DE10203020A1 - Device for unambiguous determination of the position of a load in a print machine, whereby the position is determined from the position of the drive motor so that a load-side signaler is not required - Google Patents

Abstract

Device (1) for precise position determination in the drive system (2) of a print machine, whereby based on the position of a motor (5) the position of a load can be determined from the position of a rotating element (7) that is linked to the motor by a gear mechanism (6). The position of the motor is measured using a signaler (4) that is linked to a drive system computer that uses multiple turn and motor angle values to determine the precise position of the rotating element and, therefore, the load.

Description

The invention relates to a device for uniquely determining the position in one Drive system.

It is known that a clear position determination with drive connections with any translation by means of a single-turn encoder on the motor and by means of a Initiator on the load, such as a rotating cylinder, can be done.

With the single-turn encoder, one revolution of the encoder (360 °) with one on the The current embodiment is divided into a maximum of 8192 measuring steps. To every full revolution the coding starts again at its initial value. The Encoder electronics do not recognize how many revolutions have been completed.

The disadvantage is that the initiator must be installed and adjusted, which is in the Damage represents an additional spare part.

Furthermore, the translation is often "smooth", i.e. H. as an even number Gear ratio, for example 2: 1, 3: 1, 5: 2, etc., executed to the Reference point travel and thus to simplify the calibration process. From these like this Chosen translations usually result in the problem of an unfavorable Engine utilization, which can only be used by oversizing the Motors can be compensated.

The disadvantage is that a change or shift in the initiator switching point a relative movement of the cylinder occurs, the permissible relative Movement depends on the translation. Especially when pivoting the Cylinders, e.g. B. in a web-fed rotary printing press, in a printing position or the pressure shut-off position, there are relative movements or relative movements of the cylinder. Due to the relative movement of the printing unit cylinders Switching point of the initiator are outside a previously defined range and an incorrect position value can be determined.

Another disadvantage is that the position value can only be calculated when the Initiator is "run over".

Furthermore, it is known that an unambiguous position determination at Drive connections with any gear ratio using an encoder on the load can be done.

The disadvantage is that compared to the single-turn encoder mentioned above, higher ones Costs arise, but no reference run via an initiator is necessary.

A load-side encoder attachment can be undesirable, for example from mechanical reasons such as space requirements or relative movements of cylinders, the relative movement, for example, from the pressure adjustment or pressure Shutdown of the cylinders results.

It is the object of the invention to provide a device for unambiguously determining the position to create a load element driven by the drive system, whereby an encoder and / or initiator arranged on the load side can be dispensed with.

The object is achieved with the features of the independent Claim 1 solved.

The invention relates to drive systems, in particular a printing press with electric individual drives that have a position z. B. the Printing cylinders, such as form and transfer cylinders, folding cylinders or rollers have to record. For this purpose, the invention uses a motor-mounted one Multi-rotary encoder or multi-turn absolute encoder.

Singleturn absolute encoders divide one revolution of the encoder (360 °) at one embodiment available on the market in a maximum of 8192 measuring steps. After every full revolution, the coding starts again at its initial value. The Encoder electronics do not recognize how many revolutions have been completed. Multiturn absolute encoders not only record the angular positions within one Revolution but also via a multi-stage geared down and coded gear the number of revolutions. With an embodiment on the market a multi-turn absolute encoder or multi-rotary encoder, for example 4096 revolutions are identified, with a total of 33 554 432 measuring steps can be distinguished or coded.

The multiturn rotary encoder can be used to clearly determine the position of a Drive connection with any gear ratio. The evaluation of the The multiturn encoder is subsequently implemented in a device Procedure described. The procedure ensures that any translations, for example translations> 1 or <1 or = 1, without additional initiators etc. can be realized. The unique position on the load side is derived from the Signals from the multi-rotary encoder are calculated.

The advantage of the device is that there is no need for initiators or sensors Orientation. The translation can be according to the performance requirement be optimally designed. Another advantage is that the drive system Load position can be determined immediately after switching on, without first using a To drive initiator. Another particular advantage is that the translation is not one must be a multiple of the multiturn value.

The implementation of the evaluation of the multi-rotary encoder is preferably in Drive control device implemented, but can also be done by a control computer, for example in a programmable logic controller (PLC).

