EP1837178B1 - Method for vibration compensation in a printing press - Google Patents

Method for vibration compensation in a printing press Download PDF

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Publication number
EP1837178B1
EP1837178B1 EP07103368A EP07103368A EP1837178B1 EP 1837178 B1 EP1837178 B1 EP 1837178B1 EP 07103368 A EP07103368 A EP 07103368A EP 07103368 A EP07103368 A EP 07103368A EP 1837178 B1 EP1837178 B1 EP 1837178B1
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EP
European Patent Office
Prior art keywords
frequency
class
counter
printing press
vibration
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EP07103368A
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German (de)
French (fr)
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EP1837178A3 (en
EP1837178A2 (en
Inventor
Bernhard Dr. Buck
Eric Dr. Knopf
Matthias Dr. Nöll
Stefan Dr. Schreiber
Malte Dr. Seidler
Detlef Strunk
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Heidelberger Druckmaschinen AG
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Heidelberger Druckmaschinen AG
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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
    • B41F13/08—Cylinders
    • B41F13/085—Cylinders with means for preventing or damping vibrations or shocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/0008—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
    • B41P2213/40—Auxiliary devices or processes associated with the drives
    • B41P2213/42—Vibration-dampers for machine parts

Definitions

  • the invention relates to a method for compensating an oscillation, which has a frequency spectrum with a number of discrete frequency components, in a printing machine, wherein at least one counter-torque is introduced into the printing machine for compensating at least one discrete frequency component of the oscillation.
  • a method and a device for compensating a vibration in a printing press by introducing counter-moments are known. At least one eigenform of the printing machine is determined and at a location of the drive train of the printing press, at which the eigenform is not zero, the respective counter-momentum for the compensation of the entire oscillation is determined and stored. During operation of the printing press, the predetermined counter-torque is applied to said location, so that the oscillation is maximally reduced.
  • the counter-torque is generated by means of a cam gear. The counter torque can be generated depending on the machine speed or machine frequency.
  • the DE 44 12 945 A1 discloses an apparatus and method for damping mechanical vibrations of printing presses.
  • An actuator associated with the rotating parts of the printing press is driven by vibration sensors such that the actuating forces of the actuator damp the vibration.
  • a control device controls the actuator so that only non-periodically with the revolutions of the rotating parts occurring, ie asynchronous vibrations are damped. Synchronous vibrations can be used in a test run or by calculation. Asynchronous vibrations can be detected by cleverly placed vibration sensors.
  • Object of the present invention is to provide a method for compensating for a vibration in a printing machine by introducing one or more counter-moments, in which the vibration can be controlled with a plurality of actuators with little effort.
  • At least one counter-torque is used to compensate for at least one discrete frequency component of the vibration in the printing press, in particular the sheet-fed press, brought in.
  • a first group of one or more frequency components is compensated by introducing one or more predetermined counter-moments, and a second group of one or more frequency components is formed by introducing one or more in response to a measurement of at least one signal, ie, a signal, during operation of the printing machine or more signals, which or at least one of the one or more frequency components contains or contain certain counter moments compensated, in particular preferably completely or accurately compensated.
  • the invention is based on the idea of compensating a vibration, in particular a torsional vibration, in a printing machine with a method in which the individual frequency components of the vibration are subdivided into a plurality, preferably two groups or classes.
  • the frequency spectrum of a printing machine without acting compensation method is considered, and there is a classification or distribution of the detected frequency components.
  • a compensating method optimally adapted for the purpose of the most complete compensation is selected, so that the occurring total oscillation amplitude is minimized.
  • the vibration is combated in an advantageous manner with the least possible effort.
  • a counter-momentum ideally has an amplitude adjusted in absolute terms and an antiphase in relation to the oscillation to be compensated, such that the superimposed amplitude is as low as possible, preferably disappears (becomes zero).
  • the vibration may be a vibration of the entire printing press or a machine part, for example a shaft of a cylinder.
  • the shaft may be a directly or indirectly driven shaft.
  • the vibration may relate, for example, to the position, the speed or the acceleration.
  • the oscillation may, for example, also be a vibration of a so-called virtual machine shaft, that is to say a vibration of a relative position, a relative speed or a relative acceleration between two machine parts.
  • the course of the predetermined counter torques for the first group can be stored in software or in a control unit of the printing press in terms of hardware or be available for the compensation.
  • the measured signal may be the signal of at least one machine encoder, for example an engine speed sender.
  • the one or more predetermined counter-moments for compensating the first group of one or more frequency components may be determined according to the technical teaching of the document DE 199 14 627 A1 or the document US 6,401,620 B1 , applied according to the invention applied only with respect to the first group, that is, only a part or a subset of the frequency content of the vibration, not the entire vibration done.
  • the one or more countermeasures for compensating the second group of one or more frequency components as a function of measurement of a signal which contains at least the one or more frequency components as a result of the operation of the printing press can be determined according to the technical teaching of the document DE 101 49 525 A1 or the document US 2002/0158180 A1 Applied according to the invention, applied only with respect to the second group, ie only one other part or another subset of the frequency content of the oscillation, not the entire oscillation.
  • the second group contains only one or more frequency components which are not contained in the first group.
  • the frequency components of the first group and the second group together can give the essential part or exactly the frequency spectrum.
  • the essential part is understood to mean that part of the frequency spectrum that is not negligible for combating the vibration below an acceptance threshold.
  • the frequency component or components of the first group may be integer multiples (generally including 1, preferably greater than 1) of the machine frequency and the frequency component or frequencies of the second group may be non-integer multiples of the machine frequency.
  • the machine frequency or drive frequency, in particular main drive frequency, refers in particular to the speed, timing or copy speed.
  • load-relevant frequencies and the frequency component (s) of the second group are register-relevant frequencies.
  • Frequencies are load-relevant if they have an integer order at the machine frequency, require a high torque for compensation, and are deterministic insofar as the amplitude and phase of the frequency component can be determined before operation of the printing press.
  • Frequencies are registration relevant if they have a non-integer order to the machine frequency, require a small moment, typically only a few Newton meters, for compensation and are thus not predictable or specimen specific, as the amplitude and phase of the frequency component of the oscillation during operation of the printing press determined and to compensate.
  • the vibration can be represented substantially, that is, within an error interval acceptable for the application of the vibration compensation, by the low-frequency frequency components.
  • the introduction of the (predetermined) counter-moments of the first group of the frequency component (s) and / or the counter-torque (s) of the second group of the frequency component (s) determined in the method according to the invention can be determined according to the amplitude characteristic of one of the modes of the printing machine selected places.
  • the measurement of the signal preferably comprises at least one orthogonal correlation for determining the amplitude and phase of a frequency component of the second group.
  • the one or more predetermined counter-moments can be generated and introduced by means of one or more mechanical devices.
  • the one or more mechanical devices may be cam gears, in particular cams.
  • the cam gears, in particular cams may be designed such that they periodically with one or more integral multiples (generally including 1, preferably greater than 1) of the machine frequency act.
  • one or more electrical curves in particular periodic control profiles for an electric drive, can be used to control an actuator so that one or more predetermined counter-moments are generated and introduced by means of one or more electrical curves.
  • a According to the invention used electrical curve can be carried out in particular depending on the machine frequency, ie machine speed dependent.
  • the one or more countermeasures of the second group which are determined as a function of the measurement, are introduced only when the frequency component corresponding to the counter torque (s) is in resonance with a natural frequency of the printing press.
  • the discrete vibration compensation is operated or turned on only when it is actually required because an effect on the printing machine is expected.
  • a modal compensation of the register-relevant (non-integer) and / or the load-relevant (integer) frequency components can take place.
  • the one or more predetermined counter moments of the first group in the vicinity of the beginning and / or the end substantially at the beginning and / or at the end of the printing unit row of the printing press, in particular on devices with stored torque curves , and the one or more depending on the measurement determined counter moments of the second group in the vicinity of the center or substantially in the middle of the printing unit row of the printing press, in particular by means of the main motor of the printing press, are introduced.
  • the lever arms in the vicinity of the beginning and / or the end of the printing unit group are particularly favorable for compensation or the mode shapes coupling to the oscillation.
  • the passerrelevanten with this drive practically an actuator without additional hardware or a hardware change is available. But it is clear that, alternatively, a Additional actuator can be used.
  • the frequency component or components of the second group are determined from the difference between the signals of at least two sensors or sensors which are arranged at mutually different locations of the printing press.
  • At least one of the predetermined counter torques and at least one of the counter torques determined on the basis of the signal or signals are introduced together by an actuator.
  • the counter torques for both classes to be introduced into the printing machine for the compensation can be applied by means of an identical actuator of the printing press.
  • the counter-moments can be switched to a drive torque of the actuator.
  • this actuator may be located near the beginning or the end of the printing unit row of the printing press.
  • the inventive method can be used in particular in a lithographic printing press or offset printing machine.
  • the printing press can be a multi-color printing press, in particular a plurality of printing units in series, typically comprising 4, 6 or 8 printing units.
  • the printing machine can preferably process paper or cardboard as substrates.
  • a printing press according to the invention has a device suitable or implemented for carrying out the method according to the invention for compensating an oscillation which has a frequency spectrum with a number of discrete frequency components, and at least one actuator for introducing at least one counter torque for compensating at least one discrete frequency component of the oscillation in the printing machine ,
  • the printing press may each have at least one actuator for introducing one or more predetermined counter moments for the first group of frequency components at the ends of the row of printing units and at least one actuator, in particular the Main drive of the printing press may have, substantially in the middle of the printing group or the printing press, with which one or more counter-moments for the second group of frequency components can be introduced.
  • the printing press may have at least one, preferably at least two encoders or sensors, which are arranged in the printing press in such a way that they do not lie in places where the inherent shape coupled to the oscillation is zero.
  • the encoders can be in particular encoders.
  • the FIG. 1 shows a schematic qualitative representation of an exemplary representative frequency spectrum of a vibration of a sheet-fed press with a large number of printing units.
  • the magnitude of the amplitude A is plotted in appropriate units (au) as a function of the relative frequency f with respect to the machine frequency ⁇ M.
  • the frequency spectrum has several discrete frequency lines of different amplitudes. There are frequency components which represent integer multiples (including 1) of the machine frequency ⁇ M. Furthermore, there are frequency components which are non-integer multiples of the machine frequency ⁇ M. The amplitudes of the non-integer frequency components are significantly lower than those of the integer frequency components. The sum of the frequency components of the frequency spectrum converges with increasing frequency against the vibration, that is, the vibration is represented with sufficient accuracy by the low frequency components.
  • the absolute frequency of the frequency components varies with the machine frequency ⁇ M.
  • the amplitude of a frequency component can also vary.
  • an amplitude variation of the integer moments as a function of the frequency for integer frequency components either does not exist or is negligibly small within the required precision.
  • a frequency component acquires particular importance precisely when it resonates at a natural frequency of the printing press, that is to say when the frequencies of the frequency component and a natural oscillation are similar or sufficiently coincident, since in particular a resonance excitation of the printing press can take place to a vibration.
  • FIG. 2 is a schematic representation of an embodiment of a printing press 14 according to the invention, here a sheet-fed press, with six printing units 16, a feeder 28 and a boom 30.
  • the printing press 14 can be excited in a mode 18 to a vibration, in particular in consequence of with respect to FIG. 1 explained influence of resonant frequency components of disturbances (vibration exciters).
  • the printing press 14 has mechanical devices 32, here two cam mechanisms, as in the document DE 199 14 627 A1 or document US 6,401,620 B1 explained in detail, at the ends of the series of printing units 16, for generating predetermined counter moments on. These positions are particularly advantageous with respect to the amplitude characteristic of the eigenform 18 shown.
  • the frequencies of the counter moments are proportional to the machine frequency, in particular multiples (including 1) of the machine frequency.
  • the amplitudes of the counter torques can be constant: With the predetermined counter torques vibrations generated by vibration exciters with a constant force action or torque effect are compensated, so that the necessary amplitudes do not change with the machine frequency for compensation.
  • a signal representative of the oscillation is converted by means of a transmitter 22 and supplied to a control device 24. With the aid of the control device 24, the required counter-torque for compensation can be calculated.
  • the counter-torque is applied to the drive torque of the main drive 26, so that a compensation of the oscillation of the eigen-form 18 is effected. Oscillation and the counter-momentum induced by the counter-momentum should preferably cancel each other, at least the resulting total vibration should be below an acceptance threshold.
  • the transmitter 22 will be able to measure a signal, in particular, when an oscillation excitation or a frequency of a vibration exciter comes into resonance with the frequency of the eigenform 18.
  • the position of the transmitter 22 is advantageously chosen so that the vibration to be measured of the eigenform at the measuring location has a significant amplitude deviation and is not zero.
  • For differential measurements of two or more encoder signals it should be noted that advantageously there is a significant difference in the deviation of the individual signal amplitudes of the two or more encoder signals. It is also possible to optimally arrange and evaluate a plurality of encoders for a plurality of eigenmodes in a further development of the printing press according to the invention which is not shown graphically.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Vibration Prevention Devices (AREA)

