EP0930160B1 - Rotary printing machine - Google Patents

Abstract

The machine has rubber pad cylinders (2) forming print positions with counter printing cylinders or a common counter printing cylinder and plate cylinders (3) combined with rubber pad cylinders in pairs to form cylinder groups (10) with dedicated drives. For each cylinder group the rubber pad cylinder or plate cylinder is driven by the group motor (5) via a toothed belt or gear wheel drive and this cylinder drives the other cylinder in the group.

Description

The present invention relates to the combination of cylinders Rotary printing machine for individual cylinder groups and a drive control therefor.

Conventional rotary printing machines are powered by a main drive mechanical longitudinal shaft, also called the king shaft, driven. One disadvantage of this Printing machines is the mechanical effort to compensate for the torsion of the longitudinal shaft occurring during the run. This will make one mechanical circumferential register adjustment of printing points of the printing press necessary during the run.

From DE 38 28 638 C1 a printing press is known, the cylinders and Rolls are driven by a main motor via a toothed belt. The The motor is controlled on the basis of actual values tapped on the load side. The cylinders and Rollers of the printing press are coupled to one another via a drive wheel train. The control described allows vibrations in the drive wheel train only difficult to keep low or with great technical effort. Since the load side Moment of inertia is very large, this known scheme is slow and points at most a low control dynamic.

An attempt is also made to establish the mechanical longitudinal shaft between the individual printing units to be replaced by an electrical longitudinal shaft. Each printing unit receives a separate electric drive. To the high mechanical effort because of the complexity of the individual printing units with multiple printing points In this case, there is still a high level of control technology to be operated Effort added because the synchronous operation of the individually driven printing units among themselves must also be ensured.

To avoid the problems mentioned, DE 41 38 479 A1 proposes to drive the cylinders of the printing press by one electric motor each.

From DE 42 14 394 A1 a control system for such a printing press is included known individually driven cylinders. The individual drives can the cylinder and its drive controller can be combined into pressure point groups as required become. The pressure point groups are assigned to folders, by to whom they get their position reference. The proposed guidance system consists of essentially from a fast BUS system for the individual drives and Drive controller of a pressure point group and a higher-level control system for Administration of pressure point groups.

From the document "Electronic shaft with digital intelligent drives for Druckmaschinen "from Mannesmann Rexroth, HMI / 04.93 drives are known at each of which a cylinder is driven by a motor that is directly on the Cylinder shaft sits. The motor is either only based on an actual motor value or based on two actual rotation angle positions, namely the rotation angle position of the motor and the angular position of the cylinder.

The concept of individually driven cylinders pursued in these three documents allows a high degree of flexibility, but at the same time requires a great deal high number of drive motors and, as DE 42 14 394 A1 shows, a high number Regulation effort for this large number of individual drives. In addition, must a variety of motors are used. When using only a few motor sizes would otherwise be oversized for different applications Motors. Both drive the price of such a printing press.

A printing machine known from JP-A 63-236651 has printing units which are individually driven by their own drive motors. The printing units comprise mechanically in pairs for driving them together coupled blanket cylinders and plate cylinders. The motors drive up the plate cylinders of the printing units. From the plate cylinders is over Gear couplings driven on the blanket cylinders. The engines are sitting directly on the shafts of the plate cylinders. Regulators of the motors Machine control signals as setpoint signals and engine speed and engine speed signals supplied as actual value signals. The regulation of the engines takes place depending on a comparison between the setpoint signals and the Actual value signals, i.e. based on the difference between the setpoint signals and the Actual value signals on the motor side.

The present invention has set itself the task of being highly flexible create usable, yet economical rotary printing press.

This object is solved by the subject matter of claim 1.

According to the invention, blanket cylinders and plate cylinders form a rotary printing press in pairs a cylinder group, each with a blanket cylinder and a plate cylinder are mechanically coupled together and together are driven by a separate drive motor for each cylinder group.