Alternatively, this evaluation can also take place in the multi-turn encoder itself, whereby here preferably a programmable multi-turn encoder with an integrated one Storage device is used.

The invention can, for example, on drives of the folding units with motor-side as Position encoder designed encoder, especially multi-rotary encoder used become. In this case there is no load-side encoder and there is any gear ratios.

In addition, the invention can be used, for example, on drives of printing units can be used with any translation.

By using a multiturn encoder or multiturn absolute encoder the exact position at any gear ratio from motor to load can be calculated immediately. Under the exact position from motor to load one understands that starting from the position of the motor to the position of the load can be closed. The basic principle is the number of tanning runs or encoder overflows saved. Alternatively, a multi-rotary encoder can also be used Find use with which no absolute position position of the encoder related to an encoder revolution can be determined.

The advantage is the elimination of initiators and donors, as well as a resulting one Reduction of the assembly effort and service requirement due to this elimination of Initiators and donors or without initiators and donors. About that In addition, the translation is interpreted according to the performance requirement. It is important that the load position is known after switching on and therefore no homing via an initiator is necessary.

• - Speichern von Parametern während des Betriebs
  Die Speicherung erfolgt beispielsweise in einem EEPROM oder batteriegestützten RAM
• - Verrechnung eines Übertragswertes bzw. Übertrag
• - Überlauf-Kontrolle des Multiturn-Wertes auf Überlauf
  Mit der Überlauf-Kontrolle wird sichergestellt, dass es nicht zu einem Referenzierfehler kommt, falls der Motor im ausgeschalteten Zustand gedreht wird. Bei einem Multiturndrehgeber mit 4096 Umdrehungen wären so ca. 2000 Umdrehungen im ausgeschalteten Zustand möglich, die der Multiturndrehgeber erfassen kann.
• - Beim Eichen wird zum hochaufgelösten Winkelwert zusätzlich der aktuelle. Zählwert des Multiturndrehgebers, der sogenannte Multiturnwert k, gespeichert, der Übertrag k_ü und letzte bekannte Multiturn-Wert k_b wird auf Null gesetzt.
• - Spannungsausfallerkennung oder Automatische Sicherung
  Wenn die Antriebsregelgeräte abgeschaltet werden, ist in den Speicherkondensatoren noch genügend Energie um besondere Abläufe zu organisieren. Wird der Spannungsausfall erkannt, so wird der letzte bekannte Multiturnwert in einem nichtflüchtigen Speicher gesichert. Der Multiturnwert dient nach dem Wiedereinschalten der Einschalt-Kontrolle, wobei die Einschalt- Kontrolle hier als Überlauf-Kontrolle fungiert, d. h. es wird anhand des Multiturnwertes beim Einschalten festgestellt, ob der Geber nach dem Ausschalten weiterbewegt wurde.
  Steht diese Funktion nicht zur Verfügung, so wird in bestimmten Abständen des Multiturnwertes die Speicherung ausgeführt, beispielsweise in einer automatischen Sicherung welche beispielsweise jeden 10. oder 100. Multiturnwert speichert.

The following functions are required when using a multi-rotary encoder or multi-turn absolute encoder according to the invention:

• - Save parameters during operation
  The storage takes place, for example, in an EEPROM or battery-backed RAM
• - Offsetting a carry value or carry
• - Overflow control of the multiturn value for overflow
  The overflow control ensures that there is no homing error if the motor is turned when the motor is switched off. With a multiturn encoder with 4096 revolutions, about 2000 revolutions would be possible in the switched-off state, which the multiturn encoder can detect.
• - When calibrating, the current high-resolution angle value also becomes the current one. The count value of the multiturn encoder, the so-called multiturn value k, is stored, the carry k _u and the last known multiturn value k _b are set to zero.
• - Power failure detection or automatic backup
  If the drive control devices are switched off, there is still enough energy in the storage capacitors to organize special processes. If the power failure is detected, the last known multiturn value is saved in a non-volatile memory. The multiturn value is used after the switch-on control is switched on again, whereby the switch-on control functions here as an overflow control, ie it is determined on the basis of the multiturn value when switching on whether the encoder was moved after switching off.
  If this function is not available, the storage is carried out at certain intervals of the multiturn value, for example in an automatic backup which stores, for example, every 10th or 100th multiturn value.

