EP1052093A2 - Système d'entraínement électrique pour le positionnement d'un ou plusieurs éléments ajustables dans des machines; dispositif d'entraínement avec indicateur d'angle et machine d'impression - Google Patents

Système d'entraínement électrique pour le positionnement d'un ou plusieurs éléments ajustables dans des machines; dispositif d'entraínement avec indicateur d'angle et machine d'impression Download PDF

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Publication number
EP1052093A2
EP1052093A2 EP00116859A EP00116859A EP1052093A2 EP 1052093 A2 EP1052093 A2 EP 1052093A2 EP 00116859 A EP00116859 A EP 00116859A EP 00116859 A EP00116859 A EP 00116859A EP 1052093 A2 EP1052093 A2 EP 1052093A2
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EP
European Patent Office
Prior art keywords
drive system
encoder
functional part
angular position
electric motor
Prior art date
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.)
Granted
Application number
EP00116859A
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German (de)
English (en)
Other versions
EP1052093B1 (fr
EP1052093A3 (fr
EP1052093B2 (fr
Inventor
Fritz Rainer Dr.-Ing. Götz
Harold Ing.(Grad) Meis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Baumueller Nuernberg GmbH
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Baumueller Nuernberg GmbH
Priority date (The priority date 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 date listed.)
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Publication date
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Application filed by Baumueller Nuernberg GmbH filed Critical Baumueller Nuernberg GmbH
Priority claimed from EP94111516A external-priority patent/EP0693374B2/fr
Publication of EP1052093A2 publication Critical patent/EP1052093A2/fr
Publication of EP1052093A3 publication Critical patent/EP1052093A3/fr
Publication of EP1052093B1 publication Critical patent/EP1052093B1/fr
Application granted granted Critical
Publication of EP1052093B2 publication Critical patent/EP1052093B2/fr
Anticipated expiration legal-status Critical
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    • 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

