive motor 19 mechanically independent of the inking and / or dampening unit 14 ; 16 and from the other printing unit 02 in pairs via a corresponding drive connection, z. As a transmission, are driven, or each of the cylinder 12 ; 13 via a corresponding drive connection, for. As a shaft and possibly a transmission, by its own, from the other drive motors 19 mechanically independent drive motor 19 are driven.

At least the imaging cylinder 12 , and in addition to these preferably the image-carrying transfer cylinder 13 , are register-correct, ie synchronous and in defined angular correlation to form cylinders 12 other printing works 02 and possibly to the cross cutter 21 of the folder 03 drive. At least the forme cylinder 12 and the sheeter 21 thus provide register-driven rotating body 12 ; 21 At least the rotational body to be driven in register 12 ; 21 driving drive motors 19 are provided by drive controllers 22 regulated in the manner via at least one control circuit supplied with drive power that an actual angular position Φ _{I of} the drive motor 19 or one by this drive motor 19 in the drive train driven component of a desired angular position Φ _S an electronic master axis Φ in a defined and determinable correlation follows. The desired angular position Φ _S (as overall predefined Leitachswinkellage or already prepared specifically for the respective drive axle) is in a signal line 20 guided and the drive controller 22 as a reference. The electronic master axis Φ represents a peripheral angular position with time, which either purely as a virtual master axis Φ in a drive control 15 from a z. B. at the control room or central computer to be preset machine speed or speed V, or as a real electronic master axis Φ by the measured at an angular position sensor and in the signal line 20 fed angular position of one of the registergerecht with predetermined machine speed or speed V driven units 02 ; 03 , z. B. the folder 03 , is formed.

To achieve the required print quality, the images of z. For example, four colors with high accuracy (eg, deviation ≤ 0.02) relative to each other on the web 01 come to lie - and this at cylinder speeds or rotational frequencies f in the range of 1.5 to 22 Hz. This makes high demands on the angle synchronous drive and running the image-bearing cylinder 12 ; 13 within the same printing unit 02 , as well as the printing works 02 each other.

With ideal rigidity of the drive train from the drive motor 19 to be driven in accordance with the register rotation body 12 ; 21 , z. B. to form cylinder 12 , an ideal concentricity and ideal centric bearing and mass symmetry of the rotating parts of the drive train, and - in the case of existing gear - assuming complete freedom from rolling deviations in the gear members, would in a by the rotating lead to the above drive controller 22 as a constant predetermined angular velocity of the driven body of revolution 12 and / or a drive shaft also rotate at a constant peripheral speed. Due to concentricity and / or Abwälzfehler or similar disturbances, however, can periodic deviations in the constant peripheral speed of the cylinder 12 ; 13 or another component of the drive train, which in the case of a cylinder speed or rotational frequency f, which represents a resonance speed for this fault in the system, can lead to significant resonance peaks in the amplitude A of the deviation of the actual position of the desired position in the circumferential direction (concentricity error) , Such disturbances can be caused by kinematic errors, which z. B. from production-related concentricity deviations of a cylindrical bale, a gear seat and / or a gear itself (Einflankenwälzabweichung or Einflankenwälzsprung) can result.

In the following, the problem and the procedure and device provided for this purpose using the example of an exemplary drive train of a printing unit 04 according to 2 and 3 explained. In the execution of 3 are the cylinders 12 ; 13 and rolling 17 ; 18 the printing unit 04 out 2 z. B. all by a common drive motor 19 driven in rotation in a drive network. Exemplary for understanding here are exemplary numbers of teeth Z in brackets and in 3 as numerical values 20 . 60 respectively. 61 entered. A motor shaft drives, z. B. via a clutch, a gear 24 (Z = 20), e.g. B. in pinion 24 , on, that's about a gear 26 (Z = 61), e.g. B. intermediate 26 , one with the form cylinder 12 non-rotatably connected gear 27 (Z = 60), e.g. B. spur gear 27 , drives. In 3 can be seen here, the power flow branches here on the one hand on more spur gears 27 to the assigned transfer cylinder 13 and from there to the other (here upper) printing unit 02 , and in another flight over unspecified intermediate wheels (shaded) to forcibly driven rollers 17 ; 18 the inking and / or dampening units 14 ; 16 ,