These functions are included in the present invention or can be found in the Device according to the invention by simple arithmetic and comparison operations will be realized.

Further features and advantages result from the subclaims in Link with the description.

The invention will be explained in more detail using an exemplary embodiment become. The drawings show schematically:

Fig. 1 shows a device for determining the position of a bridge of a printing unit drive,

Fig. 2 possible calculation of the output variable in the drive system for position control of a motor

Fig. 1 shows a device 1 for unambiguous position determination of a bridge as a drive 3 a printing unit configured drive system 2.

The bridge drive 3 consists of an encoder 4 which is arranged on a motor 5 , the motor 5 being connected via a transmission gear 6 to a rotating element 7 designed as a pressure cylinder. The transmission gear 6 is designed with any translation. With the rotating element 7 designed as a pressure cylinder, one can pass it or pass between two elements 7 ; 9 through guided printing substrate 8 printing. The encoder 4 is designed as a multi-rotary encoder and is connected to a drive system computer 11 via a data line 10 .

The drive system computer 11 can also be designed as a drive control device or drive control.

As a special variant, which is not shown in detail, the rotating element 7 can be connected directly to the motor 5 , ie translation = 1.

Input variables 12 are transmitted to the drive system computer 11 from the multi-rotary encoder 4 . The input variables 12 are a current multiturn value k and a motor angle of the multiturn rotary encoder α.

Constants 13 are defined in the drive system computer 11 , the constants 13 being, for example, a value for the transmission ratio of the transmission gear 6 .

The constants 13 are for example:
C number of multiturn (constant)
Z counter translation
N denominator translation

To calculate an output variable 14 , the output variable 14 being the _offset angle α _offset , the drive system computer 11 still requires auxiliary variables 15 , which the drive system computer 11 calculates itself. Alternatively, the drive system computer 11 can also receive these auxiliary variables 15 from the drive system 2 , not shown in more detail.

The auxiliary sizes 15 are:
R carryover (constant)
k ₀ multiturn value at the calibration point
k _ü Transfer of the multiturn encoder
k _b last known multiturn value

A storage device 16 for the number of overflows and the current count value of the multiturn rotary encoder - multiturn value k - is arranged in the drive system computer 11 , these parameters being stored during operation. The encoder electronics or multiturn encoder 4 do not recognize how many revolutions or overflows have been covered, so that a multiturn rotary encoder 4 is coded 4096 revolutions, after 4096 revolutions the coding starts again at its initial value, thus the electronics or multiturn encoder 4 recognizes so far not how many revolutions have been made. Therefore, the number of overflows k as a carry, at each overflow, that is, after 4096 revolutions stored _ü, wherein at each overflow in the storage device 16 of the carry k _ü, for example is increased by 1.

The storage device 16 is, for example, an EEPROM or battery-backed RAM.

In the drive system computer 11 , the calculation of the carry k _u , arithmetic operations and logic operations takes place in a computing device 17 .

An overflow control device 18 is arranged in the computing device 17 , by means of which the multiturn value k can be checked for overflow when the motor 5 is switched off or de-energized. The overflow control device 18 ensures that there is no homing error if the motor 5 is rotated in the switched-off state.

A device for voltage failure detection 19 and a device for automatic backup 20 are arranged in the drive system computer 11 .

When the drive system computer 11 is switched off, there is still enough energy in the storage capacitors to organize special processes. If the voltage failure is detected, the last known multiturn value k _{b is} saved in the non-volatile memory device 16 . The current multiturn value k is used after the switch-on control is switched on again, the switch-on control acting here as an overflow control, ie it is determined on the basis of the multiturn value k when switching on whether the multiturn rotary encoder 4 was moved further after switching off.

If this function is not available, the storage in the automatic fuse 20 is carried out at certain intervals of the multiturn value k, which stores, for example, every 10th or 100th multiturn value k.

