EP1790601B2 - Contrôle de la tension d'une bande de matériau - Google Patents

Contrôle de la tension d'une bande de matériau Download PDF

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Publication number
EP1790601B2
EP1790601B2 EP06019736.5A EP06019736A EP1790601B2 EP 1790601 B2 EP1790601 B2 EP 1790601B2 EP 06019736 A EP06019736 A EP 06019736A EP 1790601 B2 EP1790601 B2 EP 1790601B2
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EP
European Patent Office
Prior art keywords
web
control
web tension
controller
speed
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.)
Active
Application number
EP06019736.5A
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German (de)
English (en)
Other versions
EP1790601B1 (fr
EP1790601A2 (fr
EP1790601A3 (fr
Inventor
Stephan Dr. Schultze
Christian Zentgraf
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.)
Bosch Rexroth AG
Original Assignee
Bosch Rexroth AG
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Publication date
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Application filed by Bosch Rexroth AG filed Critical Bosch Rexroth AG
Priority to EP11006305.4A priority Critical patent/EP2392529B1/fr
Priority to EP11006304.7A priority patent/EP2386511B1/fr
Publication of EP1790601A2 publication Critical patent/EP1790601A2/fr
Publication of EP1790601A3 publication Critical patent/EP1790601A3/fr
Application granted granted Critical
Publication of EP1790601B1 publication Critical patent/EP1790601B1/fr
Publication of EP1790601B2 publication Critical patent/EP1790601B2/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/1888—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web and controlling web tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/10—Speed
    • B65H2513/11—Speed angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/31—Tensile forces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20—Calculating means; Controlling methods
    • B65H2557/24—Calculating methods; Mathematic models
    • B65H2557/242—Calculating methods; Mathematic models involving a particular data profile or curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20—Calculating means; Controlling methods
    • B65H2557/264—Calculating means; Controlling methods with key characteristics based on closed loop control
    • B65H2557/2644—Calculating means; Controlling methods with key characteristics based on closed loop control characterised by PID control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/30—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof
    • B65H2557/34—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof for analog control, e.g. proportional, integral or differentiated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/60—Details of processes or procedures
    • B65H2557/63—Optimisation, self-adjustment, self-learning processes or procedures, e.g. during start-up