Description

Die Erfindung betrifft ein Verfahren zur Kompensation einer Schwingung, welche ein Frequenzspektrum mit einer Anzahl diskreter Frequenzanteile aufweist, in einer Druckmaschine, wobei wenigstens ein Gegenmoment zur Kompensation wenigstens eines diskreten Frequenzanteils der Schwingung in die Druckmaschine eingebracht wird.The invention relates to a method for compensating an oscillation, which has a frequency spectrum with a number of discrete frequency components, in a printing machine, wherein at least one counter-torque is introduced into the printing machine for compensating at least one discrete frequency component of the oscillation.

An Druckmaschinen können störende Schwingungen auftreten, welche einen negativen Einfluss auf die Druckqualität haben. Gerade für Bogendruckmaschinen mit einer langen Druckwerksgruppe, das heißt einer großen Anzahl von in Reihe angeordneten Druckwerken, typischerweise acht, zehn oder zwölf Druckwerken, ist eine besonders hohe Präzision erforderlich, um beispielsweise Lagefehler bei der Übergabe von Bedruckstoffbogen von einem ersten Bogen führenden Element zu einem zweiten Bogen führenden Element (Übergabefehler, Passerfehler) zu vermeiden. Schon geringe Schwingungsamplituden können bei derart empfindlichen mechanischen Systemen bereits eine inakzeptable Auswirkung haben.On printing machines, disturbing vibrations can occur, which have a negative influence on the print quality. Especially for sheet-fed presses with a long printing group, that is, a large number of printing units arranged in series, typically eight, ten or twelve printing units, a particularly high precision is required, for example, positional errors in the transfer of printing material from a first sheet leading element to a second arc leading element (handover error, registration error) to avoid. Even low vibration amplitudes can already have an unacceptable effect on such sensitive mechanical systems.

Grundsätzlich kann bereits durch einige konstruktive Maßnahmen Einfluss auf die dynamischen Eigenschaften der Druckmaschine, insbesondere Bogendruckmaschine, genommen werden, damit Resonanzen weit entfernt von den anregenden Frequenzen der störenden Schwingungen liegen. Auch kann versucht werden, durch konstruktive Maßnahmen die möglichen Störungsquellen zu verkleinern oder zu eliminieren oder die Kopplungskonstanten an Resonanzen zu verkleinern. Beispielsweise können Resonanzfrequenzverschiebungen durch Fertigungsänderungen, Anregungsreduzierungen durch gezielte Auswahl von konkreten Bauteilen oder Kopplungsverkleinerungen durch geschicktes Antriebsversetzen erreicht werden. Schließlich kann auch der Versuch unternommen werden, einzelne Störungsquellen in geeigneter Phase zu koppeln, so dass die Überlagerung der einzelnen Anregungen zu einer Schwingung möglichst minimal ist. Festzustellen ist jedoch, dass im Allgemeinen der sich mit mechanischen Mitteln eröffnende Spielraum zu gering ist, als dass Störungen unter eine akzeptable Schwelle verringert werden können.In principle, it is already possible to influence the dynamic properties of the printing machine, in particular sheet-fed printing press, by means of a number of design measures, so that resonances are far away from the exciting frequencies of the disturbing vibrations. It can also be attempted to reduce or eliminate the possible sources of interference by constructive measures or to reduce the coupling constants to resonances. For example, resonant frequency shifts can be achieved by manufacturing changes, excitation reductions by targeted selection of specific components or coupling reductions by clever drive offset. Finally, the attempt can be made to couple individual sources of interference in a suitable phase, so that the superposition of the individual excitations to a vibration is as minimal as possible. It should be noted, however, that in general the margin that opens up by mechanical means is too small for disturbances below an acceptable threshold to be reduced.