Due to one or more of the above-mentioned disorders concentricity errors can be driven at the register right rotational body 12 ; 13 occur, which varies significantly in its dependence on the cylinder rotation angle φ and their maximum amplitude A with the cylinder speed or rotational frequency f. 4 shows this fact by way of example for a 2 and 3 executed printing unit 04 based on measurement bits for the amplitude A (in μm deviation at the circumference) of the concentricity error on one of the cylinders 12 . 13 for different rotational frequencies f. While the quasi-static behavior at 0.1 Hz shows the actual sum of the kinematic errors, significantly increased amplitudes A in the concentricity deviation can be recognized with increased cylinder speed or rotational frequency f. By an order analysis of the synchronization fluctuations with respect to the cylinder speed or rotational frequency f can be strong shares with the simple, triple and 0.983 times the cylinder speed or rotational frequency f detect, due to kinematic errors of the spur gears 27 (1: 1), the pinion 24 (3: 1) and the intermediate wheel 26 (60/61). In the example shown, higher amplitudes A occur for higher cylinder speeds or rotational frequencies f, but it would also be possible, depending on the controller setting, for higher amplitudes A to occur at lower speeds. I. d. R. In the speed range relevant to the working range of the printing press amplitude amplitudes at at least any point in the frequency range can not be avoided.

As a result, at constant drive speed, these concentricity errors, acting in a similar manner to a cam gear, can produce a torsional vibration on the cylinder superimposed on the uniform rotational movement 12 ; 13 stimulate, so lead to cyclic positive and negative angle deviations from the target position and constant acceleration and deceleration of the cylinder masses and thus to moments in the drive train. These concentricity deviations can be in the presence of a resonance, for. B. when the rotational frequency of a faulty gear 24 ; 26 ; 27 coincides with a natural frequency of the system, leading to resonance peaks and thus to impermissible amplitudes A.

As already explained above, the imaging cylinder 12 , if applicable in the drive system together with other components of the printing unit 02 or the printing unit 04 , via a drive controller 22 in view of a comparison between one on the drive motor 19 or on a component driven by it (eg in the drive train or a cylinder) 12 ; 13 ) by an angular position encoder 30 measured actual angular position Φ _I and driven on the basis of the leading axis Φ predetermined angular position Φ _S driven. It reacts to deviations in the drive controller 22 implemented control loop with a countermeasure, z. As an increase in the power supply in tracking and reducing the power supply in advance. The dynamics and thus the "hardness" of this tracking by the drive controller 22 depends on the setting of z. Eg parameter kT; kP; kI; kD (generally referred to as kX) of the control elements, which are either factory-set to standard values kT ₀ ; kP ₀ ; kI ₀ ; kD ₀ (kX ₀ ) are preset, or z. B. during a commissioning phase of a newly built printing press on suitable standard values kT ₀ ; kP ₀ ; kI ₀ ; kD _{0 are} set and usually left in this way.

The solution is now based on the fact that natural frequencies of the system, in particular the entire system of the control loop (drive train) and controller (drive controller), by the "stiffness", ie the dynamics of the driving the system drive controller 22 can be influenced. In 5 is an example of a course of resonance peaking in dependence on a gear rotational frequency fz for different settings of the parameter kP for the proportional part, z. B. a proportional coefficient kP _{v of} a speed control loop of the drive controller 22 shown. It can be seen that the natural frequency and thus the resonance can be shifted to lower gear rotational frequencies fz when halving the standard value kP ₀ for the proportional coefficient kP ₀ , and when doubling to higher gear rotational frequencies fz. 5 shows this for a single gear 24 ; 26 ; 27 , where in the case of a drive train is to be considered that then gears 24 ; 26 ; 27 and / or other faulty components with different circumferences or speeds are present, and therefore at several speeds, ie even at several machine speeds V, resonance occurs.

As above for 3 Exemplarily considered powertrain already mentioned, passes through the pinion 24 (Z = 20) a resonance at three times the cylinder speed or rotational frequency f and the intermediate wheel 26 (Z = 61) a resonance at the 60/61 = 0.983-times cylinder speed or rotational frequency f occurs. While the latter practically coincides with the cylinder speed f, the adaptive controller (drive controller 22 with associated "intelligence") corresponding control device 28 ) due to the pinion 24 caused resonance in the relevant for the operation of the press speed range, if necessary several times to avoid both Zylinderrad-, and sprocket resonances. For the in 3 illustrated powertrain and the in 5 shown mechatronic resonance behavior is, for. B. by a corresponding control device 28 which both as in the drive controller 22 implemented device, eg. B. only as electronic circuit or software program with data storage, as well as a separate structural device may be formed, the control loop or more control loops of the drive controller 22 for different machine speeds V different values for one or more dynamics of the control loop influencing parameters kX specified. For this purpose, the control device 28 For example, via a signal line information to the machine speed V (or a size embodying this) supplied. On the basis of one of the control device 28 implemented logic are then for at least two different values of the operating parameter "machine speed V", in particular for at least two different non-zero machine speeds V, two mutually different values for the at least one controller behavior of the drive controller 22 influencing parameter kX and to the relevant input of the drive controller 22 given to assign this parameter kX with the new value. Preferably, at least one proportional coefficient kP (corresponds to the amplification factor) of a P, PI or PID control loop of the drive controller 22 set or changed.