The implementation of the evaluation of the multi-rotary encoder 4 or the input variables 12 , auxiliary variables 15 and constants 13 , as well as the functional elements described above, such as the memory device 16 , the computing device 17 , the overflow control device 18 , the voltage failure detection 19 and the automatic fuse 20 are preferably in the Drive system computer 11 realized. Not shown in detail, the evaluation described above and the functional elements can alternatively be implemented in the drive control device or at any point in the drive system. However, the evaluation and the functional elements can also be implemented by a drive control, for example in a drive control designed as a programmable logic controller (PLC).

Alternatively, not shown in more detail, this evaluation can also take place in the multiturn rotary encoder 4 itself and the functional elements such as memory device 16 , computing device 17 , overflow control device 18 , power failure detection 19 and the automatic fuse 20 can be integrated therein, preferably with a programmable multiturn rotary encoder 4 an integrated storage device is used. The multi-rotary encoder 4 itself calculates the output variable, ie the _offset angle α _offset .

Furthermore, the multiturn rotary encoder 4 can be evaluated (not shown in more detail ) in such a way that the multiturn rotary encoder 4 determines and corrects the multiturn value k, including the auxiliary variables 15 , and the _offset angle α _{offset is} calculated in the drive system using this multiturn value k. A multi-rotary encoder 4 is preferably used here, which can be programmed in its counting range.

The _offset angle α _offset is calculated according to the following functional sequence:

calibrate

When calibrating the high-resolution angle value of the motor α, the current multiturn value k is also stored in k ₀ , the carry k _ü and the last known multiturn value k _b are set to zero.

If there is the possibility of electrically zeroing the encoder system, in particular the multi-rotary encoder 4 , the storage and calculation of the k ₀ value can be omitted. In this case, set k ₀ : = 0 in the process. This was a variant of the oak described above.

Calculation of the offset angle

• - Read k ₀ , k _ü and k _b
• - Overflow control: comparison of the current multiturn value k with the last one saved. If an overflow of the multi-rotary encoder 4 has been determined, the transfer k _u is corrected and stored in accordance with the direction of rotation of the multi-rotary encoder 4 .
  if necessary, correct the carryover k _ü :
  positive: k _Ü : = k _Ü + R
  negative: k _Ü : = k _Ü - R
• - Calculation of the _offset angle α _offset to the current position is only calculated once

Note the number of encoder overflows

• - Each time the multiturn encoder 4 overflows, a new transfer k _{u is} stored. The transfer k _u is calculated according to the direction of rotation of the multi-rotary encoder 4 , that is to say added in the case of a positive overflow and vice versa, subtracted in the case of a negative direction of rotation. Then k _{Ü is} saved.
  positive: k _Ü : = k _Ü + R
  negative: k _Ü : = k _Ü - R
  Alternatively, it would also be possible to note the number of overflows. This changes the calculation of the _offset angle α _offset and the reset condition.
  Calculation of the _offset angle α _offset by storing the overflows
  Every overflow of the multi-rotary encoder is saved. The number of overflows is calculated according to the direction of rotation of the multi-rotary encoder, i.e. added for positive overflow and vice versa, for negative direction subtracted.
  Then k _{Ü is} saved.
  positive: k _Ü : = k _Ü + 1
  negative: k _Ü : = k _Ü - 1
• - Reset the carry value or the carry to zero at:
  k _Ü = ZR or a multiple k _Ü = iZR i: = {2, 3, 4,. , .}
• - Save the last known multiturn value, when switching off the power supply, etc. or with the help of an automatic backup (e.g. every 10, 100,... Value)
  k _b : = k (and save k _b )

FIG. 2 shows how a possible calculation of the output variable 14 in the drive system 2 can be carried out, for example, for position control of the motor 5 .

One arranged in the drive system 2 position controller 21, the output 14, that is, the offset angle α _offset, and _to φ drive values 22 or position control values 23, for example, desired position of the position controller and the actual position _is φ of the position controller is supplied, wherein by means of these, and a calculated by the position controller 21 correction value 24 the motor 5 can be brought into a position position which is exact to the _offset angle α _offset determined.

The device can, not shown in detail, for example on drives of the Folders, especially with any gear ratios, used become.

In addition, the device can, for example, not shown Drives of printing units with individual drives with any ratio be used.