Aus dem Dokument DE 199 14 627 A1 beziehungsweise dem Dokument US 6,401,620 B1 sind ein Verfahren und eine Vorrichtung zur Kompensation einer Schwingung in einer Druckmaschine durch Einbringung von Gegenmomenten bekannt. Es wird mindestens eine Eigenform der Druckmaschine bestimmt und an einem Ort des Antriebsstrangs der Druckmaschine, an welchem die Eigenform nicht Null ist, das jeweilige Gegenmoment für die Kompensation der gesamten Schwingung ermittelt und hinterlegt. Beim Betrieb der Druckmaschine wird das vorbestimmte Gegenmoment an besagtem Ort aufgebracht, so dass die Schwingung maximal reduziert wird. In einer bevorzugten Ausführungsform wird das Gegenmoment mittels eines Kurvengetriebes erzeugt. Das Gegenmoment kann in Abhängigkeit der Maschinendrehzahl oder Maschinenfrequenz erzeugt werden.From the document DE 199 14 627 A1 or the document US 6,401,620 B1 For example, a method and a device for compensating a vibration in a printing press by introducing counter-moments are known. At least one eigenform of the printing machine is determined and at a location of the drive train of the printing press, at which the eigenform is not zero, the respective counter-momentum for the compensation of the entire oscillation is determined and stored. During operation of the printing press, the predetermined counter-torque is applied to said location, so that the oscillation is maximally reduced. In a preferred embodiment, the counter-torque is generated by means of a cam gear. The counter torque can be generated depending on the machine speed or machine frequency.

Aus dem Dokument DE 101 49 525 A1 beziehungsweise dem Dokument US 2002/0158180 A1 sind ein weiteres Verfahren und eine weitere Vorrichtung zur Kompensation einer Schwingung in einer Druckmaschine durch Einbringung von Gegenmomenten bekannt. Wenigstens ein, bevorzugt alle Frequenzanteile des Frequenzspektrums der Schwingung werden direkt oder indirekt gemessen und jedem dieser Frequenzanteile wird unabhängig von den anderen Frequenzanteilen ein entsprechendes Gegenmoment, insbesondere ein im Wesentlichen harmonisches Moment, gleicher Frequenz mit bestimmter Amplitude und Phase derart von einem direkt oder indirekt auf eine Maschinenwelle einwirkenden Aktuator überlagert, dass die Amplitude der Schwingung bei dieser Frequenz reduziert wird. In einer bevorzugten Ausführungsform wird diese technische Lehre zur Kompensation von Schwingungen nicht ganzzahliger Ordnung in Bezug auf die Maschinenfrequenz eingesetzt.From the document DE 101 49 525 A1 or the document US 2002/0158180 A1 For example, another method and apparatus for compensating for vibration in a printing machine by introducing countermeasures are known. At least one, preferably all frequency components of the frequency spectrum of the oscillation are measured directly or indirectly, and each of these frequency components is independent of the other frequency components a corresponding counter-torque, in particular a substantially harmonic torque, same frequency with specific amplitude and phase of such a direct or indirect An actuator acting on a machine shaft superimposes on the amplitude of the vibration at that frequency to be reduced. In a preferred embodiment, this technical teaching is used to compensate for vibrations of non-integer order with respect to the machine frequency.

Die DE 44 12 945 A1 offenbart eine Vorrichtung und ein Verfahren zur Dämpfung von mechanischen Schwingungen von Druckmaschinen. Ein den drehenden Teilen der Druckmaschine zugeordnetes Betätigungsglied wird von Schwingungsaufnehmern derart angesteuert, dass die Stellkräfte des Betätigungsgliedes die Schwingung dämpfen. Eine Regelungseinrichtung steuert dabei das Betätigungsglied derart an, dass nur nichtperiodisch mit den Umdrehungen der drehenden Teile auftretende, also asynchrone Schwingungen gedämpft werden. Synchrone Schwingungen können in einem Probelauf oder mittels Berechnung ermittel werden. Asynchrone Schwingungen können durch geschickt platzierte Schwingungsaufnehmer erfasst werden.The DE 44 12 945 A1 discloses an apparatus and method for damping mechanical vibrations of printing presses. An actuator associated with the rotating parts of the printing press is driven by vibration sensors such that the actuating forces of the actuator damp the vibration. A control device controls the actuator so that only non-periodically with the revolutions of the rotating parts occurring, ie asynchronous vibrations are damped. Synchronous vibrations can be used in a test run or by calculation. Asynchronous vibrations can be detected by cleverly placed vibration sensors.

Aufgabe der vorliegenden Erfindung ist es, ein Verfahren zur Kompensation einer Schwingung in einer Druckmaschine durch Einbringung eines oder mehrerer Gegenmomente zu schaffen, in welchem die Schwingung mit einer Mehrzahl von Aktuatoren mit geringem Aufwand bekämpft werden kann.Object of the present invention is to provide a method for compensating for a vibration in a printing machine by introducing one or more counter-moments, in which the vibration can be controlled with a plurality of actuators with little effort.

Diese Aufgabe wird erfindungsgemäß durch ein Verfahren zur Kompensation einer Schwingung in einer Druckmaschine mit den Merkmalen gemäß Anspruch 1 gelöst.This object is achieved by a method for compensating for a vibration in a printing press with the features of claim 1.

Vorteilhafte Weiterbildungen der Erfindung sind in den abhängigen Ansprüchen charakterisiert.Advantageous developments of the invention are characterized in the dependent claims.

Im erfindungsgemäßen Verfahren zur Kompensation einer Schwingung, insbesondere einer Drehschwingung, welche ein Frequenzspektrum mit einer Anzahl diskreter Frequenzanteile aufweist, in einer Druckmaschine, insbesondere einer Bogendruckmaschine, wird wenigstens ein Gegenmoment zur Kompensation wenigstens eines diskreten Frequenzanteils der Schwingung in die Druckmaschine, insbesondere die Bogendruckmaschine, eingebracht. Eine erste Gruppe von einem oder mehreren Frequenzanteilen wird durch Einbringung eines oder mehrerer vorherbestimmter Gegenmomente kompensiert, und eine zweite Gruppe von einem oder mehreren Frequenzanteilen wird durch Einbringung eines oder mehrerer in Abhängigkeit einer während des Betriebes der Druckmaschine erfolgenden Messung wenigstens eines Signals, also eines Signals oder mehrerer Signale, welches oder welche wenigstens den einen oder die mehreren Frequenzanteile enthält oder enthalten, bestimmten Gegenmomente kompensiert, insbesondere bevorzugt vollständig oder genau kompensiert.In the method according to the invention for compensating a vibration, in particular a torsional vibration, which has a frequency spectrum with a number of discrete frequency components in a printing press, in particular a sheet-fed press, at least one counter-torque is used to compensate for at least one discrete frequency component of the vibration in the printing press, in particular the sheet-fed press, brought in. A first group of one or more frequency components is compensated by introducing one or more predetermined counter-moments, and a second group of one or more frequency components is formed by introducing one or more in response to a measurement of at least one signal, ie, a signal, during operation of the printing machine or more signals, which or at least one of the one or more frequency components contains or contain certain counter moments compensated, in particular preferably completely or accurately compensated.