Definitions

  • the invention relates to an electric drive system for Adjustment of one or more rotatable and / or pivotable Functional parts of devices and machines, especially of printing presses, including at least one electric motor is used, the rotor for stiff and direct Connection is formed with the functional part. Furthermore, the invention relates to the arrangement of a regulated drive system connected angular position encoder, the a rotating or swiveling sensor rotor and one assigned, stationary scanning member to the angular position one rotatably mounted on a wall and with respect its axis of rotation longitudinally, obliquely, transversely and / or diagonally adjustable functional part of a device or a machine to determine. The invention further relates to a Printing machine, in particular offset machine, with direct drives Is provided.
  • the individual Functional units of printing machines for example unwinding / reel changers, Printing units, printing cylinders, dryers with chill rolls, folder, sheeter, tray, etc. mechanical shafts and / or gears coupled together, to bring about their mutual angular orientation. If you want these functional parts or components separate and do without mechanical coupling, so are the individual functional parts with their own drive systems equip, according to the DE-OS 41 38 479 are designed as direct drives. To achieve the necessary orientation of the individual printing press components among them is a corresponding one Synchronization of the drive systems required.
  • the signal processing module forms a configurable one and parameterizable drive controller, with which too complex control algorithms and / or several control loops implemented can be.
  • the invention is a concept for multiple control of a plurality of rotary axes created, with the associated control and regulation system can be configured modularly.
  • the drive system according to the invention is particularly suitable, because this ensures high quality and accuracy of the angular orientation, such as B. between the printing units where the halftone dots of different colors within a narrow tolerance range must be printed is available.
  • the drive system is the rotor of the electric motor with the Functional part, e.g. B. pressure cylinder, structurally integrated and / or made in one piece.
  • the Functional part e.g. B. pressure cylinder
  • the electric motor used in the drive system according to the invention with a cylindrical or cylindrical external rotor to train or rotor. This ensures that the Shape of the rotor, for example, of the appropriately rotationally symmetrical Form of the functional part corresponds, and in particular therein can be structurally included.
  • Analogous to the direct drive of the functional part mentioned lies within the scope of the invention a direct measurement of it Angular position, speed, acceleration etc.
  • the angular position encoder directly on the functional part for immediate measurement attached by its angular or rotary / pivoting movements.
  • Fast angular position encoders as known per se, can do so an immediate and therefore extremely realistic Observation of the controlled system, namely the one to be rotated or pivoting functional part.
  • the electric motor is on assigned only angular position encoder, the angular movements the rotor of the electric motor; is at the same time an observer module known per se in control engineering set up for state variables of the functional part, preferably in differential signal connection (in the control technology known per se) with the angular position encoder and / or the signal processing module is coupled.
  • the differential signal feed can be based on the Invention also in connection with at least two angular position sensors insert, each on the rotor of the electric motor and on the functional part for the immediate inclusion of their Angular movements are appropriate.
  • high-resolution, Fast angular position encoder for example in the version as a sine / cosine absolute encoder, as an incremental encoder with Square wave and zero pulse signal and as an incremental encoder with sine / cosine signal and zero pulse signal in Question.
  • page register adjustment are to be approved as angular position encoders in the sense of the invention especially with hollow shaft encoder a (tooth) pitch sensor wheel and a sensor head suitable. These are separated from each other by an air gap radially spaced, and axial displacements against each other within a certain frame affect the scanning function of the encoder head compared to the encoder wheel.
  • the advantage achieved with the use of the hollow shaft encoder consists mainly in the fact that the encoder wheel with the Functional part (to be scanned) structurally integrated and / or can be made in one piece, so that due to this Direct connection an immediate observation or Detection of its angular movements is guaranteed.
  • the drive system according to the invention is advantageous responsive power amplifiers with digital phase current regulators used.
  • the converter can use a DC link or with direct feed and thus higher DC link voltage must be executed (as known per se). With the latter there will be a large temporal change in current enabled.
  • the digital phase current control is for the drive system according to the invention expediently with pulse width modulation high clock frequency, fast transistor switches and voltage pre-control, the Phase current setpoints and / or the pilot values via interference-free Optical fiber connections can be specified.
  • There is also feedback of the actual phase current values and / or voltages for motor control and a specification of values for configuration and parameterization along with Feedback of status information for diagnosis is advantageous.
  • the signal processor is configurable and parameterizable Drive controller with realizable sampling times around 100 ⁇ sec. (even with complex control algorithms and several Control loops) and computing times in the area of 50 ⁇ sec. available.
  • the functions of the signal processor can the encoder evaluation, the motor control, Speed control, angular position control, fine interpolation of the Include default values and other.
  • the axis peripheral module is useful with a fiber optic cable Interface to the digital phase current controllers and also with an interface to the angular position encoder preferably as a sine / cosine absolute encoder, as an incremental encoder with square wave signals and Zero pulse signal and as an incremental encoder Provide sine / cosine signal with zero pulse signals.
  • Signal processing module can be set by simultaneous specification the setpoints according to the principle of position control an angular position oriented operation for the relevant turning masses or individual functional parts of a device or one Realize machine, especially printing machine.
  • setpoints in the signal processing module Observing the limitations in jerk, in acceleration, generated in speed. It can be particularly activation or precontrol of the angular position speed, - Accelerate and accelerate.
  • the Tracking device can include several functional components: one in the axial direction of the sensor rotor if necessary including the motor / functional part Linear guide to the "printing press” application Scanning device on side register adjustments of the cylinder adapt as a functional part; one related to the above Radially deflecting eccentric guide axis for use in applications "Printing machines” the scanning element on positioning movements or diagonal register adjustments of the printing cylinder adjust, which - as known per se - by means of eccentric Deflection of the cylinder / engine axis of rotation brought about become.
  • a locking device provided with the Tracking device connected in this way, in particular synchronized is that after active tracking has ended the sensing element fixed this relative to the wall.