The dependence of or to be set or to be changed parameter kX is preferably by a in the control device 28 deposited fixing rule 29 given, which in principle by a functional context, for. B. an assignment function kX (V) described, or in particular as in 6 represented by a table in which certain values or value ranges to be set parameters kX are assigned to be deposited. The fixing rule 29 is then z. B., but preferably formed changeable by appropriate input means.

In 6 is an embodiment of a controller scheme of a drive controller 22 shown for position control, which cascade three control circuits with three controllers 31 ; 32 ; 33 having. In the outer loop with the as a position controller 31 trained regulator 31 is a position setpoint X _S (Φ _S ) out, which from a predetermined by the master axis target angular position Φ _S (possibly taking into account additive elements and / or gear factors and / or generated by a possibly present, not shown register controller Correction value) results. This is compared with a position actual value X _I (Φ _I ), which from a by an angular position sensor 30 measured actual angular position Φ _I the drive axle, the cylinder 12 ; 13 or another, by the relevant drive driven component (possibly taking into account additive links and / or gear factors) results. The result is in the example designed as a P-controller controller 31 processed and the result in the second, as the speed controller 32 trained second regulator 32 guided control loop, and as speed setpoint V _{soll is} compared with a speed actual value V _ist . The actual speed value V _is either via the same, equipped with appropriate means angular position encoder 30 , or a second encoder cooperating with the drive train. The comparison result is in z. B. processed as a PI controller speed controller and, if necessary, via an operational amplifier, in the designed as a PI controller third controller 33 guided current control loop, and as a current setpoint value I _soll with a the drive motor 19 supplied current actual value I _is compared. The comparison result goes to the z. B. designed as a PI controller current regulator 33 which ultimately supplies the power to the drive motor 19 is regulated.

Basically, the controller can 22 also in another way, with one or more controllers designed as P, PI and / or PID controllers 31 ; 32 ; 33 be executed. It is essential here that at least one of the dynamics of the drive controller 22 influencing parameter kX of the at least one, or at least one of a plurality of control circuits via a corresponding input is variable. Im in 6 shown drive controller 22 can z. As a matter of principle, a proportional coefficient representing or at least influencing parameter kPp of the position controller 31 , a parameter kPv of a proportional element representing or at least influencing a proportional coefficient, and a parameter kIv of an integrating element of the speed controller representing or at least influencing an integrating coefficient 32 , as well as possibly a parameter kP representing or at least influencing a proportional coefficient, and a parameter kI _{I of} an integrating element of the current controller representing or at least influencing an integrating coefficient 33 be changeable. Although several of these parameters kX can be changed, in an advantageous embodiment at least one of the proportional coefficient representing or at least influencing parameter kPv a proportional element, in particular a proportional element of the speed controller 32 , of the drive controller 22 via the control device 28 adjustable or changeable. Indicates the drive controller 22 an unrepresented differentiator and / or deadtime member, so instead of the above or in addition thereto, a differentiating behavior influencing the differentiating factor as a parameter kD and / or a parameter influencing the dead time kT by the control device 28 and the specification 29 be changeable or adjustable or changed or adjusted.

In 6 is next to the controller 22 the controller 28 and their interaction shown schematically. In the control device 28 an information about the machine speed V is performed. This can be from machine control, from the angular position sensor 30 , an extra encoder or as shown in dashed lines from the drive controller 22 come. The latter can be done, for example, in the case of a speed precontrol, wherein parallel to the first controller 31 a differentiator 34 is provided by which a sequence of desired position values X _s by differentiating a signal corresponding to a speed is generated. After the control device 28 has received the information on the current machine speed V is determined by the specification 29 the value for the one or more parameters kX to be set and / or determined. A check and determination can take place after certain cycle times, whereby either always, independently of a change, the "old" values in the drive controller 22 be overwritten, or the result of the determination with the occupied value of the drive control 22 compared, and will only be overwritten in case of deviation.