Through this grouping of the two cylinders and their Equipped with a single drive for at least one pair of cylinders Number of drive motors required significantly reduced; at least halved compared to the individual drive concepts. The mechanical coupling of these two cylinders associated with each other in terms of printing technology, preferably a gear coupling with straight or helical toothed gears, offers compared to the concept the individually driven cylinders have significant price advantages. With regard to the Versatility is of no importance compared to the single drive concept to make falling smears. So both the circumferential register and the Lateral register adjustment of each blanket cylinder individually and for each additional one any blanket cylinder, if necessary, made coordinated become. By the cylinder groups according to the invention, each with its own Drive motors can be more technical and economical in a rotary printing press Optimal pressure points are formed. As pressure points in this context understood the pairs of cylinders, between which one paper web to be printed runs through and is printed on one or both sides. Accordingly, there is one for each printing point Cylinder group and a corresponding impression cylinder. Drive technology are, however the printing points of the printing press are mechanically independent, d. H. the printing points of the printing press are electrically coupled to one another.

The blanket cylinder is preferred for the cylinder groups driven, which in turn via the mechanical coupling to the Drives plate cylinders of the same cylinder group. In another embodiment the invention, however, the drive can also the plate cylinder shaft drive so that the blanket cylinder only from the mechanical coupling Plate cylinder is driven. During the drive on the plate cylinder Advantageously, little effort for turning the blanket cylinder on and off required, the blanket cylinder on the other hand is decisive for the Positional accuracy or circumferential register setting. The first solution has the advantage that the cylinder, ultimately with a paper web to be printed comes into direct contact, not only with a game that may be affected Transmission link must be driven.

A cylinder group can be around an impression cylinder for the Blanket cylinders are expanded. This third cylinder of the so formed Cylinder group is mechanically coupled to the blanket cylinder, preferably through another gear coupling. Such a cylinder group already provides represents a printing point, between whose blanket and impression cylinder the one to be printed Paper web is passed through. The impression cylinder is a Central cylinder of a cylinder unit with several cylinder groups, for example a cylinder unit with nine or ten cylinders. In an alternative, too preferred embodiment of the invention is such a central cylinder of one own drive motor driven. This type of summary grants the maximum versatility for a cylinder unit. In this case, each of the the central cylinder associated cylinder groups from blanket and Plate cylinders reversed individually and independently of the other cylinder groups be like this for example for alternating pressure or for the flying Plate change is required.

The output from a drive motor takes place on the respective cylinder group by means of a toothed belt. Compared to the known solution of rotor of the electric motor seated on the drive shaft of the driven cylinder such a timing belt has a high elasticity. For the control concept of the drive One group of cylinders, however, is through the use of a timing belt given possibility of a high damping of a drive motor and the driven cylinders existing mechanical system of great value, such as will be explained later. Opposite one Gear drive between the drive motor and the driven cylinder one Cylinder group has a toothed belt Advantage of a game-free run and a not absolutely firm run Transmission ratio.

In contrast, are for the mechanical coupling between the cylinders inside One group of cylinders provided gears, although others Transmission links are also conceivable. The intermeshing Gears can be spur or helical. With helical gears for the side register adjustment the blanket cylinder is shifted lengthways while its drive and / or driven gears remain stationary. Otherwise, with the side register would also be a circumferential register adjustment required. When using straight toothed gears the blanket cylinder together with its fixed gear or gears simply moved lengthways.

The inking roller or the inking rollers or dampening rollers of an inking unit or one Ink and dampening units that are assigned to a cylinder group can or can be mechanically coupled to this cylinder group, so that the Ink roller or the ink rollers from the drive motor of this cylinder group with are driven. With this solution, the technical control effort can be low being held. On the other hand, the mechanical coupling of the inking unit in the In terms of the modular principle pursued by the invention, not quite as ideal as that more preferred self-drive for the roller or the rollers of the inking unit. According to this likewise preferred embodiment of the invention, each has Inking unit has its own drive motor for its inking rollers. Such a drive motor also drives preferably over a backlash-free toothed belt with high Damping and, if necessary, the inking roller via a reduction gear or in the case of several inking rollers, the one corresponding to the plate cylinder Ink roller closest to the cylinder group. Here is the peripheral speed this ink roller advantageously adjustable, especially with negative slip against the plate cylinder, the peripheral speed the inking roller is preferably slightly less than that of the corresponding plate cylinder is.