  • One between the sensing element and the The sensor rotor usually has an air gap exploited.
  • This invention training can be practical realized by a hollow shaft encoder, in which the Sensor rotor forming the sensor wheel opposite the sensing element is arranged without bearing with the latter or the like to be mechanically connected.
  • the printing unit consists of a web offset machine from the four plate or blanket cylinders D1, D2, D3 and D4 (shown schematically) via bearings 40 on the fixed wall H (see FIG. 6) of the machine are rotatable. They each have an electric motor to turn them associated with a rotor package F and a stator package G.
  • the stub axle 41 of the rotor F is immediate connected to the stub shaft 42 of the cylinder D; with others Words, both are so structurally integrated with each other, that they merge into one another while doing a drive connection form that about as rigid as a one-piece Steel shaft is.
  • the on the free end faces of the electric motors F, G outstanding stub axles 43 are with sine / cosine absolute angular position encoders 44, provided.
  • the electric motors F, G are designed as built-in motors. You can with three-phase servo motors in synchronous design with Permanent magnets can be executed. These are from one Power block 47 each controlled by digital current controller 48.
  • the power block 47 is from an intermediate circuit supply 49 supplied with electrical energy.
  • the digital current regulators 48 each communicate via interference-free optical fiber 50 with an axis peripheral module AP.
  • the axis peripheral modules also have respective ones Interfaces 44a, 46a on the one hand for each of the at the Electric motors F, G attached angular position encoder 44 as well for one of the on the opposite shaft ends or Axle stub 45 on the free ends of cylinders D1 - D4 located angular position encoder 46.
  • the axis I / O modules AP are from a common, digital signal processor 51 checked. This is as a drive controller for a maximum number of axes with position controller, Speed controller, motor control and encoder evaluation configurable.
  • FIG 51 The respective internal structure of the signal processor is shown in FIG 51 and the axis peripheral modules AP enlarged shown and with abbreviations familiar to the expert referred to, so that there are further explanations in principle spare.
  • SCC serial Communication control block
  • FIG. 4 shows the integration of the drive system according to the invention 1 to 3 in a global concept for a multiple control with configurable, modular Control and regulation units illustrated.
  • a master computer IPC-486 are blocks CPU-68-3 for programmable logic Control and setpoint generation intended.
  • the signal processors 51 are connected to these coupled a system bus.
  • the block diagram according to FIG. 5 represents an exemplary drive system according to the invention for two position-controlled axes I, II coupled via friction slip (Schmitz rings). From a setpoint value generation (for example according to FIG. 4), each axis I, II becomes angular position setpoints for its position control ⁇ should be I, ⁇ should be II . After comparison with the actual values ⁇ ist I, ⁇ ist II obtained in each case via the angular position encoder 46, the respective control difference is fed to a position controller K VI , K VII .
  • each characteristic line element is connected on the input side to the output of the corresponding angular position sensor 46I, 46II.
  • the respective outputs of proportional feedback elements K I, II , K II, I are also fed to the summing elements 53I, 53II, which cross-tap into the actual angular velocity ⁇ actual II or ⁇ actual I on the respective differentiating element 54II, 54I.
  • the inputs of the differentiators 54I, 54II are each connected to the output of the corresponding angular position sensors 46I and 46II.
  • This cross-coupling by means of the proportional elements K I, II or K II, I has a decoupling effect on the controlled systems / axes I or II which are coupled, for example, via the Schmitz rings.
  • the respective outputs of the summing elements 53I and 53II open directly into respective proportional elements K -1 SI , K -1 SII , which represent factors related to the rotational masses of the functional parts comprising the axes I, II, among other things.
  • This is followed by current control circuits 55I, 55II, which convert the input current setpoints I sollI , I sollII into actual current values I istI , I istII .
  • the current control loops 55I, 55II behave approximately to the outside like PT 2 elements known per se in control engineering.
  • the respective actual current values I istI , I istII are supplied to proportional elements K TI , K TII , which represent the electric motor constant for converting current into a motor torque M MotI , M MotII , after linking to the respective proportional element I -1 I , I -1 II corresponding to the respective rotating mass of the axis I, II and immediately following integration of the angular acceleration ⁇ I , ⁇ II by means of the integration element 56I, 56II, the angular velocity ⁇ I, ⁇ II results with which the rotating masses / functional parts move around their respective Rotate axes of rotation I, II.
  • the actual position of the angular position ⁇ istI , ⁇ istII can be determined in connection with the respective angular position transmitters 46I, 46II and the respective comparisons 58I, 58II at the input of the block diagram according to FIG. 5 to the target actual value - Make a comparison.
  • the respective path velocities v I , v II of the two rotating masses I, II are calculated according to a first and outer one of the two pairs of proportional elements R I and R II , which have the respective angular velocities ⁇ I, ⁇ II of the two rotating masses as an input variable.
  • the web speeds V I , V II are subtracted from one another in the course of forming a difference 70.
  • the slip s results from the quotient of this difference and one of the two circumferential path speeds V I , V II of the two rotating masses, as illustrated by the dividing element 59.
  • the characteristic curve element 60 following this represents the specific friction characteristic when cylinder circumferential surfaces roll on one another and gives the friction coefficient ⁇ R as a function value.
  • the cylinder shaft E is axially extending Approach 62 provided by the electric motor G, F, N, Z projects coaxially and at the front end of the drive shaft rigidly and rigidly fixed and / or in one piece is executed.
  • a pole or encoder wheel 63 of a hollow shaft encoder rigid or fixed in place This points radially on its outer edge projecting teeth 64, which according to the circumferential direction a certain division lined up are.
  • On the outward facing end of the stator G, N comprising eccentric bushing B is a parallel to Fixed axis of rotation protruding mounting shaft 65, the at its free end the encoder head 66 of the hollow shaft encoder wearing.
  • the distance 67 is such that on the one hand the operative connection of the encoder head and the Teeth 64 on the encoder wheel 63 can come about and on the other hand to a certain extent axial dislocations between the encoder head 66 and the encoder wheel 63 are possible without the functionality of this functional connection is impaired becomes.
  • the encoder wheel 63 and / or its Teeth 64 are sufficiently wide. Also one central arrangement of the encoder head 66 with respect to the teeth is advantageous for this.
EP00116859A 1994-07-23 1994-07-23 Système d'entraînement électrique pour le positionnement d'un ou plusieurs éléments ajustables dans des machines; dispositif d'entraînement avec indicateur d'angle et machine d'impression Expired - Lifetime EP1052093B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP94111516A EP0693374B2 (fr) 1993-07-08 1994-07-23 Dispositif d'entraînement électrique en particulier pour machines à imprimer