The output variable 14 should not only relate to an angle variable, it is also conceivable that a distance traveled can also be determined with the device 1 according to the invention.

Alternatively, only the _offset angle α _offset can be determined with the device according to the invention. The motor angle α of the multiturn encoder is not required. The motor angle α is only required for exact position determination. LIST OF REFERENCE NUMERALS 1 device
2 drive system
3 bridge drive
4 multi-turn encoders
5 engine
6 transmission gears
7 Rotating element
8 paper web
9 Rotating element
10 data line
11 drive system computer
12 input variables
13 constants
14 output variable
15 auxiliary variables
16 storage device
17 computing device
18 Overflow control device.
19 Power failure detection
20 Automatic backup
21 position controller
22 drive values
23 position controller values
24 correction value
α Encoder motor angle
α _{is the} actual position from the zero point
α _Offset offset to the motor angle / load angle
C number of multiturn (constant)
R carryover (constant)
k Multiturn value (current)
k ₀ multiturn value at the calibration point
k _ü Transfer of the multiturn encoder
k _b last known multiturn value
Z counter translation
N denominator translation
φ _{should be the} target position of the position controller
φ _{is the} actual position of the position controller

Claims (7)

1. Device ( 1 ) for unambiguous position determination in a drive system ( 2 ) of a printing press, the position of a load from a rotating element ( 7 ) being able to be determined starting from the position of a motor ( 5 ), the rotating element ( 7 ) being over a transmission gear ( 6 ) is connected to the motor ( 5 ),
an encoder ( 4 ) designed as a multiturn rotary encoder is arranged on the motor ( 5 ),
the encoder ( 4 ) is connected to a drive system computer ( 11 ) and / or drive system ( 2 ),
The drive system computer ( 11 ) can be supplied with input variables ( 12 ), a current count value - multiturn value (k) - and a motor angle value (α) for calculating the position from the encoder ( 4 )
or the encoder ( 4 ) uses the input variables ( 12 ) determined by it, a current count value - multiturn value (k) - and a motor angle value (α) to calculate the position,
and the drive system computer ( 11 ) and / or the transmitter ( 4 ) can be supplied with a number of overflows as a carry (k _u ). 2. Device according to claim 1, characterized in that
Constants ( 13 ) for calculating the position in the drive system computer ( 11 ) and / or in the encoder ( 4 ) are specified,
Auxiliary variables ( 15 ) in the drive system computer ( 11 ) and / or in the transmitter ( 4 ) can be calculated from the input variables ( 12 ) and the constants ( 13 ), and the number of overflows is stored as a carry (k _ü ) in a storage device ( 16 ). and can be stored, which is integrated in the drive system computer ( 11 ) and / or in the transmitter ( 4 ), an output variable ( 14 ), which has an offset angle (α _offset ), from the input variables ( 12 ), auxiliary variables ( 15 ) and constants ( 13 ) ) can be calculated as the position in the drive system computer ( 11 ) and / or encoder ( 4 ). 3. Device ( 1 ) according to claim 1 or 2, characterized in that in the transmitter ( 4 ) the current multiturn value (k) is corrected, the calculation of the output variable ( 14 ), ie the calculation of the offset angle (α _offset ), in the drive system computer ( 11 ). 4. Device ( 1 ) according to one of claims 1 to 3, characterized in that an overflow control device ( 18 ) is provided, by means of which the multiturn value (k) for overflow with the motor switched off or de-energized ( 5 ) can be checked. 5. Device ( 1 ) according to one of claims 1 to 4, characterized in that a device for voltage failure detection ( 19 ) is integrated. 6. Device ( 1 ) according to one of claims 1 to 5, characterized in that a device for automatically securing ( 20 ) the multiturn value (k) is arranged. 7. The device ( 1 ) according to any one of claims 1 to 6, characterized in that a position controller ( 21 ), the output variable 14 , the offset angle (α _offset ) and drive values ( 22 ) or position controller values ( 23 ), for example the target position of the position controller (φ _should ) and the actual position of the position controller (φ _ist ), can be fed, by means of this and a correction value ( 24 ) calculated by the position controller ( 21 ) the motor ( 5 ) into a determined output variable ( 14 ) or the determined offset angle (α _offset ) exact position can be brought.