The regulation of a motor / load system with one poses particular problems Drive motor for a cylinder or a roller of a rotary printing machine. In In individual cases, with small loads, a large, i.e. H. powerful motor with a relatively high mass moment of inertia compared to the load. Such systems throw in terms of mastering vibrations and shocks no major problems, since the load is carried by the motor becomes. If the moment of inertia of the driven loads increases, whose moments of inertia are often more than five times greater than those of the driving Vibration problems increase, however, as motors. Accordingly The regulations of these motor / load systems are becoming more complex. The Elasticity of a coupling between the motor and the load further contributes Exacerbating the problems with.

In printing press construction, the position or speed of a cylinder are regulated known in which a mechanical encoder on the motor side for detecting the Motor speed or the rotor angular position of the motor for a target / actual comparison of the Motor control is used. However, this known regulation comes up with larger increasing inertia from the load to the motor to their dynamic limits. If the actual position is measured on the motor shaft, then lie both coupling and mechanical load outside the actual control loop. However, you can do this via the acceleration torques that affect the motor shaft influence. The engine, which in this case is an essential one This means that the mass is smaller than the coupling and the cylinder affected. Because the resulting engine load is made up of a mechanical structure Masses, springs and damping, the load torque is heavily frequency-dependent, which ultimately determines the dynamic behavior of the system. With suggestion The set springs are tensioned first by the motor are closest. The engine torque caused by the controller accelerates parts of the coupling and subsequently the cylinder or the driven roller. Energy is in the springs as well at this time stored in the mass movement, the division of which is constantly changing. The The motor may have assumed the correct position within a short time, but is again distracted by the occurring mass forces, resulting in a leads further control process. The system must go through a relatively slow controller controlled, stabilized.

The present invention has therefore also set itself the task of To create regulation with which the position and / or in a rotary printing press the speed of a cylinder or roller driven by a motor is optimized for performance and with a sufficiently high control quality, d. H. with regard to the Dynamics and the speed or position accuracy can be regulated. The Regulation should be inexpensive and not too high demands on the coupling of engine and load, especially the torsional stiffness and zero backlash of the Make coupling.

At least the drive motors are preferably the same Printing side of a paper web working cylinder groups of a cylinder unit position control. So-called ideal position control is preferred, i.e. a instantaneous position control with following error. On this, out However, technical, desirable, complex type of position control can can also be dispensed with. A simple position control also provides one preferred, in particular cheaper, embodiment of the invention.

The regulation of the position and / or the speed of the cylinder to be regulated one Cylinder group or a roller of an inking unit is carried out by means of a controller for the drive motor through the target / actual comparison of the output signals a setpoint transmitter and an actual value transmitter, this actual value transmitter Position and / or the speed of the cylinder or the roller detected. In contrast to The known regulations for rotary printing presses thus become a load generator used for the regulation. In contrast, has so far been used in printing press construction a mechanical encoder on the motor side to record the motor speed or the rotor angular position of the motor for the target / actual comparison of the motor control used. With this conventional regulation, one encounters large inertia ratios from the load to the engine quickly to the dynamic limits. If the control becomes unstable, the engine starts to vibrate, while the load remains relatively calm.

In control technology, differential connections for so-called dual-mass oscillators are Control cascades and active filters known, but all one require great control engineering effort. For those described above Load / motor systems, d. H. the self-propelled cylinder groups, it has Surprisingly, the regulation was found to be completely sufficient by means of an actual value to be carried out by one on the load, namely on one of the Cylinder of a cylinder group, attached actual value transmitter has been determined. This actual value-distance-angular position and / or speed of the relevant cylinder - even enough to achieve high dynamics and control quality.

