DE10355122A1 - Device and process to compensate for standard deviations of driving systems in press machines, has driving control and additional regulator which take system disturbances or failures and compensate for them by a controller output - Google Patents
Device and process to compensate for standard deviations of driving systems in press machines, has driving control and additional regulator which take system disturbances or failures and compensate for them by a controller output Download PDFInfo
- Publication number
- DE10355122A1 DE10355122A1 DE2003155122 DE10355122A DE10355122A1 DE 10355122 A1 DE10355122 A1 DE 10355122A1 DE 2003155122 DE2003155122 DE 2003155122 DE 10355122 A DE10355122 A DE 10355122A DE 10355122 A1 DE10355122 A1 DE 10355122A1
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- Germany
- Prior art keywords
- controller
- periodic
- compensated
- control
- speed
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F33/00—Indicating, counting, warning, control or safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F13/00—Common details of rotary presses or machines
- B41F13/004—Electric or hydraulic features of drives
- B41F13/0045—Electric driving devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
- B41P2213/00—Arrangements for actuating or driving printing presses; Auxiliary devices or processes
- B41P2213/70—Driving devices associated with particular installations or situations
- B41P2213/73—Driving devices for multicolour presses
- B41P2213/734—Driving devices for multicolour presses each printing unit being driven by its own electric motor, i.e. electric shaft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Feedback Control In General (AREA)
Abstract
Description
Die Erfindung betrifft eine Vorrichtung und ein Regelverfahren zur Kompensation von Regelabweichungen bei geregelten Antriebssystemen von Transport- und Bearbeitungsmaschinen, insbesondere Druckmaschinen, nach dem Oberbegriff des Anspruch 1.The The invention relates to a device and a control method for compensation of control deviations in regulated drive systems of transport and processing machines, in particular printing machines, after Preamble of claim 1.
Aus
der
Periodisch auftretende Störungen sind in Druckmaschinen besonders problematisch, da sie periodische Farb- und Schnittregisterfehler sowie Dublierfehler verursachen.Periodically occurring disturbances are particularly problematic in printing machines as they are periodic Cause color and cut register errors as well as duplication errors.
Als Beispiele sind zu nennen:
- – periodische Störungen durch die Schläge einer Heberwalze im Farbwerk, die eine Pendelbewegung zwischen einem Farbduktor und einer Farbübertragwalze ausführt,
- – periodische Störungen durch das Schneiden einer Bedruckstoffbahn in Querrichtung oder durch die Bewegung des Falzmessers in einem Schwertfalzwerk, das einen dritten Falz erzeugt,
- – periodische Störungen durch den von den Spannkanälen in den Platten- und Gummizylindern von Offset-Druckmaschinen hervorgerufenen Kanalschlag,
- – periodische Störungen durch Unrundheiten der Bedruckstoffrolle, insbesondere Papierrolle und
- – periodische Störungen durch Unrundheiten von Transportwalzen.
- Periodic disturbances due to the impacts of a squeegee roller in the inking unit which oscillates between a ink fountain roller and a ink transfer roller,
- Periodic disturbances by cutting a printing material web in the transverse direction or by the movement of the folding blade in a blade folder, which generates a third fold,
- Periodic disturbances due to the channel impact caused by the tensioning channels in the plate and blanket cylinders of offset printing presses,
- - Periodic disturbances due to discontinuities of Bedruckstoffrolle, especially paper roll and
- - Periodic disturbances due to non-circularity of transport rollers.
Die Aufgabe der Erfindung ist es, die Unterdrückung von periodischen Störungen im angetriebenen mechanischen System zu verbessern.The The object of the invention is the suppression of periodic disturbances in to improve powered mechanical system.
Die Aufgabe wird erfindungsgemäß durch die kennzeichnenden Merkmale von Anspruch 1 gelöst.The The object is achieved by the characterizing features of claim 1.
Vorteilhaft dabei ist, dass ein periodisch arbeitender Regler, insbesondere ein periodischer Kompensationsregler, vorgesehen wird, der in der Lage ist, aus der gemessenen Drehzahl die periodische Bewegung zu erfassen, zu speichern, zu repetieren, d.h. zu lernen, und in der Weise dem Drehzahlsollwert der Standard-Antriebsregelung zuzuführen, dass die Auswirkung der periodischen Störung auf die Motordrehzahl oder die Lastdrehzahl eines angetriebenen mechanischen Systems weitestgehend kompensiert wird.Advantageous It is the case that a periodically operating regulator, in particular a periodic compensation controller is provided which is capable of is to detect the periodic motion from the measured speed, to save, to repeat, i. to learn, and in the way that Speed setpoint of the standard drive control supply, that the effect of the periodic disturbance on the engine speed or the load speed of a driven mechanical system as far as possible is compensated.