Der Erfindung liegt der Gedanke zugrunde, eine Schwingung, insbesondere eine Drehschwingung, in einer Druckmaschine mit einer Methode zu kompensieren, bei der die einzelnen Frequenzkomponenten der Schwingung in mehrere, bevorzugt zwei Gruppen oder Klassen unterteilt werden. Das Frequenzspektrum einer Druckmaschine ohne einwirkende Kompensationsverfahren wird betrachtet, und es erfolgt eine Einordnung oder Aufteilung der festgestellten Frequenzanteile. Für jede dieser Klassen wird eine für den Zweck der möglichst vollständigen Kompensation optimal angepasste Kompensationsmethode gewählt, so dass die auftretende Gesamtschwingungsamplitude minimiert wird. Die Schwingung wird in vorteilhafter Weise mit möglichst geringem Aufwand bekämpft. Ein Gegenmoment hat idealerweise eine derart betragsmäßig angepasste Amplitude und eine Gegenphase in Bezug auf die zu kompensierende Schwingung, dass die überlagerte Amplitude möglichst gering ist, bevorzugt verschwindet (zu Null wird).The invention is based on the idea of compensating a vibration, in particular a torsional vibration, in a printing machine with a method in which the individual frequency components of the vibration are subdivided into a plurality, preferably two groups or classes. The frequency spectrum of a printing machine without acting compensation method is considered, and there is a classification or distribution of the detected frequency components. For each of these classes, a compensating method optimally adapted for the purpose of the most complete compensation is selected, so that the occurring total oscillation amplitude is minimized. The vibration is combated in an advantageous manner with the least possible effort. A counter-momentum ideally has an amplitude adjusted in absolute terms and an antiphase in relation to the oscillation to be compensated, such that the superimposed amplitude is as low as possible, preferably disappears (becomes zero).

Die Schwingung kann dabei eine Schwingung der gesamten Druckmaschine oder eines Maschinenteils, beispielsweise einer Welle eines Zylinders, sein. Die Welle kann eine direkt oder indirekt angetriebene Welle sein. Die Schwingung kann sich beispielsweise auf die Position, die Geschwindigkeit oder die Beschleunigung beziehen. Die Schwingung kann beispielsweise auch eine Schwingung einer so genannten virtuellen Maschinenwelle sein, das heißt eine Schwingung einer Relativposition, einer Relativgeschwindigkeit oder einer Relativbeschleunigung zwischen zwei Maschinenteilen sein.The vibration may be a vibration of the entire printing press or a machine part, for example a shaft of a cylinder. The shaft may be a directly or indirectly driven shaft. The vibration may relate, for example, to the position, the speed or the acceleration. The oscillation may, for example, also be a vibration of a so-called virtual machine shaft, that is to say a vibration of a relative position, a relative speed or a relative acceleration between two machine parts.

Der Verlauf der vorbestimmten Gegenmomente für die erste Gruppe kann hardwaremäßig oder in einer Steuerungseinheit der Druckmaschine softwaremäßig hinterlegt und für die Kompensation verfügbar sein. Das gemessene Signal kann das Signal wenigstens eines Maschinendrehgebers, beispielsweise eines Gebers für die Maschinendrehzahl, sein.The course of the predetermined counter torques for the first group can be stored in software or in a control unit of the printing press in terms of hardware or be available for the compensation. The measured signal may be the signal of at least one machine encoder, for example an engine speed sender.

Das eine oder die mehreren vorherbestimmten Gegenmomente zur Kompensation der ersten Gruppe von einem oder mehreren Frequenzanteilen können gemäß der technischen Lehre des Dokuments DE 199 14 627 A1 oder des Dokuments US 6,401,620 B1 , erfindungsgemäß übertragen angewendet nur in Bezug auf die erste Gruppe, also nur eines Teiles oder einer Untermenge des Frequenzgehaltes der Schwingung, nicht etwa der gesamten Schwingung, erfolgen.The one or more predetermined counter-moments for compensating the first group of one or more frequency components may be determined according to the technical teaching of the document DE 199 14 627 A1 or the document US 6,401,620 B1 , applied according to the invention applied only with respect to the first group, that is, only a part or a subset of the frequency content of the vibration, not the entire vibration done.

Das eine oder die mehreren in Abhängigkeit einer während des Betriebes der Druckmaschine erfolgenden Messung eines Signals, welches wenigstens den ein oder die mehreren Frequenzanteile enthält, bestimmten Gegenmomente zur Kompensation der zweiten Gruppe von einem oder mehreren Frequenzanteilen können gemäß der technischen Lehre des Dokuments DE 101 49 525 A1 oder des Dokuments US 2002/0158180 A1 erfindungsgemäß übertragen angewendet nur in Bezug auf die zweite Gruppe, also nur eines anderen Teiles oder einer anderen Untermenge des Frequenzgehaltes der Schwingung, nicht etwa der gesamten Schwingung, erfolgen.The one or more countermeasures for compensating the second group of one or more frequency components as a function of measurement of a signal which contains at least the one or more frequency components as a result of the operation of the printing press can be determined according to the technical teaching of the document DE 101 49 525 A1 or the document US 2002/0158180 A1 Applied according to the invention, applied only with respect to the second group, ie only one other part or another subset of the frequency content of the oscillation, not the entire oscillation.

In einer bevorzugten Ausführungsform des erfindungsgemäßen Verfahrens enthält die zweite Gruppe nur einen oder mehrere Frequenzanteile, die nicht in der ersten Gruppe enthalten sind. Des Weiteren oder alternativ dazu können in einer bevorzugten Ausführungsform des erfindungsgemäßen Verfahrens die Frequenzanteile der ersten Gruppe und der zweiten Gruppe zusammen den wesentlichen Teil oder genau das Frequenzspektrum ergeben. Unter dem wesentlichen Teil ist der für die Bekämpfung der Schwingung bis unter einer Akzeptanzschwelle nicht zu vernachlässigbare Anteil des Frequenzspektrums zu verstehen.In a preferred embodiment of the method according to the invention, the second group contains only one or more frequency components which are not contained in the first group. Furthermore or alternatively, in a preferred embodiment of the method according to the invention, the frequency components of the first group and the second group together can give the essential part or exactly the frequency spectrum. The essential part is understood to mean that part of the frequency spectrum that is not negligible for combating the vibration below an acceptance threshold.

In einer vorteilhaften Ausprägung des erfindungsgemäßen Verfahrens zur Kompensation einer Schwingung können der oder die Frequenzanteile der ersten Gruppe ganzzahlige Vielfache (im Allgemeinen einschließlich 1, bevorzugt größer als 1) der Maschinenfrequenz und der oder die Frequenzanteile der zweiten Gruppe nicht ganzzahlige Vielfache der Maschinenfrequenz sein. Die Maschinenfrequenz oder Antriebsfrequenz, insbesondere Hauptantriebsfrequenz, bezieht sich insbesondere auf die Drehzahl, Taktung oder Exemplargeschwindigkeit.In an advantageous embodiment of the method according to the invention for compensating a vibration, the frequency component or components of the first group may be integer multiples (generally including 1, preferably greater than 1) of the machine frequency and the frequency component or frequencies of the second group may be non-integer multiples of the machine frequency. The machine frequency or drive frequency, in particular main drive frequency, refers in particular to the speed, timing or copy speed.

Bevorzugt sind im erfindungsgemäßen Verfahren zur Kompensation einer Schwingung der oder die Frequenzanteile der ersten Gruppe lastrelevante Frequenzen und der oder die Frequenzanteile der zweiten Gruppe passerrelevante Frequenzen. Frequenzen sind lastrelevant, wenn sie eine ganzzahlige Ordnung zur Maschinenfrequenz aufweisen, ein hohes Moment zur Kompensation erfordern und insofern deterministisch sind, als vor dem Betrieb der Druckmaschine die Amplitude und Phase des Frequenzanteils bestimmbar ist. Frequenzen sind passerrelevant, wenn sie eine.nicht ganzzahlige Ordnung zur Maschinenfrequenz aufweisen, ein geringes Moment, typischerweise nur einige Newtonmeter, zur Kompensation erfordern und insofern nicht vorherbestimmbar oder exemplarspezifisch sind, als Amplitude und Phase des Frequenzanteils der Schwingung während des Betriebes der Druckmaschine individuell zu bestimmten und zu kompensieren ist.Preferably, in the method according to the invention for compensating for an oscillation of the frequency component (s) of the first group, load-relevant frequencies and the frequency component (s) of the second group are register-relevant frequencies. Frequencies are load-relevant if they have an integer order at the machine frequency, require a high torque for compensation, and are deterministic insofar as the amplitude and phase of the frequency component can be determined before operation of the printing press. Frequencies are registration relevant if they have a non-integer order to the machine frequency, require a small moment, typically only a few Newton meters, for compensation and are thus not predictable or specimen specific, as the amplitude and phase of the frequency component of the oscillation during operation of the printing press determined and to compensate.