The drive motor can even with the dual mass transducer be disregarded. The load acting as a low-pass filter is insensitive against the vibrations of the much smaller motor. on the other hand the effects of the load on the drive motor can be neglected become. The last but not least because of their simplicity Regulation has the further advantage that it is simply the large bandwidth of the Mass inertia between the load and the motor and on itself in the course of Operating parameters, such as the elasticity of a coupling, can be adjusted.

By taking the actual value to be regulated from the load also measured what has to run exactly, namely the load, not the motor. The mechanical consisting of the drive motor, a coupling and the load Replacement system is to be regarded as a low-pass filter. With this type of regulation, this will be Low-pass filter of the motor coupling load-distance system exploited to shock and Filter vibrations that occur in the controlled system. Such bumps and Vibrations are thus returned to the controller to a reduced extent. The This reduces the risk of rocking. The dynamics of the scheme and thus the control quality can be compared to the conventional one described Regulation with identical coupling, can be increased significantly.

The actual value transmitter, figuratively speaking, moved from the motor side to the load side forms the main controlled variable for the controller of the motor, d. H. the engine is powered by the Load side guided by their actual value. According to a particularly preferred embodiment the invention is not a mechanical actual value transmitter for the detection the position or speed of the engine in the context of the regulation of the engine needed. Actual value detection, which may be integrated in the motor, can be advantageous for pure drive monitoring, if necessary for an engine emergency shutdown be used.

The actual value encoder for the control is torque-free Shaft end of the driven cylinder of a cylinder group or attached roller of an inking unit.

Electric asynchronous motors are particularly advantageous as the drive motors used. So far, an asynchronous motor has only been used when using of a large engine had to drive a small load. For the present case, in which a drive motor is a cylinder group or the rollers of a Inking unit drives, so the driven load is comparatively high Has moment of inertia compared to the drive motor is the use not known from asynchronous motors. For the purposes of Control with a load encoder instead of a motor encoder are asynchronous motors particularly suitable. Compared to that for the applications in question DC motors used so far have higher asynchronous motors Field stiffness on, so that their use the dynamics and quality of control to be controlled Systems improved. The use of other types of motor, for example DC motors, is however not fundamentally excluded.

The stability of the scheme is due to the preferred use of a backlash-free Toothed belt with high damping as a coupling between the motor and the load improved.

The drive motor can even with the two-mass oscillator in question be disregarded. The load acting as a low-pass filter is insensitive against the vibrations of the much smaller motor. on the other hand the effects of the load on the drive motor can be neglected become.

With the concept of paired blanket and plate cylinders to cylinder groups, which may be another impression cylinder will be given maximum flexibility during the Price for such an organized printing machine compared to a printing machine individually driven cylinders can be significantly reduced. For one of those Printing presses assembled into cylinder groups become drive motors in only two, at most three performance classes required, while with direct and individually driven cylinders basically separate motors for cylinders with different lengths and diameters are required. By means of the Timing belt drive used can possibly in wide limits fluctuating moments of inertia between the Load and the engine caught by appropriate choice of translation and be coordinated. The reduction in the number of drive motors together with the advantage that motors are only available in a few performance classes must be provided already offers considerable price advantages. This advantage is by using the simple scheme, which is also is flexibly adaptable to changing inertia conditions, even more so. The advantages achieved with the invention come with increasing Printing machines, d. H. with increasing number of printing units and printing points per machine, more and more to advantage. In particular, the invention is under construction use of offset rotary printing presses; but it is not on this Machine type limited.