Der periodische Kompensationsregler kann aus einem periodischen Regleranteil und einem Vorfilter bestehen. Der periodische Regleranteil ist gekennzeichnet durch eine Übertragungsfunktion 1/(1-z–N), die als Störmodell bezeichnet wird. Es handelt sich dabei im Prinzip um einen Ringspeicher. Die Wirksamkeit des periodischen Kompensationsreglers ist insbesondere dadurch sichergestellt, dass die Regelstrecke mittels des Vorfilters invertiert werden kann. Dadurch ist es möglich, nicht nur die periodische Störung der Drehzahl des Antriebsmotors, sondern auch die periodische Störung der Drehzahl der Lastmasse eines Mehrmassensystems, insbesondere bei Mehrmotorenantrieben einer Druckmaschine, zu kompensieren. In diesem Fall kann die Drehzahl entweder durch einen Sensor erfasst oder aus mindestens einem Sensorsignal berechnet werden, insbesondere durch einen Beobachter.The periodic compensation controller can consist of a periodic controller component and a pre-filter. The periodic controller component is characterized by a transfer function 1 / (1-z- N ), which is referred to as a disturbance model. It is in principle a ring buffer. The effectiveness of the periodic compensation controller is ensured in particular by the fact that the controlled system can be inverted by means of the prefilter. This makes it possible to compensate not only the periodic disturbance of the rotational speed of the drive motor, but also the periodic disturbance of the rotational speed of the load mass of a multi-mass system, in particular in multi-motor drives of a printing press. In this case, the speed can either be detected by a sensor or calculated from at least one sensor signal, in particular by an observer.
Der periodische Kompensationsregler kann sich einer sich ändernden periodischen Störung selbsttätig anpassen. Während er hinsichtlich des Amplitudenverlaufs seiner Eingangsgröße lernfähig ist, muss die Frequenz der Grundschwingung der Eingangsgröße bekannt sein. Ist diese bei den verschiedenen Betriebszuständen der Druckmaschine variabel, so sind die Bestimmungsgrößen der Reglers (Reglerparameter) anpassbar. Er ist als add-on Lösung konzipiert und hat den Vorteil, dass er unabhängig von der Standarddrehzahl- und Standardwinkelregelung eines Antriebs optimiert und in Betrieb genommen werden kann. Er ist in beliebiger Weise zu- und abschaltbar, so dass die periodische Kompensation den Betriebszuständen einer Druckmaschine leicht angepasst werden kann.Of the Periodic compensation controller can be a changing adjust periodic disturbance automatically. While he is able to learn with regard to the amplitude profile of its input variable, must know the frequency of the fundamental of the input quantity be. Is this at the various operating conditions of Printing machine variable, the parameters are the Controller (controller parameters) customizable. It is designed as an add-on solution and has the advantage of being independent of the standard speed and standard angle control of a drive optimized and put into operation can be. He is in any way switched on and off, so that the periodic compensation to the operating conditions of a Printing machine can be easily adjusted.
Der periodische Kompensationsregler ist infolge einer passenden Bemessung des Vorfilters und eines – nicht näher dargestellten – zusätzlichen Filters, das alle Pole in das Innere des Einheitskreises der z-Ebene der z-Transformation verschiebt, stabil und robust gegenüber nicht modellierten dynamischen Gliedern und Parameterschwankungen der Regelstrecke und daher für den industriellen Einsatz geeignet.The periodic compensation controller is stable due to proper sizing of the pre-filter and an additional filter (not shown) that shifts all the poles into the interior of the z-plane unit circle of the z-transform and robust against non-modeled dynamic links and parameter variations of the controlled system and therefore suitable for industrial use.
Das Vorfilter ist ein wichtiger Teil des Kompensationsreglers und hat die Aufgabe die Übertragungsfunktion der Regelstrecke zu invertieren. Dazu muss diese Übertragungsfunktion, z.B. die eines mechanischen Mehrmassensystems, wie es bei den in Frage kommenden Baugruppen von Druckmaschinen meistens vorliegt, bekannt sein.The Prefilter is an important part of the compensation controller and has the task is the transfer function to invert the controlled system. For this purpose, this transfer function, e.g. that of a mechanical multi-mass system, as is the case in question upcoming assemblies of printing machines usually exists, known be.