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP94111516A Division EP0693374B2 (fr) 1993-07-08 1994-07-23 Dispositif d'entraînement électrique en particulier pour machines à imprimer

Publications (4)

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EP1052093A2 true EP1052093A2 (fr) 2000-11-15
EP1052093A3 EP1052093A3 (fr) 2001-02-07
EP1052093B1 EP1052093B1 (fr) 2003-02-26
EP1052093B2 EP1052093B2 (fr) 2009-01-07

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EP00116859A Expired - Lifetime EP1052093B2 (fr) 1994-07-23 1994-07-23 Système d'entraînement électrique pour le positionnement d'un ou plusieurs éléments ajustables dans des machines; dispositif d'entraînement avec indicateur d'angle et machine d'impression

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EP (1) EP1052093B2 (fr)
AT (1) ATE233181T1 (fr)
DE (2) DE59410249D1 (fr)
ES (2) ES2183823T5 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004007069A1 (de) * 2004-02-13 2005-08-25 Goss International Montataire S.A. Rotationselement einer Druckmaschine, mit einem Encoder
WO2006136578A1 (fr) * 2005-06-23 2006-12-28 Koenig & Bauer Aktiengesellschaft Entrainements pour un composant rotatif d'une machine a imprimer
DE102008044154A1 (de) * 2008-11-28 2010-06-24 Koenig & Bauer Aktiengesellschaft Verfahren zur Einstellung des Diagonalregisters und/oder des Diagonalpassers einer Rotationsdruckmaschine

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10346680C5 (de) 2003-10-08 2010-04-01 Siemens Ag Verfahren zur Erhöhung der Regeldynamik einer mit einer Antriebswelle eines Direktantriebes angetriebenen Last