Fig. 1

eine Druckstelle mit zwei Zylindergruppen;

Fig. 2

eine Druckstelle mit einer Zylindergruppe;

Fig. 3

eine Zylindereinheit mit einem eigenangetriebenen Zentralzylinder und vier Zylindergruppen;

Fig. 4

eine Zylindergruppe mit einer zugeordneten, eigenangetriebenen Farbwalze;

Fig. 5

eine Regelung des Antriebs für eine Zylindergruppe entsprechend dem Stand der Technik;

Fig. 6

eine bevorzugte Regelung für den Antrieb einer Zylindergruppe nach der Erfindung;

Fig. 7

einen Vergleich des dynamischen Verhaltens einer herkömmlichen Regelung und der bevorzugten Regelung in Abhängigkeit vom Massenträgheitsmomentenverhältnis von Motor und Last;

Fig. 8

einen Vergleich des dynamischen Verhaltens einer herkömmlichen Regelung und der bevorzugten Regelung in Abhängigkeit von der Drehsteifigkeit der Kopplung zwischen dem Motor und der Last;

Fig. 9

ein Regeldiagramm des Reglers;

Fig. 10

eine aus drei Zylindergruppen gebildete Druckstelle in Y-Stellung;

Fig. 11

eine aus drei Zylindergruppen gebildete Druckstelle in Lambda-Stellung.

Preferred exemplary embodiments of the present invention are explained below with reference to the figures. Further features and advantages of the invention are disclosed. Show it:

Fig. 1

a pressure point with two cylinder groups;

Fig. 2

a pressure point with a group of cylinders;

Fig. 3

a cylinder unit with a self-propelled central cylinder and four cylinder groups;

Fig. 4

a cylinder group with an associated, self-propelled ink roller;

Fig. 5

a control of the drive for a cylinder group according to the prior art;

Fig. 6

a preferred control for driving a cylinder group according to the invention;

Fig. 7

a comparison of the dynamic behavior of a conventional control system and the preferred control system as a function of the mass moment of inertia ratio of motor and load;

Fig. 8

a comparison of the dynamic behavior of a conventional control and the preferred control as a function of the torsional rigidity of the coupling between the motor and the load;

Fig. 9

a control diagram of the controller;

Fig. 10

a pressure point formed from three cylinder groups in the Y position;

Fig. 11

a pressure point formed from three cylinder groups in the lambda position.

In a pressure point shown in Fig. 1, which as such is not the subject of Claims are heard, but their explanation serves to be a printable Paper web 1 between the two opposing blanket cylinders 2 passed through two cylinder groups 10. The two cylinder groups 10 will each by the blanket cylinder 2 and an associated plate cylinder 3rd formed, which are mechanically coupled to each other for the common drive. The mechanical coupling is shown schematically by a dash between the centers of the two cylinders 2 and 3 indicated. In the embodiment 1, the blanket cylinders 2 of each cylinder group 10 are through a three-phase motor 5 driven. The configuration according to Fig. 1, at of only one blanket cylinder 2 and one plate cylinder 3 by one mechanical coupling are combined to form a cylinder group 10 through their simple design and the highest possible degree of configuration freedom in the formation of pressure points or pressure point groups.

Fig. 2 shows a variant for the formation of a pressure point, in which an impression cylinder 6 for the blanket cylinder 2 with this blanket cylinder 2 mechanically is coupled. In this embodiment, the cylinder group 10 is made up of the Blanket cylinder 2, its impression cylinder 6 and the plate cylinder 3 and their mechanical coupling together, so that the pressure point by a single Cylinder group 10 is formed. In the embodiment of FIG. 2 In contrast to that of Fig. 1 not the blanket cylinder 2, but this Plate cylinder 3 assigned to cylinders is driven by a three-phase motor 5. Advantage of this variant for the combination of cylinders too A cylinder group is its constant delivery behavior because of the mechanical Coupling the blanket cylinder 2 with its impression cylinder 6 and that due to this mechanical coupling, there is no direct interference between the Cylinder 2 and 6 takes place. The impression cylinder 6 is a steel cylinder, for example a central cylinder of a nine or ten cylinder unit.