Bei der Zerlegung des Frequenzspektrums der Schwingung in Frequenzanteile und Einteilung der Frequenzanteile in Gruppen kann es ausreichend sein, nur diejenigen, meist niedrigfrequenten Anteile zu berücksichtigen, welche die niedrigen Eigenmoden, insbesondere die erste und die zweite Eigenfrequenz der Druckmaschine anregen können, das heißt in hinreichender Nähe zu den Resonanzen der Druckmaschine liegen. Die höherfrequenten Anteile sind meist relativ zu den anderen klein und brauchen in der Regel nicht berücksichtigt zu werden. Mit anderen Worten, die Schwingung kann im Wesentlichen, das heißt innerhalb eines für die Anwendung der Schwingungskompensation akzeptablen Fehlerintervalls, durch die niedrigfrequenten Frequenzanteile dargestellt werden.When dividing the frequency spectrum of the oscillation into frequency components and dividing the frequency components into groups, it may be sufficient to consider only those components, usually low-frequency components, which can excite the low eigenmodes, in particular the first and the second natural frequency of the printing press, ie in a sufficient manner Close to the resonances of the printing press lie. The higher-frequency components are usually small relative to the others and generally do not need to be considered. In other words, the vibration can be represented substantially, that is, within an error interval acceptable for the application of the vibration compensation, by the low-frequency frequency components.

Die Einbringung des oder der (vorbestimmten) Gegenmomente der ersten Gruppe des oder der Frequenzanteile und/oder des oder der auf Basis des oder der Signale bestimmten Gegenmomente der zweiten Gruppe des oder der Frequenzanteile kann im erfindungsgemäßen Verfahren an gemäß dem Amplitudenverlauf einer der Eigenformen der Druckmaschine ausgewählten Orten erfolgen.The introduction of the (predetermined) counter-moments of the first group of the frequency component (s) and / or the counter-torque (s) of the second group of the frequency component (s) determined in the method according to the invention can be determined according to the amplitude characteristic of one of the modes of the printing machine selected places.

Bevorzugt umfasst im erfindungsgemäßen Verfahren die Messung des Signals wenigstens eine orthogonale Korrelation zur Bestimmung von Amplitude und Phase eines Frequenzanteils der zweiten Gruppe. Des Weiteren oder alternativ dazu können im erfindungsgemäßen Verfahren das eine oder die mehreren vorherbestimmten Gegenmomente mittels einer oder mehrerer mechanischer Vorrichtungen erzeugt und eingebracht werden. Die eine oder mehreren mechanischen Vorrichtungen können Kurvengetriebe, insbesondere Kurvenscheiben sein. Die Kurvengetriebe, insbesondere Kurvenscheiben können derart ausgeführt sein, dass sie periodisch mit einem oder mehreren ganzzahligen Vielfachen (im Allgemeinen einschließlich 1, bevorzugt größer als 1) der Maschinenfrequenz wirken. Alternativ zu einer oder mehrerer mechanischen Vorrichtungen können eine oder mehrere elektrische Kurven, insbesondere periodische Ansteuerungsprofile für einen elektrischen Antrieb, für die Ansteuerung eines Aktuators zum Einsatz gelangen, so dass ein oder mehrere vorherbestimmte Gegenmomente mittels einer oder mehrerer elektrischer Kurven erzeugt und eingebracht werden. Eine erfindungsgemäß eingesetzte elektrische Kurve kann insbesondere abhängig von der Maschinenfrequenz, also maschinengeschwindigkeitsabhängig ausgeführt sein.In the method according to the invention, the measurement of the signal preferably comprises at least one orthogonal correlation for determining the amplitude and phase of a frequency component of the second group. Furthermore or alternatively, in the method according to the invention, the one or more predetermined counter-moments can be generated and introduced by means of one or more mechanical devices. The one or more mechanical devices may be cam gears, in particular cams. The cam gears, in particular cams may be designed such that they periodically with one or more integral multiples (generally including 1, preferably greater than 1) of the machine frequency act. As an alternative to one or more mechanical devices, one or more electrical curves, in particular periodic control profiles for an electric drive, can be used to control an actuator so that one or more predetermined counter-moments are generated and introduced by means of one or more electrical curves. A According to the invention used electrical curve can be carried out in particular depending on the machine frequency, ie machine speed dependent.

Erfindungsgemäß werden das eine oder die mehreren in Abhängigkeit der Messung bestimmten Gegenmomente der zweiten Gruppe nur eingebracht, wenn der zu dem oder den Gegenmomenten korrespondierende Frequenzanteil in Resonanz zu einer Eigenfrequenz der Druckmaschine ist. Mit anderen Worten, die diskrete Schwingungskompensation wird nur dann betrieben oder eingeschaltet, wenn sie tatsächlich erforderlich ist, weil eine Auswirkung auf die Druckmaschine zu erwarten ist.According to the invention, the one or more countermeasures of the second group, which are determined as a function of the measurement, are introduced only when the frequency component corresponding to the counter torque (s) is in resonance with a natural frequency of the printing press. In other words, the discrete vibration compensation is operated or turned on only when it is actually required because an effect on the printing machine is expected.

Die Berücksichtigung der Anregungsmöglichkeiten der Frequenzanteile der Schwingung auf die Eigenfrequenzen oder Eigenformen (Eigenmoden) der Druckmaschine kann auch als modaler Ansatz oder als modale Kompensation bezeichnet werden. Insbesondere kann erfindungsgemäß eine modale Kompensation der passerrelevanten (nicht ganzzahligen) und/oder der lastrelevanten (ganzzahligen) Frequenzanteile erfolgen.The consideration of the excitation possibilities of the frequency components of the oscillation on the natural frequencies or eigenmodes (eigenmodes) of the printing machine can also be referred to as a modal approach or as a modal compensation. In particular, according to the invention, a modal compensation of the register-relevant (non-integer) and / or the load-relevant (integer) frequency components can take place.

Des weiteren oder alternativ dazu ist es bevorzugt, wenn das eine oder die mehreren vorherbestimmten Gegenmomente der ersten Gruppe in der Nähe des Anfangs und/oder des Endes im wesentlichen am Anfang und/oder am Ende der Druckwerksreihe der Druckmaschine, insbesondere über Einrichtungen mit hinterlegten Momentverläufen, und das eine oder die mehreren in Abhängigkeit der Messung bestimmten Gegenmomente der zweiten Gruppe in der Nähe der Mitte oder im wesentlichen in der Mitte der Druckwerksreihe der Druckmaschine, insbesondere mittels des Hauptmotors der Druckmaschine, eingebracht werden. Für die erste Gruppe von Frequenzanteilen, insbesondere lastrelevanten, also hohe Kompensationsmomente erforderlich machenden Frequenzanteilen, sind die Hebelarme in der Nähe des Anfangs und/oder des Endes der Druckwerksgruppe zur Kompensation der oder die an die Schwingung koppelnden Eigenformen besonders günstig. Bei der Verwendung des Hauptmotors der Druckmaschine, insbesondere für die zweite Gruppe von Frequenzanteilen, bevorzugt den passerrelevanten, ist mit diesem Antrieb praktisch ein Aktuator ohne zusätzliche Hardware oder eine Hardwareänderung verfügbar. Es ist aber klar, dass alternativ dazu auch ein Zusatzaktuator zum Einsatz gelangen kann.Furthermore, or alternatively, it is preferred if the one or more predetermined counter moments of the first group in the vicinity of the beginning and / or the end substantially at the beginning and / or at the end of the printing unit row of the printing press, in particular on devices with stored torque curves , and the one or more depending on the measurement determined counter moments of the second group in the vicinity of the center or substantially in the middle of the printing unit row of the printing press, in particular by means of the main motor of the printing press, are introduced. For the first group of frequency components, in particular load-relevant frequency components which make high compensation torques, the lever arms in the vicinity of the beginning and / or the end of the printing unit group are particularly favorable for compensation or the mode shapes coupling to the oscillation. When using the main motor of the printing machine, in particular for the second group of frequency components, preferably the passerrelevanten, with this drive practically an actuator without additional hardware or a hardware change is available. But it is clear that, alternatively, a Additional actuator can be used.

Des weiteren oder alternativ dazu ist es vorteilhaft, dass in einer bevorzugten Ausprägung des erfindungsgemäßen Verfahrens der oder die Frequenzanteile der zweiten Gruppe aus der Differenz der Signale wenigstens zweier Geber oder Sensoren, welche an voneinander verschiedenen Orten der Druckmaschine angeordnet sind, ermittelt werden.Furthermore or alternatively, it is advantageous that, in a preferred embodiment of the method according to the invention, the frequency component or components of the second group are determined from the difference between the signals of at least two sensors or sensors which are arranged at mutually different locations of the printing press.