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DE3138540A1 (de) † 1981-09-28 1983-04-14 M.A.N.- Roland Druckmaschinen AG, 6050 Offenbach Vorrichtung zum zufuehren von auf einem anlegertisch vereinzelten und nach vorder- und seitenkante ausgerichteten bogen
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DE3308988C2 (fr) † 1982-06-03 1991-08-14 Planeta Druckmaschinenwerk Ag, O-8122 Radebeul, De
DE4104105A1 (de) † 1991-02-11 1992-08-13 Hueller Hille Gmbh Einrichtung zur potentialgetrennten messung des vom umrichter eines drehstrom-asynchron-motors aufgenommenen stromes, z. b. zur werkzeugueberwachung eines bearbeitungszentrums
DE4138479A1 (de) * 1991-11-22 1993-06-03 Baumueller Nuernberg Gmbh Verfahren und anordnung fuer einen elektromotor zum antrieb eines drehkoerpers, insbesondere des druckgebenden zylinders einer druckmaschine
DE4214394A1 (de) † 1992-04-30 1993-11-04 Asea Brown Boveri Rotationsdruckmaschine
US5329216A (en) * 1991-03-04 1994-07-12 Matsushita Electric Industrial Co., Ltd. Multi-shaft driving apparatus and fluid rotary apparatus
DE4344896A1 (de) † 1993-12-29 1995-07-06 Wifag Maschf Rotationsdruckmaschine mit paarweise zu Zylindergruppen zusammengefaßten Gummituch- und Platten- bzw. Formzylindern
EP0693374A1 (fr) † 1993-07-08 1996-01-24 Baumüller Nürnberg Gmbh Dispositif d'entraînement électrique en particulier pour machines à imprimer

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DE3308988C2 (fr) † 1982-06-03 1991-08-14 Planeta Druckmaschinenwerk Ag, O-8122 Radebeul, De
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GB2146801A (en) † 1983-09-16 1985-04-24 Emi Plc Thorn Control of robots
GB2149149A (en) † 1983-10-28 1985-06-05 Rockwell Graphic Syst Printing press synchronization
DE3919291A1 (de) † 1988-06-14 1989-12-21 Tokyo Kikai Seisakusho Ltd Bahnvorschubrolle und antriebssteueranordnung hierfuer
DE4104105A1 (de) † 1991-02-11 1992-08-13 Hueller Hille Gmbh Einrichtung zur potentialgetrennten messung des vom umrichter eines drehstrom-asynchron-motors aufgenommenen stromes, z. b. zur werkzeugueberwachung eines bearbeitungszentrums
US5329216A (en) * 1991-03-04 1994-07-12 Matsushita Electric Industrial Co., Ltd. Multi-shaft driving apparatus and fluid rotary apparatus
DE4138479A1 (de) * 1991-11-22 1993-06-03 Baumueller Nuernberg Gmbh Verfahren und anordnung fuer einen elektromotor zum antrieb eines drehkoerpers, insbesondere des druckgebenden zylinders einer druckmaschine
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DE4344896A1 (de) † 1993-12-29 1995-07-06 Wifag Maschf Rotationsdruckmaschine mit paarweise zu Zylindergruppen zusammengefaßten Gummituch- und Platten- bzw. Formzylindern

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004007069A1 (de) * 2004-02-13 2005-08-25 Goss International Montataire S.A. Rotationselement einer Druckmaschine, mit einem Encoder
WO2006136578A1 (fr) * 2005-06-23 2006-12-28 Koenig & Bauer Aktiengesellschaft Entrainements pour un composant rotatif d'une machine a imprimer
CN101378904B (zh) * 2005-06-23 2011-04-27 柯尼格及包尔公开股份有限公司 印刷机具有端侧轴颈的旋转滚筒
DE102008044154A1 (de) * 2008-11-28 2010-06-24 Koenig & Bauer Aktiengesellschaft Verfahren zur Einstellung des Diagonalregisters und/oder des Diagonalpassers einer Rotationsdruckmaschine

Also Published As

Publication number Publication date
EP1052093B1 (fr) 2003-02-26
ES2189716T5 (es) 2009-06-01
DE59410249D1 (de) 2003-04-03
ES2183823T3 (es) 2003-04-01
ATE233181T1 (de) 2003-03-15
ES2189716T3 (es) 2003-07-16
EP1052093A3 (fr) 2001-02-07
DE59410218D1 (de) 2003-01-16
EP1052093B2 (fr) 2009-01-07
ES2183823T5 (es) 2010-04-15

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