The assignment of the motors 5 to the blanket cylinders 2 and the plate cylinders 3 can be interchanged in both print point examples. The drive of the Plate cylinder 3 has the advantage that the cylinder group 10 reversed more easily can be while in the other case when driving the blanket cylinder 2 on the paper web 1 directly printing cylinder is driven and thereby Drive free of playful transmission elements, such as gears, is possible.

In Fig. 3, a cylinder unit 20 is shown, consisting of a central Steel cylinders 6 and four cylinder groups 10 assigned to this central cylinder 6. A blanket cylinder 2 and a plate cylinder 3 are each in this embodiment combined into a cylinder group 10. For driving the Central cylinder 6, a separate three-phase motor 5 is provided. Likewise, could however, the central cylinder 6 with one of the four cylinder groups 10 is a cylinder group form according to the variant shown in Fig. 2. This would make the own engine 5 can be saved for the central cylinder 6. On the other hand, offers however, the summary of the smallest possible cylinder groups shown in FIG. 3 10 and self-propelled central cylinder 6 to form a cylinder unit 20 the greatest possible flexibility in terms of configuration options. This configuration derived from the basic variants described above Cylinder unit 20 has the advantage in terms of printing technology that the so-called fan-out effect very limited. Each of the blanket cylinders 2 is also easily switchable to rubber / rubber production. The possibilities Different types of alternating pressure will not be reversed either limited.

As this exemplary embodiment shows, is a cylinder group formed from pairs of cylinders 10 in terms of their configurability, a concept with each individually driven cylinders equal.

In Fig. 4, the interaction is one of a pair of blanket / plate cylinders 2, 3 existing cylinder group 10 shown with an ink roller 7. in this connection the inking roller 7 has its own drive by a motor 5, which too the engine 5 for the cylinder group 10 may be identical, but need not be. The motor 5 for the inking roller 7 drives via a toothed belt 15 and a pair of gearwheels 16, 17, wherein the gear 17 sits on the shaft of the ink roller 7, the Ink roller 7 on. The different moments of inertia of the motor 5 and the inking roller 7 are at a suitable choice of gear ratios Output via the toothed belt 15 and the gear pair 16, 17 disarmed.

The peripheral speed of the ink roller 7 is easily adjustable negative slip compared to the plate cylinder 3. This can increase the risk counteracted that the mechanical formed by a pair of gears 12, 13 Coupling between the blanket cylinder 2 and the plate cylinder 3 the tooth mesh is lifted.

The cylinder group 10 is driven by the motor 5 via the toothed belt 11 on the blanket cylinder 2. The mechanical coupling between the Form blanket cylinder 2 and plate cylinder 3 of the same cylinder group 10 the two gears 12 and 13. To defuse a high ratio of Mass moments of inertia of load and drive, namely cylinder group 10 and Motor 5, the speed of the motor 5 via the toothed belt 11 accordingly stocky. This toothed belt 11 is the elastic coupling member between the Engine 5 and the driven cylinder group 10. Compared to one fundamentally also suitable direct coupling or a gear coupling is with the Timing belt 11 achieved a very high damping of the motor / load system 5, 10. The The same applies in principle to the drive of the inking roller 7 and its coupling member, the toothed belt 15. Furthermore, by choosing a toothed belt drive a great constructive because of the continuously variable translation Free space created. The motors 5 for the cylinder group 10 or the inking roller 7 are three-phase motors with high field stiffness. Here too comes the modular principle of forming cylinder groups or roller groups with Toothed belt coupling to the drive motor to carry, since with fewer motor power sizes the entire variety of cylinder or roller lengths and -diameters equipped with different mass moments of inertia can be.

The two gears 12 and 13, which the mechanical coupling between the Form blanket cylinder 2 and the plate cylinder 3 can be helical or straight toothed gears. In the case of helical gears, the Blanket cylinder 2 longitudinally shifted during the side register adjustment, while the Gear 12 and the corresponding gear for timing belt 11 remain stationary, i.e. these two gears are longitudinally displaceable on the cylinder shaft 14 stored. In the case of a straight toothing of the two gears 12 and 13 that sit Gear 12 and the gear for the toothed belt 11 firmly on the shaft 14 and are together with the blanket cylinder 2 and the motor 5 for the cylinder group 10 moved longitudinally together.