In einer vorteilhaften Weiterentwicklung des erfindungsgemäßen Verfahrens werden sowohl wenigstens eines der vorbestimmten Gegenmomente als auch wenigstens eines der auf Basis des oder der Signale bestimmte Gegenmomente zusammen durch einen Aktuator eingebracht. Mit anderen Worten, die an einem Ort in die Druckmaschine für die Kompensation einzubringenden Gegenmomente für beide Klassen können mittels eines identischen Aktuators der Druckmaschine aufgebracht werden. Die Gegenmomente können einem Antriebsmoment des Aktuators aufgeschaltet sein. Insbesondere kann sich dieser Aktuator in der Nähe des Anfangs oder des Endes der Druckwerksreihe der Druckmaschine befinden.In an advantageous further development of the method according to the invention, at least one of the predetermined counter torques and at least one of the counter torques determined on the basis of the signal or signals are introduced together by an actuator. In other words, the counter torques for both classes to be introduced into the printing machine for the compensation can be applied by means of an identical actuator of the printing press. The counter-moments can be switched to a drive torque of the actuator. In particular, this actuator may be located near the beginning or the end of the printing unit row of the printing press.

Im Zusammenhang des erfinderischen Gedankens steht auch eine Druckmaschine, insbesondere eine Bogendruckmaschine. Das erfindungsgemäße Verfahren kann insbesondere in einer lithographischen Druckmaschine oder Offsetdruckmaschine zum Einsatz gelangen. Die Druckmaschine kann eine Mehrfarbendruckmaschine sein, insbesondere eine Mehrzahl von Druckwerken in Reihe, typischerweise 4, 6 oder 8 Druckwerke aufweisen. Die Druckmaschine kann bevorzugt Papier oder Karton als Bedruckstoffe verarbeiten. Eine erfindungsgemäße Druckmaschine weist eine zur Durchführung des erfindungsgemäßen Verfahrens geeignete oder ausgeführte Einrichtung zur Kompensation einer Schwingung, welche ein Frequenzspektrum mit einer Anzahl diskreter Frequenzanteile aufweist, und wenigstens einen Aktuator zur Einbringung wenigstens eines Gegenmoments zur Kompensation wenigstens eines diskreten Frequenzanteils der Schwingung in die Druckmaschine auf. Die Druckmaschine kann an den Enden der Reihe von Druckwerken jeweils wenigstens einen Aktuator zur Einbringung eines oder mehrerer vorbestimmter Gegenmomente für die erste Gruppe von Frequenzanteilen aufweisen und wenigstens einen Aktuator, der insbesondere der Hauptantrieb der Druckmaschine sein kann, in wesentlichen in der Mitte der Druckwerksgruppe oder der Druckmaschine aufweisen, mit welchem eines oder mehrere Gegenmomente für die zweite Gruppe von Frequenzanteilen eingebracht werden können. Die Druckmaschine kann wenigstens einen, bevorzugt wenigstens zwei Geber oder Sensoren aufweisen, welche derart in der Druckmaschine angeordnet sind, dass sie nicht an Orten liegen, an denen die an die Schwingung ankoppelnde Eigenform Null ist. Die Geber können insbesondere Drehgeber sein.In the context of the inventive idea is also a printing press, in particular a sheet-fed press. The inventive method can be used in particular in a lithographic printing press or offset printing machine. The printing press can be a multi-color printing press, in particular a plurality of printing units in series, typically comprising 4, 6 or 8 printing units. The printing machine can preferably process paper or cardboard as substrates. A printing press according to the invention has a device suitable or implemented for carrying out the method according to the invention for compensating an oscillation which has a frequency spectrum with a number of discrete frequency components, and at least one actuator for introducing at least one counter torque for compensating at least one discrete frequency component of the oscillation in the printing machine , The printing press may each have at least one actuator for introducing one or more predetermined counter moments for the first group of frequency components at the ends of the row of printing units and at least one actuator, in particular the Main drive of the printing press may have, substantially in the middle of the printing group or the printing press, with which one or more counter-moments for the second group of frequency components can be introduced. The printing press may have at least one, preferably at least two encoders or sensors, which are arranged in the printing press in such a way that they do not lie in places where the inherent shape coupled to the oscillation is zero. The encoders can be in particular encoders.

Weitere Vorteile und vorteilhafte Ausführungsformen und Weiterbildungen der Erfindung werden anhand der nachfolgenden Darstellung mit Bezug auf die beigefügten Figuren beschrieben. Es zeigt im Einzelnen:

Figur 1
eine schematische qualitative Darstellung eines beispielhaften repräsentativen Frequenzspektrums einer Schwingung einer Bogendruckmaschine, und
Figur 2
eine schematische Darstellung einer Ausführungsform einer erfindungsgemäßen Druckmaschine.
Further advantages and advantageous embodiments and developments of the invention will be described with reference to the following description with reference to the accompanying figures. It shows in detail:
FIG. 1
a schematic qualitative representation of an exemplary representative frequency spectrum of a vibration of a sheet-fed press, and
FIG. 2
a schematic representation of an embodiment of a printing machine according to the invention.

Die Figur 1 zeigt eine schematische qualitative Darstellung eines beispielhaften repräsentativen Frequenzspektrums einer Schwingung einer Bogendruckmaschine mit einer großen Anzahl von Druckwerken. Aufgetragen ist der Betrag der Amplitude A in angemessenen Einheiten (appropriate units, a.u.) in Funktion der relativen Frequenz f bezogen auf die Maschinenfrequenz ωM. Das Frequenzspektrum weist mehrere diskrete Frequenzlinien unterschiedlicher Amplitude auf. Es existieren Frequenzanteile, welche ganzzahlige Vielfache (einschließlich 1) der Maschinenfrequenz ωM darstellen. Des Weiteren existieren Frequenzanteile, welche nicht ganzzahlige Vielfache der Maschinenfrequenz ωM sind. Die Amplituden der nicht ganzzahligen Frequenzanteile sind deutlich geringer als diejenigen der ganzzahligen Frequenzanteile. Die Summe der Frequenzanteile des Frequenzspektrum konvergiert mit zunehmender Frequenz gegen die Schwingung, das heißt, die Schwingung ist mit hinreichender Genauigkeit durch die niedrigen Frequenzanteile darstellbar. Im konkret in Figur 1 gezeigten Beispiel gibt es nur Frequenzanteile bis zum siebenfachen der Maschinenfrequenz ωM. Erfindungsgemäß erfolgt für das Verfahren zur Kompensation eine gruppenweise Einteilung des Frequenzspektrums in bevorzugter Ausführungsform in der folgenden Weise: In die erste Gruppe 10 sind die ganzzahligen Frequenzanteile eingeordnet, die zweite Gruppe 12 besteht aus den nicht ganzzahligen Frequenzanteilen. Um die ganzzahligen und relativ starken Frequenzanteile der ersten Gruppe 10 zu bekämpfen, werden erfindungsgemäß vorbestimmte Gegenmomente eingesetzt. Um die nicht ganzzahligen und relativ schwachen Frequenzanteile der zweiten Gruppe 12 zu kompensieren, werden erfindungsgemäß aus Messungen ermittelte Gegenmomente eingesetzt.The FIG. 1 shows a schematic qualitative representation of an exemplary representative frequency spectrum of a vibration of a sheet-fed press with a large number of printing units. The magnitude of the amplitude A is plotted in appropriate units (au) as a function of the relative frequency f with respect to the machine frequency ω M. The frequency spectrum has several discrete frequency lines of different amplitudes. There are frequency components which represent integer multiples (including 1) of the machine frequency ω M. Furthermore, there are frequency components which are non-integer multiples of the machine frequency ω M. The amplitudes of the non-integer frequency components are significantly lower than those of the integer frequency components. The sum of the frequency components of the frequency spectrum converges with increasing frequency against the vibration, that is, the vibration is represented with sufficient accuracy by the low frequency components. In concrete in FIG. 1 example shown only exists Frequency components up to seven times the machine frequency ω M. According to the invention, a group-wise division of the frequency spectrum in a preferred embodiment takes place in the following manner for the method for compensation: In the first group 10, the integer frequency components are arranged, the second group 12 consists of the non-integer frequency components. In order to combat the integer and relatively strong frequency components of the first group 10, predetermined counter torques are used according to the invention. In order to compensate for the non-integer and relatively weak frequency components of the second group 12, according to the invention countermeasures determined from measurements are used.