Die Identifikation des Antriebsmotors einschließlich des mechanischen Mehrmassensystems kann entweder oft-line, d.h. vor der Optimierung des periodischen Kompensationsreglers, oder auch online stattfinden.The Identification of the drive motor including the mechanical multi-mass system can either often-line, i. before the optimization of the periodic compensation controller, or take place online.
Eine online-Identifikation läuft automatisch in mehreren Schritten nach bekannten Verfahren ab, wobei normalerweise zunächst eine diskrete Übertragungsfunktion sehr hoher Ordnung im Bildbereich der z-Transformation generiert wird, die anschließend mit Hilfe entsprechender Verfahren zur Ordnungsreduktion in ihrer Ordnung reduziert wird. Nach der auf diese Weise gewonnenen Übertragungsfunktion einer möglichst niedrigen Ordnung wird im nächsten Schritt automatisch das Vorfilter dimensioniert. Die Stabilität dieses Filters wird dadurch erreicht, dass die Nullstellen der Streckenübertragungsfunktion, die außerhalb des Einheitskreises der z-Ebene liegen und bei Inversion zu instabilen Polen des Filters würden zu stabilen Polstellen umgeformt werden, wobei der Phasengang unbeeinflusst bleibt (Zero Phase Error Tracking Filter).A online identification is running automatically in several steps according to known methods, wherein usually first a discrete transfer function very high order in the image area of the z-transform generated will, which subsequently with the help of appropriate procedures for order reduction in her Order is reduced. After the transfer function obtained in this way one possible low order will be in the next Step automatically sized the pre-filter. The stability of this Filters is achieved by setting the zeros of the distance transfer function, the outside of the unit circle of the z-plane and unstable at inversion Poles of the filter would be converted to stable poles, the phase response is unaffected remains (Zero Phase Error Tracking Filter).
Das Filter kompensiert das dynamische Verhalten des offenen Regelkreises aus Standartantriebsregelung, Antriebsmotor und mechanischem System in einem gewünschten Frequenzbereich so, dass die Ausgangsgröße des periodischen Störmodells die periodische Störung der Regelgröße in diesem Frequenzbereich weitgehend kompensiert.The Filter compensates the dynamic behavior of the open loop from standard drive control, drive motor and mechanical system in a desired Frequency range such that the output of the periodic disturbance model the periodic disorder the controlled variable in this Frequency range largely compensated.
Der Kompensationsregler ist in der Lage, die Auswirkungen solcher Störungen weitgehend zu kompensieren, so dass Farb- und Schnittregisterfehler in vorgegebenen Grenzen liegen und Dublierfehler vermieden werden.Of the Compensation controller is able to largely mitigate the effects of such interference compensate, so that color and cut register errors in given Limits lie and duplication errors are avoided.
Das System aus Standard-Antriebsregelung und periodischem Kompensationsregler kann auch mit mindestens einem, insbesondere mit Hilfe eines Zero-Phase-Error-Tracking-Filters geglätteten Istwert der Motordrehzahl und/oder der Lastdrehzahl, stabil arbeiten und im Sinne der Regelungstechnik robust sein, wobei dieser Istwert mit Hilfe eines Beobachters gemessen und/oder berechnet werden kann.The System of standard drive control and periodic compensation controller can also use at least one, especially with the help of a zero-phase error tracking filter smoothed Actual value of the engine speed and / or the load speed, work stably and be robust in terms of control technology, this actual value can be measured and / or calculated with the help of an observer.
Weitere Ausgestaltungen der Erfindung sind in den Unteransprüchen beschrieben.Further Embodiments of the invention are described in the subclaims.