In contrast to the regulations known in rotary printing press construction the motor / load system 5, 10 is guided by an actual value which is different from one Load side, namely at the torque-free end of the shaft 14 of the blanket cylinder 2 attached mechanical load generator 21 is generated. The same kind of Regulation, namely with an attached to the load-free shaft end of the ink roller 7 Load sensor 27 is selected for controlling the speed of this ink roller 7.

A control known in printing press construction is shown schematically in FIG. 5. The regulation of the motor 5, the load 25 via an elastic coupling 24 drives, takes place by means of a controller 23. The load 25 is a heavy roller or a heavy cylinder or a corresponding roller or cylinder system, the Mass moment of inertia typically more than five times that of the Motors 5 is. Nevertheless, the regulation of this motor / load system should optimize performance and with a sufficiently high control quality for the number of revolutions or the angular position and the speed of the load 25 are regulated. The coupling 24 of The engine and load are not too high in terms of their requirements Torsional rigidity and freedom from play.

In the known systems, such as one shown in Fig. 5, is a mechanical one Actual value transmitter 21 for generating one for the position or the speed and the position the rotor of the motor 5 characteristic electrical signal on this rotor appropriate. The load 25 is connected to the coupling 24, which is elastic and possibly has some play, attached to the motor shaft end. The coupling and the Load is outside the actual control loop. However, you can use this influence the acceleration torques acting back on the motor shaft.

This system pushes from load to load at high inertia Engine quickly to its dynamic limits. If the control becomes unstable, it vibrates especially the engine, while the load remains relatively calm.

6, on the other hand, shows a control in which, as already shown in FIG. 4, the Reference variable for the control is generated by an encoder 21 which is connected to the load 25 and is not attached to the engine 5. This actual value transmitter 21 is free Shaft end of the load, in the exemplary embodiment at the free shaft end of the blanket cylinder 2 of a cylinder group 10 attached. This actual value transmitter 21 is in therefore called the following loader. The coupling 24 is already through the described toothed belt 11 with compared to a direct coupling or Gear coupling of high elasticity but also high damping. In addition is this coupling 24 with a toothed belt without play.

The actual value required for the control, generated by the load transmitter 21, which is the angular position the blanket cylinder 2 or its speed and its angular position represents, is returned to the controller 23. A computer generated setpoint from the setpoint generator 22 is compared with this actual value and for formation a control signal for the motor 5 used.

In this regulation, the coupling 24 and the load 25 lie within the actual one Control loop. The load and the coupling 24 form a low-pass filter for the in The controlled system creates shocks and vibrations, which are therefore only in are reduced in the controller 23 and therefore not too unwanted suggestions of the regulation can lead. This creates the dynamic and also the control quality compared to conventional systems, even with otherwise same coupling significantly increased. The system, consisting of controller, motor, The clutch and cylinder are already much more damped. resonance increases therefore do not occur to the same extent. The controller can therefore set faster without leaving the stable work area.

A possibly attached to the motor 5, in the exemplary embodiment according to FIG. 6 The actual value acquisition shown can be used for additional monitoring of the motor 5. used for example in a desired emergency shutdown option of the engine 5 become.

The diagrams in FIGS. 7 and 8 compare the dynamic behavior of the two controls according to FIGS. 5 and 6. The reciprocal value of the reset time T _{i of} the drive is selected as a measure of the dynamics of the control. FIG. 7 shows the dynamics as a function of the mass inertia ratio from load to motor with identical coupling and identical phase reserve. This clearly shows that the control according to FIG. 6 with the actual value detection on the load is clearly superior to the actual value detection on the motor, in accordance with FIG.