The procedure is to be used both for continuous dynamic operation at changing machine speeds V (ramp-up, run-down, down) and in a "static" manner, for example in the sense of presetting before or at the beginning of a production to set the parameters kX with respect to a target speed for the machine speed V.

Basically, the stipulation rule 29 for the parameter or parameters kX empirically via measurements of the amplitude A of the deviation of the actual position from the desired position in the circumferential direction of a cylinder 12 depending on the machine speed V at different values for the one or more parameters kX to be set or changed. If sensible parameter settings for the relevant areas for the machine speed V are found, these are for example specified in the specification 29 stored and, if necessary, changed accordingly.

However, a procedure is advantageous, according to which the stipulation 29 is formed by forming and using a mechatronic simulation of a transfer function for the drive system to be considered. In this case, for example, go to mass data and concentricity deviations and / or rolling deviations and / or synchronization errors of individual parts of the drive train including the component to be driven a, the z. B. from manufacturing protocols and / or information on the manufacturing quality level come, and / or Torsionsweichheiten of z. As waves and / or couplings.

Overall, therefore, in an advantageous procedure, first the transfer functions for the different gears 24 ; 26 ; 27 of the drive train (in the example: pinion 24 and spur gear 27 ) calculated taking into account the respective cylinder speed or rotational frequencies f and the known Wälzfehleramplituden. From this, the total transmission function of the powertrain is determined for various (feasible) sets of values for the parameter (s) kX and in the specification 29 implemented. In the example shown with areas for machine speed having Feststellungsvorschrift 29 By calculation, values for the parameters kX (controller parameter sets) are determined in such a way that the smallest transmission function is used in the respective speed range. Before and / or in printing operation, the values for the parameter (s) kX to be set or to be changed, depending on the machine speed V, are then determined in accordance with the stipulation specification 29 set or changed.

That for the drive on the example of a drive train of a printing unit 02 or a printing unit 04 explained is on other rotatably driven to be driven in register 12 ; 13 ; 21 , such as B. on the drive of cylinders of a folder 03 , in particular at least one of the cutting cylinder of the cross cutter 21 apply.

The example of the drive train according to 3 explained is in the same way also on smaller drive assemblies, up to a single drive of a rotating body 12 ; 13 ; 21 via a possibly faulty drive shaft or its storage and / or possibly faulty clutch and / or apply a possibly faulty reduction gear. Again, unwanted, resonance-related peaks in the concentricity error can be avoided by one or more parameters kX determined in the above manner and / or changed or adjusted depending on the machine speed V.

With machine speed or speed V are also correlated with these expressing variables, such as an angular velocity of a machine-synchronously driven component or the determined for the affected drive actual speed V _ist or V to understand. Although these can then differ by factors from the cylinder speeds or speed frequency f, they are basically strictly correlated. The fixing rule 29 then refers z. B. on the "engine speed", which is used for their determination.

The procedure described above with reference to the advantageous embodiment with the machine speed V as the operating parameter is also - in addition or instead to be applied to other operating parameters of the printing press. For example, parameters kX can also be used with regard to the number and / or selection and / or provision (for example, the bias between the rotating bodies involved 12 ; 13 ; 21 expressing) in the printing unit 02 employed cylinders 12 ; 13 and / or rollers 17 ; 18 instead of or in addition to the machine speed V in a specification 29 between these states and parameters to be set kX input. Instead of or in addition to the operating conditions designed as a machine speed V could in a specification 29 Also the drive train affecting coupling states as operating conditions with parameters to be set kX be correlated.

In a modification of the above-described procedure and device, it is also possible, for. B. in the actual position value X _I (Φ _I ) to the controller 22 leading actual value branch, a frequency filter 36 (dashed in 6 indicated), z. B. a notch or band filter to provide, the position of the range to be filtered out in the frequency band is changeable. This situation can then z. B. in a manner comparable to the above-mentioned embodiment on a stipulation rule 29 be deposited depending on the machine speed V and adjusted or changed accordingly before or during operation.

Basically, it is also possible in a modification of the aforementioned, the controller parameters procedure, during operation, the amplitude A of the concentricity deviations on one of the cylinder 12 ; 13 or to measure on the basis of a recognizable in the printed image registration error, and from a certain size (ie, for example, in the vicinity of or in the case of resonance) one or more parameters kX, z. B. iteratively, to change until the amplitude A and the registration error is returned to an allowable range. However, appropriate means for measuring the amplitude A and / or for measuring and evaluating the register error are required for this purpose. In return, there is no stipulation 29 required.