Die absolute Frequenz der Frequenzanteile variiert mit der Maschinenfrequenz ωM. In Funktion der Maschinenfrequenz ωM kann auch die Amplitude eines Frequenzanteils variieren. Häufig ist in der Realität eine Amplitudenvariation der ganzzahligen Momente in Funktion der Frequenz für ganzzahlige Frequenzanteile entweder nicht vorhanden oder im Rahmen der erforderlichen Präzision vernachlässigbar klein. Besondere Bedeutung erlangt ein Frequenzanteil genau dann, wenn er zu einer Eigenfrequenz der Druckmaschine in Resonanz kommt, das heißt, wenn die Frequenzen des Frequenzanteils und einer Eigenschwingung sich ähneln oder hinreichend übereinstimmen, da dann insbesondere eine Resonanzanregung der Druckmaschine zu einer Schwingung stattfinden kann. In der Praxis hat sich herausgestellt, dass typischerweise nur ein oder wenige Schwingungserreger, also nur ein Frequenzanteil oder wenige Frequenzanteile, mit einer Eigenfrequenz in Resonanz ist beziehungsweise sind. Das Schwingungsverhalten der Druckmaschine ist in einer derartigen Situation nur durch eine einzelne Frequenz bestimmt, deren Schwingung zu bekämpfen ist.The absolute frequency of the frequency components varies with the machine frequency ω M. As a function of the machine frequency ω M , the amplitude of a frequency component can also vary. Frequently, in reality, an amplitude variation of the integer moments as a function of the frequency for integer frequency components either does not exist or is negligibly small within the required precision. A frequency component acquires particular importance precisely when it resonates at a natural frequency of the printing press, that is to say when the frequencies of the frequency component and a natural oscillation are similar or sufficiently coincident, since in particular a resonance excitation of the printing press can take place to a vibration. In practice, it has been found that typically only one or a few vibration exciters, that is to say only a frequency component or a few frequency components, are or are in resonance with a natural frequency. The vibration behavior of the printing press is determined in such a situation only by a single frequency whose vibration is to combat.

Die Figur 2 ist eine schematische Darstellung einer Ausführungsform einer erfindungsgemäßen Druckmaschine 14, hier einer Bogendruckmaschine, mit sechs Druckwerken 16, einem Anleger 28 und einem Ausleger 30. Die Druckmaschine 14 kann in einer Eigenform 18 zu einer Schwingung angeregt werden, insbesondere in Konsequenz der in Bezug auf Figur 1 erläuterten Einwirkung von resonanten Frequenzanteilen von Störungen (Schwingungserregern).The FIG. 2 is a schematic representation of an embodiment of a printing press 14 according to the invention, here a sheet-fed press, with six printing units 16, a feeder 28 and a boom 30. The printing press 14 can be excited in a mode 18 to a vibration, in particular in consequence of with respect to FIG. 1 explained influence of resonant frequency components of disturbances (vibration exciters).

Ziel ist die Kompensation der Schwingung der Eigenform 18, so dass eine reduzierte oder kompensierte Schwingung 20 der Eigenform resultiert. Erfindungsgemäß weist dazu die Druckmaschine 14 mechanische Vorrichtungen 32, hier zwei Kurvengetriebe, wie im Dokument DE 199 14 627 A1 oder Dokument US 6,401,620 B1 detailliert erläutert, an den Enden der Reihe von Druckwerken 16, zur Erzeugung von vorbestimmten Gegenmomenten auf. Diese Positionen sind in Bezug auf den Amplitudenverlauf der gezeigten Eigenform 18 besonders vorteilhaft. Die Frequenzen der Gegenmomente sind zu der Maschinenfrequenz proportional, insbesondere Vielfache (einschließlich 1) der Maschinenfrequenz. Die Amplituden der Gegenmomente können konstant sein: Mit den vorbestimmten Gegenmomenten werden durch Schwingungserreger mit konstanter Kraftwirkung oder Momentwirkung erzeugte Schwingungen kompensiert, so dass sich die notwendigen Amplituden zur Kompensation nicht mit der Maschinenfrequenz ändern.The goal is the compensation of the oscillation of the eigenform 18, so that a reduced or compensated oscillation 20 of the eigenform results. According to the invention, the printing press 14 has mechanical devices 32, here two cam mechanisms, as in the document DE 199 14 627 A1 or document US 6,401,620 B1 explained in detail, at the ends of the series of printing units 16, for generating predetermined counter moments on. These positions are particularly advantageous with respect to the amplitude characteristic of the eigenform 18 shown. The frequencies of the counter moments are proportional to the machine frequency, in particular multiples (including 1) of the machine frequency. The amplitudes of the counter torques can be constant: With the predetermined counter torques vibrations generated by vibration exciters with a constant force action or torque effect are compensated, so that the necessary amplitudes do not change with the machine frequency for compensation.

Des Weiteren wird mittels eines Gebers 22 ein für die Schwingung repräsentatives Signal gewandelt und einer Regelungseinrichtung 24 zugeführt. Mit Hilfe der Regelungseinrichtung 24 ist das erforderliche Gegenmoment zur Kompensation berechenbar. Das Gegenmoment wird dem Antriebsmoment des Hauptantriebs 26 aufgeschaltet, so dass eine Kompensation der Schwingung der Eigenform 18 bewirkt wird. Schwingung und die durch das Gegenmoment induzierte Gegenschwingung sollen bevorzugt einander annullieren, zumindest soll sich die resultierende Gesamtschwingung unter einer Akzeptanzschwelle befinden. Der Geber 22 wird insbesondere dann ein Signal messen können, wenn eine Schwingungsanregung oder eine Frequenz eines Schwingungserregers in Resonanz zur Frequenz der Eigenform 18 kommt. Die Position des Gebers 22 ist vorteilhafterweise so gewählt, dass die zu messende Schwingung der Eigenform am Messort einen deutlichen Amplitudenhub aufweist und nicht Null ist. Für Differenzmessungen zweier oder mehrerer Gebersignale ist zu beachten, dass vorteilhafterweise ein deutlicher Differenzhub der einzelnen Signalamplituden der zwei oder mehr Gebersignale besteht. Es kann auch in einer nicht grafisch dargestellten Weiterentwicklung der erfindungsgemäßen Druckmaschine eine Mehrzahl von Gebern für eine Mehrzahl von Eigenformen jeweils optimiert angeordnet und ausgewertet werden.Furthermore, a signal representative of the oscillation is converted by means of a transmitter 22 and supplied to a control device 24. With the aid of the control device 24, the required counter-torque for compensation can be calculated. The counter-torque is applied to the drive torque of the main drive 26, so that a compensation of the oscillation of the eigen-form 18 is effected. Oscillation and the counter-momentum induced by the counter-momentum should preferably cancel each other, at least the resulting total vibration should be below an acceptance threshold. The transmitter 22 will be able to measure a signal, in particular, when an oscillation excitation or a frequency of a vibration exciter comes into resonance with the frequency of the eigenform 18. The position of the transmitter 22 is advantageously chosen so that the vibration to be measured of the eigenform at the measuring location has a significant amplitude deviation and is not zero. For differential measurements of two or more encoder signals, it should be noted that advantageously there is a significant difference in the deviation of the individual signal amplitudes of the two or more encoder signals. It is also possible to optimally arrange and evaluate a plurality of encoders for a plurality of eigenmodes in a further development of the printing press according to the invention which is not shown graphically.