8 shows the dynamics as a function of the torsional rigidity of the coupling 24 constant mass inertia ratio and identical phase reserve. Here 6 is particularly evident when the torsional stiffness is low Coupling superior to the conventional control according to FIG. 5.

9 finally shows the control diagram of the controller 23. The setpoint and actual value, in the exemplary embodiment the setpoint or actual center position of a blanket cylinder 2, are fed to a first differential amplifier 31 to form the difference between the setpoint and actual value. The difference D ₁ formed there is fed to a first proportional amplifier 34 and applied to a second differential amplifier 35 as a proportionally amplified signal K ₁ XD ₁ . In parallel, the setpoint and the actual value are each fed to a differentiating element 32 or 33, differentiated and the corresponding output signals S _s and S _{i are} fed to the second differential amplifier 35. The sum k ₁ D ₁ + S _s - S _{i formed there} is amplified in a second proportional amplifier 36 and fed to a current regulator for the motor 5 via an integrating element 37.

Claims (9)

1. A rotary printing press

   a) with blanket cylinders (2) which together with at least one counter impression cylinder (6) form printing positions, and

   b) with plate cylinders (3) which are combined in pairs in each case with the blanket cylinders (2) to form groups of cylinders (10) by a mechanical coupling for driving them,

   c) wherein the groups of cylinders (10) are each driven by a separate drive motor (5) during the printing,

   characterized in that

   d) in each of the groups of cylinders (10) the blanket cylinder (2) or the plate cylinder (3) is driven by the drive motor (5) of the cylinder group (10) by means of a toothed belt and power is taken off from the said driven cylinder (2) to the other cylinder of the cylinder group (10),

   e) the at least one counter impression cylinder is a central cylinder (6) of a cylinder unit (20) with a plurality of cylinder groups (10), and together with the blanket cylinders (2) of a plurality of cylinder groups (10) of the cylinder unit (20) forms printing positions,

   f) and the central cylinder (6) is provided with a separate drive motor (5) or is coupled mechanically - for the drive - to one of the blanket cylinders (2), together with which it forms printing positions.
2. A rotary printing press according to Claim 1, characterized in that a cylinder unit (20) with a plurality of cylinder groups (10) comprises two central cylinders (6) which are each provided with a respective separate drive motor (5).
3. A rotary printing press according to one of the preceding Claims, characterized in that at least one inking roller (7) of an inking mechanism or an inking and damping mechanism, which is associated with a group of cylinders (10), is coupled mechanically to the said group of cylinders (10), or a separate drive motor (5) is provided for driving at least one inking roller (7) of an inking mechanism of this type.
4. A rotary printing press according to the preceding Claim, characterized in that a toothed belt (15) is used for the coupling between the drive motor (5) and the driven inking roller (7).
5. A rotary printing press according to one of the preceding Claims, with a regulating means of the position and/or the rotational speed of a cylinder group (10) driven by the drive motor (5) and having a nominal-value pick-up (22), an actual-value pick-up (21) and a regulator (23) for the drive motor (5), characterized in that the actual-value pick-up (21) detects the position and/or the rotational speed of a cylinder (2, 3) of the cylinder group (10).
6. A rotary printing press according to the preceding Claim, characterized in that an actual value supplied by the actual-value pick-up (21) forms the main control variable for the regulator (23).
7. A rotary printing press according to Claim 5 or 6, characterized in that no mechanical actual-value pick-up, and preferably no mechanical actual-value pick-up for detecting the position or the rotational speed of the drive motor (5), is provided for the regulating means.
8. A rotary printing press according to one of Claims 5 to 7, characterized in that a mechanical pick-up is provided on the drive motor (5), the output signal of which is used as an input signal for an emergency switch-off of the drive motor (5).
9. A rotary printing press according to one of Claims 5 to 8, characterized in that the actual-value pick-up (21) of the regulating means is attached to the moment-free end of the shaft of the cylinder (2; 3) driven by the drive motor (5).

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