Definitions

  • the invention relates to a method for regulating the web tension of a web moved by means of a transport device with a web tension controller with determination of control loop parameters.
  • Goods webs are continuous webs of paper, foil or fabric.
  • the web is conveyed within a transport device by drive rollers and printed, for example.
  • the web of a processing stage is supplied via a feeding nip, which consists of a regulated in their speed drive roller with associated pressure roller.
  • the web is removed via a second nip, which consists of a second controlled in their speed drive roller with associated pressure roller.
  • Sufficient processing quality can only be achieved if the web has a certain minimum web tension between the nips, otherwise it is transported inaccurately for processing and tends, for example, to flutter. On the other hand, a certain maximum web tension must not be exceeded, since the web otherwise breaks or stretches inelastic.
  • the web tension In order to ensure a trouble-free operation of the transport device and a good quality of the processed web, the web tension must be kept within a certain range depending on the speed and parameters such as the elastic modulus of the web.
  • the web tension controller used is a PI controller which uses the lead or lag of the drive roller arranged at the incoming or outgoing clamping point as a manipulated variable.
  • the control loop is closed by measuring the actual value of the web tension with a load cell.
  • the control loop parameters of the tension controller with load cell depend on the machine speed and the material.
  • the speed dependency can be modeled by an adaptive characteristic of the P component of the controller.
  • the material dependence of the advantageous web tension control can be taken into account during commissioning by an optimization step.
  • the disadvantage here is that when changing the material of the optimization step must be repeated. If, for example, harder material is inserted, otherwise the control loop may become unstable. If the first optimization is chosen to select suitable parameters for a larger group of materials, the control loop dynamics will not be exploited for more flexible materials, unnecessarily increasing the setting of a suitable web tension and resulting in an increased amount of faulty processed web.
  • From the DE 198 34 725 A1 is a control device and a method for regulating the tension of a paper web of a printing press, in which a measured web tension actual value is detected within the controlled system.
  • a speed reference value and a web tension setpoint are specified.
  • From the web tension setpoint and the web tension actual value a pre-set or lag setpoint is determined which, together with the speed reference, results in the set speed.
  • an apparatus and a method for dynamically controlling a drive for transport rollers in a web-fed printing press are known.
  • the task was to ensure a desired web tension and a required print quality at different stages of machine operation.
  • it is necessary to control the web tension of a section of a web between an infeed and a discharging nip formed respectively by a transport roller and a pressure roller.
  • the controller operates in a web tension control mode during a first phase of the printing press operation to maintain the web tension at a first desired web tension value.
  • control is effected in a speed control mode in which the ratio of the driving speeds of the feeding and discharging nips are controlled.
  • a regulation for the web speed of a web is known in which a target value for the web speed is determined taking into account the actual value of the web tension and the modulus of elasticity of the web material.
  • the DE 3143545 A1 discloses that in multi-motor drives for continuous webs guide rollers have the task to guide the web in the free area between the terminal points in compliance with certain properties, such as length, elongation or tensile stress.
  • certain properties such as length, elongation or tensile stress.
  • the Leitwalzenfire be regulated.
  • the static gain of the control in the range of small speed control deviations is set to a high value and with larger speed control deviations to a smaller value.
  • the transition point from large to small gain can be specified optionally.
  • the DE 3605168 A1 in that an arrangement for the low-vibration transport of an elastic, under tension fabric over a series of driven or non-driven rollers. It consists in adapting to different elastic moduli and cross sections of the fabric both in the speed as in the Bandzugregelung an adjustment of the controller parameters is made and that the controller parameters are changed depending on the geometric mean of Young's modulus and cross section, in such a way in that the time-determining quantities such as time constants and integration times and the gain determining the strip tension regulation quantity are set in inverse proportion to the geometric mean and the size determining the gain of the strip speed proportional to the geometric mean.
  • the DE 100 31 529 A1 discloses a method and apparatus for operating a web-fed machine having driven axles for transporting webs.
  • the control of the drives for the axes takes place at least partially by means of time-dependent control parameters.
  • the variation of the control parameters takes place in dependence of the positions and / or speeds of the axes.
  • the EP 0 976 674 A1 discloses a tension control device for a paper web of a printing press having a speed reference setpoint adjuster, a drive motor speed controller coupled to the adjuster, a web tension setpoint adjuster, a web tension sensor, a web tension controller associated with the web tension setter Sensor for measuring the web tension and the setting device for the web tension setpoint is coupled, wherein the speed controller is coupled to an output of the web tension controller.
  • the invention relates to a method for regulating the tension of a paper web of a printing press, wherein a Drehiereleitsollwert is specified, a web tension setpoint is specified, a first web tension actual value is measured, the difference between the web tension setpoint and the measured web tension Actual value is formed; the difference formed is converted into a lag target value; and from the predetermined Drehiereleitsollwert and the lag setpoint, a variable is formed, which is used for speed control of the drive motor.
  • a disadvantage of the prior art is that the web tension control must be adapted in each case to the web to be used and is not universally applicable.
  • the web tension can be maintained over a wide range of parameters of the web in the range suitable for a good processing quality ,
  • a particularly suitable for a fast and accurate control of the web tension of the web embodiment of the invention provides that the drive of the transport device takes place in at least two drive groups, which are driven by their own drives and their coupling takes place within the control and drive system on an electronic basis.
  • This embodiment also referred to as a "shaftless" drive, does not mechanically couple the at least two drive groups via a rigid shaft but electronically via the web tension controller or another control and regulating device.
  • These can act on servo-synchronous motors and thus provide, for example, a different start-up or control characteristic for two drives. In this way, for example, moments of inertia of components of the transport device for the material web can be taken into account.