LIST OF REFERENCE NUMBERS

01

Railway, paper web

02

Aggregate, printing unit, offset printing unit

03

Aggregate, folder

04

Double printing unit, printing unit

05

06

reelstands

07

infeed

08

dryer

09

chill roll

10

11

formers

12

Cylinder, forme cylinder, rotary body

13

Cylinder, transfer cylinder, rotary body

14

inking

15

drive control

16

dampening

17

Roller, distribution cylinder

18

Roller, distribution cylinder

19

drive motor

20

signal line

21

Cross cutter, rotary body

22

drive controller

23

24

Gear, pinion

25

26

Gearwheel, idler

27

Gear, spur gear

28

control device

29

down regulation

30

Angle encoder

31

Controller, position controller

32

Controller, speed controller

33

Controller, current controller

34

Differentiator

35

36

frequency filter

fz

Gear rotation frequency

kX

parameter

KPP

Parameter, standard value (proportional coefficient, position controller)

KPV

Parameter, standard value (proportional coefficient, velocity controller)

KIV

Parameter, standard value (integral coefficient, velocity controller)

kP _I

Parameter, standard value (proportional coefficient, current controller)

KP ₀

Standard value, proportional coefficient

kT _I

Parameter (integral coefficient, current controller)

I _is

Current value

I _should

Current setpoint

V

Machine speed, machine speed (operating parameters)

V _is

Speed actual value

V _should

Speed setpoint

X _S (Φ _S )

Position setpoint

X _I (Φ _I )

Position value

φ

Cylinder angle of rotation

Φ

master axis

Φ _I

Actual angular position

Φ _S

Nominal angular position

Claims (5)

Method for controlling a drive of at least one rotary body to be driven in register ( 12 ; 21 ) of a printing press, wherein the rotary body to be driven in register ( 12 ; 21 ) by a drive motor ( 19 ) is rotationally driven via a drive train and / or in a drive network, and wherein the drive motor ( 19 ) by a drive controller ( 22 ) in the manner regulated by a control circuit is supplied with drive power that an actual angular position (Φ _I ) of the drive motor ( 19 ) or one by this drive motor ( 19 ) driven component of the drive controller ( 22 ) as a reference variable from an electronic master axis (Φ) predetermined set angular position (Φ _S ) in a fixed or determinable correlation follows, characterized in that at least one of the reference variable different, a controller behavior of the drive controller ( 22 ) influencing parameter (kX) in dependence on a operating or target state characterizing operating parameters of the printing press and / or depending on a uniform rotational motion superimposed detected concentricity error is set or changed that the controller behavior of the drive controller ( 22 ) parameter (kX) depending on a current engine speed (V) is changed as an operating parameter and / or set as a function of a target speed for the upcoming or ongoing production for the engine speed (V) that setting or changing the parameter ( kX) on the basis of a previously determined and reserved provision ( 29 ) between machine speed values and parameter values to be set, and that the specification ( 29 ) is previously obtained by forming and using a mechatronic simulation of a transfer function for the drive system to be considered. Method according to Claim 1, characterized in that the controller behavior of the drive controller ( 22 ) influencing parameter (kX) a parameter influencing the dynamic behavior (kX), such. B. a dead time and / or a Proportionalbeiwert and / or a Integrierbeiwert and / or a Differenzierbeiwert the control loop, in particular at least one Proportionalbeiwert, influencing parameter (kX, kP, kI) is set or changed. Method according to Claim 1, characterized in that the controller behavior of the drive controller ( 22 ) influencing parameters (kX) a the frequency response of a in the control loop, in particular in an actual value branch, provided frequency filter ( 36 ) influencing parameter (kX) is set or changed. A method according to claim 1, characterized in that the mechatronic simulation using, in particular from manufacturing protocols and / or information on the manufacturing quality level derived data to masses and concentricity deviations and / or rolling deviations and / or synchronization errors of individual parts of the drive train including the driven Component takes place. Method according to claim 1, characterized in that the drive motor ( 19 ) via an at least one positive drive connection, in particular via a at least one pair of positively cooperating gear members, z. B. gears ( 24 ; 26 ; 27 ) having drive train on the rotary body ( 12 ; 13 ; 21 ) is driven.

Images