BEZUGSZEICHENLISTELIST OF REFERENCE NUMBERS

1010
Frequenzanteile der ersten GruppeFrequency components of the first group
1212
Frequenzanteile der zweiten GruppeFrequency components of the second group
1414
Druckmaschinepress
1616
Druckwerkprinting unit
1818
Eigenformeigenform
2020
kompensierte Schwingung der Eigenformcompensated oscillation of eigenform
2222
Gebergiver
2424
Regelungseinrichtungcontrol device
2626
Hauptantriebmain drive
2828
Anlegerinvestor
3030
Auslegerboom
3232
mechanische Vorrichtung zur Erzeugung von Gegenmomentenmechanical device for generating counter-moments
AA
Amplitudeamplitude
ff
relative Frequenz in Bezug auf die Maschinenfrequenzrelative frequency in relation to the machine frequency
ωM ω M
Maschinenfrequenzmachine frequency

Claims (11)

  1. Method for compensating a vibration that has a frequency spectrum with a number of discrete frequency components in a printing press (14) with a machine frequency (ωM) in relation to a rotational speed thereof wherein at least one counter-torque for compensating for at least one discrete frequency component of the vibration is introduced into the printing press (14), wherein
    - the frequency components of the vibration are divided into multiple classes, the frequency component/s of a first class (10) being integer multiples of the machine frequency (ωM) and the frequency components of a second class (12) are non-integer multiples of the machine frequency (ωM),
    - wherein the first class (10) of one or more frequency components is compensated for by introducing one or more predetermined counter-torques, and
    - wherein the second class (12) of one or more frequency components is compensated for by introducing one or more counter-torques determined as a function of at least one signal measured during the operation of the printing press and containing at least the one or the multiple frequency components,
    characterized in
    that the multiple counter-torques of the second class as determined as a function of the measurement are only introduced if the frequency component corresponding to the counter-torques is in resonance with an eigenfrequency of the printing press (14).
  2. Method for compensating a vibration according to Claim 1,
    characterized in
    that the second class (12) contains only one or more frequency components that are not contained in the first class (10).
  3. Method for compensating a vibration according to one of the preceding claims,
    characterized in
    that the frequency components of the first class (10) and of the second class (12) together form the essential part or exactly the frequency spectrum.
  4. Method for compensating a vibration according to one of the preceding claims,
    characterized in
    that i) the frequency component/s of the first class (10) are load-relevant frequencies and that ii) the frequency component/s of the second class (12) are register-relevant frequencies, wherein i) frequencies are load-relevant frequencies if they are of integer order relative to the machine frequency, require a high compensation torque and are deterministic insofar as the amplitude and phase of the frequency component of the vibration are determinable prior to the operation of the printing press and wherein ii) frequencies are register-relevant frequencies if they are of non-integer order relative to the machine frequency, require a low compensation torque, and are not predeterminable insofar as the amplitude and phase of the frequency component of the vibration are to be determined and compensated individually during operation of the printing press.
  5. Method for compensating a vibration according to one of the preceding claims,
    characterized in
    that the introduction of the counter-torque/s of the first class (10) of the frequency components and/or of the counter-torque/s of the second group of the frequency component/s, which counter-torque/s are determined on the basis of the signal/s, occurs in locations of the printing press (14) selected in accordance with the progression of the amplitude of one of the eigenmodes (18) of the printing press (14).
  6. Method for compensating a vibration according to one of the preceding claims,
    characterized in
    that the measurement of the signal comprises at least an orthogonal correlation with the determination of the amplitude and phase of a frequency component of the second class (12).
  7. Method for compensating a vibration according to one of the preceding claims,
    characterized in
    that the one or more predetermined counter-torques are generated and introduced by means of one or more mechanical devices (32) or by means of one or more electric curves for activating an actuator.
  8. Method for compensating a vibration according to one of the preceding claims,
    characterized in
    that a periodic activation profile for an electric drive is used as the electric curve.
  9. Method for compensating a vibration according to one of the preceding claims,
    characterized in
    that the one or more predetermined counter-torque/s of the first class (10) are introduced essentially at the beginning and/or at the end of the row (16) of printing units of the printing press (14) and the one or more counter-torques determined as a function of the measurement and belonging to the second class (12) are introduced close to the centre of the row (16) of printing units of the printing press (14).
  10. Method for compensating a vibration according to one of the preceding claims,
    characterized in
    that the frequency component/s of the second class (12) are determined from the difference of the signals of at least two signalling devices arranged at different locations of the printing press (14).
  11. Method for compensating a vibration according to one of the preceding claims,
    characterized in
    that at least one of the predetermined counter-torques and at least one of the counter-torques determined on the basis of the signal/s are introduced together by an actuator.
EP07103368A 2006-03-24 2007-03-02 Method for vibration compensation in a printing press Active EP1837178B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006013752A DE102006013752A1 (en) 2006-03-24 2006-03-24 Method for compensating a vibration in a printing machine

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EP1837178A2 EP1837178A2 (en) 2007-09-26
EP1837178A3 EP1837178A3 (en) 2011-04-06
EP1837178B1 true EP1837178B1 (en) 2012-05-23

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US (1) US8375856B2 (en)
EP (1) EP1837178B1 (en)
JP (1) JP5026123B2 (en)
CN (1) CN101041287B (en)
DE (1) DE102006013752A1 (en)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
DE102021103214A1 (en) 2021-02-11 2022-08-11 Koenig & Bauer Ag Process for machine monitoring during operation of a processing machine

Families Citing this family (3)

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Publication number Priority date Publication date Assignee Title
DE102007062338A1 (en) 2007-12-22 2009-06-25 Manroland Ag Rotary printing machine with self-powered sensor systems
DE102008060740A1 (en) 2008-01-23 2009-07-30 Heidelberger Druckmaschinen Ag press
DE102014113810B4 (en) * 2014-09-24 2017-06-08 Océ Printing Systems GmbH & Co. KG A method for damping an oscillation of a driven roller in a printing system

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Publication number Priority date Publication date Assignee Title
DE4234928A1 (en) 1992-10-16 1994-04-21 Heidelberger Druckmasch Ag Device and method for damping mechanical vibrations of printing machines
DE19652769A1 (en) * 1996-12-18 1998-06-25 Voith Sulzer Papiermasch Gmbh Method and device for damping contact vibrations
DE19914627B4 (en) * 1999-03-31 2011-05-12 Heidelberger Druckmaschinen Ag Method and device for compensating the torsional vibrations of a printing machine
DE10047725A1 (en) * 2000-09-27 2002-04-11 Koenig & Bauer Ag Printing machine main drive operating method incorporates operating parameter adjustment for indirect compensation of expected torque variations
CZ302554B6 (en) * 2000-10-26 2011-07-13 Heidelberger Druckmaschinen Ag Method for compensating mechanical oscillation, particularly in printing machines
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
DE10249475A1 (en) * 2001-11-20 2003-09-11 Heidelberger Druckmasch Ag Vibrations suppressing method, for printing presses, involves determining rotational speed of press, supplying speed to control device and supplying actuating variable to linear actuator
DE10254118B4 (en) * 2001-12-12 2017-01-19 Heidelberger Druckmaschinen Ag Method for driving a printing machine
DE10259494B4 (en) * 2002-01-21 2017-01-26 Heidelberger Druckmaschinen Ag Method for controlling a printing machine
DE10217707A1 (en) * 2002-04-17 2003-11-06 Heidelberger Druckmasch Ag Compensation for cylinder vibrations in printing material processing machines
DE10338976B4 (en) * 2002-09-19 2017-02-16 Heidelberger Druckmaschinen Ag Method for rhythm compensation in sheet-fed rotary printing presses
DE10309670A1 (en) * 2003-03-06 2004-09-16 Man Roland Druckmaschinen Ag Control device for electrical drive of printing machine, calculates load-side slip error from drive-side slip error, torsion angle of drive shaft, load speed etc.
DE10355122A1 (en) * 2003-11-24 2005-06-23 Man Roland Druckmaschinen Ag 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
US7478593B2 (en) * 2004-12-23 2009-01-20 Koenig & Bauer Ag Method for making compensations for register deviations
DE102006004967A1 (en) * 2006-02-01 2007-08-02 Heidelberger Druckmaschinen Ag Method for active compensation of vibrations in a substrate-processing machine and substrate-processing machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021103214A1 (en) 2021-02-11 2022-08-11 Koenig & Bauer Ag Process for machine monitoring during operation of a processing machine

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Publication number Publication date
JP2007253623A (en) 2007-10-04
EP1837178A3 (en) 2011-04-06
JP5026123B2 (en) 2012-09-12
US20070221086A1 (en) 2007-09-27
DE102006013752A1 (en) 2007-09-27
EP1837178A2 (en) 2007-09-26
US8375856B2 (en) 2013-02-19
CN101041287B (en) 2010-12-29
CN101041287A (en) 2007-09-26

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