Nachstehend wird die Erfindung anhand eines Ausführungsbeispiel unter Bezugnehmen einer Zeichnungen näher erläutert. Es zeigen:below The invention will reference to an embodiment with reference a drawing closer explained. Show it:
In
Die
Detailansicht der Prinzipstruktur von
Der
periodische Kompensationsregler
- 11
- Periodischer Kompensationsreglerperiodic compensation controller
- 1.11.1
- Periodischer Regleranteilperiodic regulator component
- 1.21.2
- Vorfilterprefilter
- 22
- Offener Standardregelkreis des Antriebsopen Standard control loop of the drive
- 2.12.1
- DrehzahlreglerSpeed governor
- 2.22.2
- Ersatzübertragungsfunktion für den geschlossenen StromregelkreisSpare transfer function for the closed current control loop
- 2.32.3
- Mechanisches System einschließlich Antriebsmotormechanical System including drive motor
- 33
- Winkelreglerangle controller
- 44
- Geschlossener Standardregelkreis des Antriebsclosed Standard control loop of the drive
- αM α M
- Motorwinkelmotor angle
- αMw α Mw
- Sollwert des Motorwinkelssetpoint of the motor angle
- ee
- RegeldifferenzControl difference
- iMw i Mw
- Sollwert des Motorstromssetpoint of the motor current
- nd n d
- Gesamte Drehzahldifferenztotal Speed difference
- nd1 n d1
- Drehzahldifferenz aus Drehzahl-Sollwert und Drehzahl-Istwert desSpeed difference from the speed setpoint and the actual speed value of the
- MotorsMotors
- nd2 n d2
- Drehzahldifferenz aus Drehzahl-Sollwert des Motor und Drehzahl derSpeed difference from speed setpoint of the motor and speed of the
- Lastmasseload mass
- nL n L
- Drehzahl der Lastmasserotation speed the load mass
- nM n M
- Drehzahl des Motorsrotation speed of the motor
- nMw n Mw
- Sollwert der Motordrehzahlsetpoint the engine speed
- pp
- Ausgangsgröße des periodischen KompensationsreglersOutput of the periodic compensation regulator
- Eingangsgröße des VorfiltersInput size of the pre-filter
- SS
- Schalterswitch
- uu
- Stellgrößemanipulated variable
- zz
- Periodische Störgrößeperiodic disturbance
Claims (30)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2003155122 DE10355122A1 (en) | 2003-11-24 | 2003-11-24 | Device and process to compensate for standard deviations of driving systems in press machines, has driving control and additional regulator which take system disturbances or failures and compensate for them by a controller output |
FR0452724A FR2865814A1 (en) | 2003-11-24 | 2004-11-23 | REGULATION DEVICE AND METHOD FOR COMPENSATING REGULATION DERIVATIVES OF REGULATED DRIVE SYSTEMS IN TRANSPORT AND WORKING MACHINES, IN PARTICULAR PRINTING MACHINES |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2003155122 DE10355122A1 (en) | 2003-11-24 | 2003-11-24 | Device and process to compensate for standard deviations of driving systems in press machines, has driving control and additional regulator which take system disturbances or failures and compensate for them by a controller output |
Publications (1)
Publication Number | Publication Date |
---|---|
DE10355122A1 true DE10355122A1 (en) | 2005-06-23 |
Family
ID=34609283
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE2003155122 Withdrawn DE10355122A1 (en) | 2003-11-24 | 2003-11-24 | Device and process to compensate for standard deviations of driving systems in press machines, has driving control and additional regulator which take system disturbances or failures and compensate for them by a controller output |
Country Status (2)
Country | Link |
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DE (1) | DE10355122A1 (en) |
FR (1) | FR2865814A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006013752A1 (en) * | 2006-03-24 | 2007-09-27 | Heidelberger Druckmaschinen Ag | Method for compensating a vibration in a printing machine |
DE102006014526A1 (en) * | 2006-03-29 | 2007-10-04 | Koenig & Bauer Aktiengesellschaft | Rotation position difference`s periodic angle reducing method for use in e.g. sheet rotation printing machine, involves overlaying angle of rotation based correction value that is formed from periodically arising position differences |
DE102006054944A1 (en) * | 2006-11-22 | 2008-05-29 | Koenig & Bauer Aktiengesellschaft | Printing unit disturbing moment compensation method for sheet rotary printing press, involves measuring cylinder angle position by measuring system, and taking place current feed of drive such that cylinder is subjected with moments |
US7453223B2 (en) | 2006-02-01 | 2008-11-18 | Heidelberger Druckmaschinen Ag | Method for active compensation of oscillations in a machine which processes printing material, and a machine which processes printing material |
US7496426B2 (en) | 2004-10-23 | 2009-02-24 | Man Roland Druckmaschinen Ag | Method for controlling the cut register in a web-fed rotary press |
EP1759839A3 (en) * | 2005-09-02 | 2010-08-11 | manroland AG | Printing machine |