  • the controller parameters for the drive axes are related to a virtual master axis which is present only in the parameters of the web tension controller. Inaccuracies in the measured value acquisition and / or movement of the master axis have no influence on the control quality.
  • the time constant of the controlled system is proportional to the reciprocal of the speed of the web. Therefore, it is advantageous if the control loop parameters are determined according to a hyperbolic characteristic as a function of the leading axis speed of the web.
  • control loop parameters are determined according to a characteristic curve composed of functions as a function of the master axis speed, and the drives of the transport device are controlled by means of a virtual master axis.
  • a predetermined setpoint value of the web tension can be achieved faster and thus with less production failure by determining the control loop parameters in accordance with a characteristic curve that can be specified as a function and / or at a plurality of interpolation points as a function of a deviation of the web tension from a predetermined desired value.
  • loop parameters according to a determined as a function and / or at several nodes predetermined characteristic curve as a function of a running length of the web between a feeding nip and a laxative nip, it can be achieved that in a conversion of the transport device, in which the length of the web between the feeding and the laxative Clamping point is changed, a suitable for a smooth production start set of control loop parameters is available.
  • control loop parameters below a minimum machine, line or web speed and above a maximum machine, line or web speed, it can be achieved that a steep characteristic with a good control characteristic can be selected in the normal operating range of the control. without damage to the web and / or the transport device occur during operation outside the usual operating range.
  • control loop parameters are determined as a function of physical characteristics of the web, it can be achieved that a good processing quality is achieved with different materials. In particular, fluctuations of the physical characteristics can be detected and taken into account over time.
  • a high production speed and processing quality with different materials and with different width and / or thickness of the web can be achieved by using as a physical characteristic of the modulus of elasticity of the web. If the modulus of elasticity is measured continuously, it can be achieved that a change in the modulus of elasticity which is dependent on the drying behavior and / or degree of moisture of the material web can also be taken into account.
  • a cost-effective, unclaimed embodiment provides that the modulus of elasticity is determined with the aid of the elements already present in the transport device according to the state of the art measuring transducer, rotary encoder and the web tension controller. This can be determined without additional devices, and thus without additional costs, the modulus of elasticity.
  • a particularly simple, unclaimed embodiment provides that the modulus of elasticity is determined from a change in length of the material web as a function of a change in web tension. In this case, it is possible to lengthen the web by a certain fixed amount and to measure the resulting web tension change or to increase the web tension by a certain fixed amount and measure the resulting length change.
  • a high processing quality of a material web can be achieved by determining the control loop parameters as a function of the moment of inertia of non-driven rolls between the feeding nip and the discharging nip. The interference of these non-driven guide rollers on the web tension in the processing area can be reduced.
  • the settling time of the web tension controller can be reduced by specifying default values for the control loop parameters as starting values for the manipulated variable, such as a lead or lag of a drive, and a self-optimization of the PI controller or PID controller. As a result, the proportion of product with good processing quality can be improved.
  • presetting values for the manipulated variables are determined from the determined physical characteristics of the web, a set of presetting values can be determined for different and novel materials and material combinations of the web, which enables a fast achievement of optimal control parameters.
  • FIG. 1 shows a transport device 1 for processing a web 2 between a feeding nip 10 and a laxative nip 30 with a web tension controller 3.
  • the web 2 is clamped between a pinch roller 11 and a drive roller 12 and fed to the processing with a defined speed.
  • the processing may be, for example, a printing operation.
  • the drive roller 12 is driven by a motor 13, the rotational speed and angular position detected by a rotary encoder 14 and the web tension controller 3 are supplied.
  • the web tension controller 3 controls the supply voltage of the motor 13 and is designed as a PI controller.
  • the web 2 is moved at a discharging nip 30 by means of a pressure roller 31 and a drive roller 32.
  • the drive roller 32 is driven by a motor 33 whose shaft is coupled to a rotary encoder 34 which supplies data for the rotational movement of the motor 33 to the web tension controller 3.
  • the drive of the drive rollers 12, 32 take place by servo-synchronous motors, which eliminate the use of rotary encoders 14, 34 due to their operation.
  • the control of the rotational speed and the angle of rotation of the motors 13, 33 takes place in this case on the phase and frequency of the supply voltage.
  • the actual value of the web tension between the feeding nip 10 and the discharging nip 30 is measured by a sensor 21.
  • the web 2 is fed via a deflection roller 20 to the transducer 21 and continued through a second guide roller 22 for further processing.
  • the sensor 21 may be designed, for example, as a load cell. Its output signal is fed to the web tension controller 3 as an actual value of the web tension.
  • the characteristic curve 50 represents the progression of the P-reinforcement 51 over a guide axle speed 54.
  • the guide axle speed 54 is the peripheral speed of a drive roller 12, 22 or a drive roller arranged in the transport device 1 along the material web 2 before or after.
  • the leading axis speed 54 may also refer to an axis that is not actually present, but may be a calculated variable within the web tension controller 3; In this case, the leading axis is called a "virtual master axis".
  • On the Leitachsica 54 of the web tension controller 3 refers to the control and regulation of the other drives.
  • the characteristic curve 50 is chosen so that the P-gain 51 is constant below a first operating point 52 and above a second operating point 53, respectively. This ensures that in the usual operating range between the first operating point 52 and the second operating point 53, a steep characteristic can be selected with a rapid adjustment of deviations, but outside of the range but still harmless to the web 2 values of web tension are met.
  • FIG. 3 shows a characteristic 50, which specifies a dependent of a control deviation 55 P-gain 51.
  • a flat curve 50 is provided for small deviations from the setpoint, while for larger deviations a steep curve 50 is provided. In this way it can be achieved that, with slight deviations, the web 2 runs smoothly and the processing quality is very high. For larger deviations, the web tension is quickly brought to the setpoint.