DE102014207445A1 (en) | 2013-04-26 | 2014-10-30 | Koenig & Bauer Aktiengesellschaft | Method for compensating control deviations in individual drives of a printing machine |
Citations (5)
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DE19531692A1 (en) * | 1995-08-29 | 1996-04-11 | Clemens Dipl Ing Schaeffner | Neural network control system for nonlinear process |
DE19740153A1 (en) * | 1997-09-12 | 1999-03-18 | Roland Man Druckmasch | Printing machine with printing units driven by individual electric motors |
DE10149525A1 (en) * | 2000-10-26 | 2002-05-02 | Heidelberger Druckmasch Ag | Compensating mechanical vibrations involves superimposing discrete frequency component(s) of vibration with harmonic torque of equal frequency, defined amplitude/phase |
DE10217707A1 (en) * | 2002-04-17 | 2003-11-06 | Heidelberger Druckmasch Ag | Compensation for cylinder vibrations in printing material processing machines |
DE10338976A1 (en) * | 2002-09-19 | 2004-04-01 | Heidelberger Druckmaschinen Ag | Rythm compensation method for rotary printing press, using drive regulation for providing superimposed oscillation compensating rythmic oscillation |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
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EP0739500B1 (en) * | 1993-07-08 | 1998-10-07 | The Gleason Works | Control process |
DE10125609A1 (en) * | 2001-05-25 | 2002-12-05 | Siemens Ag | Control procedure for the operation of individually driven rotating machine elements |
-
2003
- 2003-11-24 DE DE2003155122 patent/DE10355122A1/en not_active Withdrawn
-
2004
- 2004-11-23 FR FR0452724A patent/FR2865814A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19531692A1 (en) * | 1995-08-29 | 1996-04-11 | Clemens Dipl Ing Schaeffner | Neural network control system for nonlinear process |
DE19740153A1 (en) * | 1997-09-12 | 1999-03-18 | Roland Man Druckmasch | Printing machine with printing units driven by individual electric motors |
DE10149525A1 (en) * | 2000-10-26 | 2002-05-02 | Heidelberger Druckmasch Ag | Compensating mechanical vibrations involves superimposing discrete frequency component(s) of vibration with harmonic torque of equal frequency, defined amplitude/phase |
DE10217707A1 (en) * | 2002-04-17 | 2003-11-06 | Heidelberger Druckmasch Ag | Compensation for cylinder vibrations in printing material processing machines |
DE10338976A1 (en) * | 2002-09-19 | 2004-04-01 | Heidelberger Druckmaschinen Ag | Rythm compensation method for rotary printing press, using drive regulation for providing superimposed oscillation compensating rythmic oscillation |
Non-Patent Citations (2)
Title |
---|
STRAUB,Stephan Oliver: Entwurf und Validierung neuronaler Beobachter zur Regelung nichtlinearer dynamischer Sysemte im Umfeld antriebs- technischer Problemstellungen. In: Lehrstuhl für Elektrische Antriebs- technik, Technische Universität München, 1998 * |
STRAUB,Stephan Oliver: Entwurf und Validierung neuronaler Beobachter zur Regelung nichtlinearer dynamischer Sysemte im Umfeld antriebs- technischer Problemstellungen. In: Lehrstuhl für Elektrische Antriebs- technik, Technische Universität München, 1998; |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7496426B2 (en) | 2004-10-23 | 2009-02-24 | Man Roland Druckmaschinen Ag | Method for controlling the cut register in a web-fed rotary press |
EP1759839A3 (en) * | 2005-09-02 | 2010-08-11 | manroland AG | Printing machine |
US7453223B2 (en) | 2006-02-01 | 2008-11-18 | Heidelberger Druckmaschinen Ag | Method for active compensation of oscillations in a machine which processes printing material, and a machine which processes printing material |
DE102006013752A1 (en) * | 2006-03-24 | 2007-09-27 | Heidelberger Druckmaschinen Ag | Method for compensating a vibration in a printing machine |
US8375856B2 (en) | 2006-03-24 | 2013-02-19 | Heidelberger Druckmaschinen Ag | Method for compensating for an oscillation in a printing press |
DE102006014526A1 (en) * | 2006-03-29 | 2007-10-04 | Koenig & Bauer Aktiengesellschaft | Rotation position difference`s periodic angle reducing method for use in e.g. sheet rotation printing machine, involves overlaying angle of rotation based correction value that is formed from periodically arising position differences |
DE102006054944A1 (en) * | 2006-11-22 | 2008-05-29 | Koenig & Bauer Aktiengesellschaft | Printing unit disturbing moment compensation method for sheet rotary printing press, involves measuring cylinder angle position by measuring system, and taking place current feed of drive such that cylinder is subjected with moments |
DE102014207445A1 (en) | 2013-04-26 | 2014-10-30 | Koenig & Bauer Aktiengesellschaft | Method for compensating control deviations in individual drives of a printing machine |
Also Published As
Publication number | Publication date |
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FR2865814A1 (en) | 2005-08-05 |
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