Landscapes

  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)

Claims (2)

  1. Procédé pour réguler la tension d'une nappe de matière (2) déplacée au moyen d'un dispositif de transport (1), à l'aide d'un régulateur (3) de tension de nappe après détermination de paramètres du circuit de régulation, des entraînements du dispositif de transport (1) étant commandés au moyen d'un axe directeur virtuel, les paramètres du circuit de régulation du régulateur (3) de tension de nappe étant déterminés selon une ligne caractéristique (50) prédéfinissable en tant que fonction et au niveau de plusieurs emplacements d'appui, en fonction d'une vitesse (54) de l'axe directeur virtuel,
    une régulation IP étant effectuée au moyen du régulateur (3) de tension de nappe et/ou les parties proportionnelle et/ou intégrale du régulateur DIP étant déterminées en tant que paramètres du circuit de régulation ou
    une régulation DIP étant effectuée avec le régulateur (3) de tension de nappe et les parties proportionnelle et/ou intégrale et/ou différentielle du régulateur IP étant déterminées en tant que paramètres du circuit de régulation.
  2. Procédé selon la revendication 1, caractérisé en ce que l'entraînement du dispositif de transport (1) s'effectue dans au moins deux groupes d'entraînement qui sont entraînés par des entraînements propres et dont le couplage s'effectue à l'intérieur du système de commande et d'entraînement de manière électronique.
EP06019736.5A 2005-11-29 2006-09-21 Contrôle de la tension d'une bande de matériau Active EP1790601B2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP11006305.4A EP2392529B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP11006304.7A EP2386511B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005056802A DE102005056802A1 (de) 2005-11-29 2005-11-29 Regelung der Bahnspannung einer Warenbahn

Related Child Applications (6)

Application Number Title Priority Date Filing Date
EP11006305.4A Division-Into EP2392529B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP11006305.4A Division EP2392529B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP11006304.7A Division-Into EP2386511B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP11006304.7A Division EP2386511B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP11006305.4 Division-Into 2011-07-30
EP11006304.7 Division-Into 2011-07-30

Publications (4)

Publication Number Publication Date
EP1790601A2 EP1790601A2 (fr) 2007-05-30
EP1790601A3 EP1790601A3 (fr) 2009-04-01
EP1790601B1 EP1790601B1 (fr) 2011-11-09
EP1790601B2 true EP1790601B2 (fr) 2019-04-24

Family

ID=37807979

Family Applications (3)

Application Number Title Priority Date Filing Date
EP11006304.7A Active EP2386511B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP11006305.4A Active EP2392529B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP06019736.5A Active EP1790601B2 (fr) 2005-11-29 2006-09-21 Contrôle de la tension d'une bande de matériau

Family Applications Before (2)

Application Number Title Priority Date Filing Date
EP11006304.7A Active EP2386511B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP11006305.4A Active EP2392529B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement

Country Status (5)

Country Link
US (1) US7798382B2 (fr)
EP (3) EP2386511B1 (fr)
JP (1) JP2007145607A (fr)
AT (1) ATE532727T1 (fr)
DE (1) DE102005056802A1 (fr)

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Publication number Publication date
ATE532727T1 (de) 2011-11-15
JP2007145607A (ja) 2007-06-14
US20070119894A1 (en) 2007-05-31
EP2386511B1 (fr) 2015-12-02
EP1790601B1 (fr) 2011-11-09
EP2386511A1 (fr) 2011-11-16
EP1790601A2 (fr) 2007-05-30
US7798382B2 (en) 2010-09-21
EP1790601A3 (fr) 2009-04-01
DE102005056802A1 (de) 2007-05-31
EP2392529A1 (fr) 2011-12-07
EP2392529B1 (fr) 2015-11-11

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