EP1987951B1 - Printing press and method for operating a printing press - Google Patents

Printing press and method for operating a printing press Download PDF

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Publication number
EP1987951B1
EP1987951B1 EP20080154855 EP08154855A EP1987951B1 EP 1987951 B1 EP1987951 B1 EP 1987951B1 EP 20080154855 EP20080154855 EP 20080154855 EP 08154855 A EP08154855 A EP 08154855A EP 1987951 B1 EP1987951 B1 EP 1987951B1
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EP
European Patent Office
Prior art keywords
drive
torsional vibration
cylinder
printing press
printing
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EP20080154855
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German (de)
French (fr)
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EP1987951A3 (en
EP1987951A2 (en
Inventor
Thomas Herrmann
Martin Schmidt
Klaus-Peter Reichardt
Holger Dr. Wiese
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Manroland Sheetfed GmbH
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Manroland Sheetfed GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/004—Electric or hydraulic features of drives
    • B41F13/0045—Electric driving devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2213/00—Arrangements for actuating or driving printing presses; Auxiliary devices or processes
    • B41P2213/70—Driving devices associated with particular installations or situations
    • B41P2213/73—Driving devices for multicolour presses
    • B41P2213/734—Driving devices for multicolour presses each printing unit being driven by its own electric motor, i.e. electric shaft

Definitions

  • the invention relates to a printing machine, in particular a sheet-fed printing machine, according to the preamble of claim 1. Furthermore, the invention relates to a method for operating a printing press, in particular a sheet-fed press, according to the preamble of claim.
  • a printing machine such. As a sheet-fed press, a substrate is moved through several printing units of the printing press to print on the substrate.
  • Each printing unit of a printing machine has a form cylinder, a rolling on the forme cylinder transfer cylinder, a rolling on the transfer cylinder impression cylinder and an inking unit and preferably a dampening unit.
  • At least one printing plate is arranged on the forme cylinder, whereby forme cylinders are also referred to as plate cylinders.
  • At least one transfer mold is arranged on the transfer cylinder, wherein transfer cylinders are also referred to as rubber cylinders.
  • the present invention relates to a printing machine with multiple printing units and with multiple drives, the drives in printing units, namely in a cylinder of the printing units, collect.
  • Each drive of the printing press is assigned a separate drive controller, wherein each drive forms a drive control loop together with the respective drive controller, and wherein the respective drive controller generates a control signal for the corresponding drive of the drive control loop on the basis of a deviation between a desired value and an actual value.
  • DE 197 40 153 A1 discloses a printing machine with subsystems, in particular printing units, which are driven by individual electric motors.
  • Each of the printing units can be driven by a respective electric motor, wherein the form cylinder and transfer cylinder of a printing unit are connected via a gear wheel train with the respective electric motor.
  • the actual speed of each electric motor can be regulated in each case by a control circuit. From the actual angular velocity or the actual rotational angle and the desired torque of the electric motor, a desired load torque is obtained.
  • the present invention is based on the problem to provide a novel printing press and a novel method for operating a printing press.
  • At least one drive controller is associated with a device which generates online during the operation of the printing machine from at least one state variable of the drive control loop, in which the respective drive controller is integrated, a torsional vibration compensation variable, which is valid exclusively in this drive control loop for torsional vibration compensation.
  • At least one state variable of at least one drive control loop is generated online during operation of the printing press the printing machine for the drive controller of this drive control loop generates a torsional vibration compensation variable, which is valid or used exclusively in this drive control loop for torsional vibration compensation. No modal analysis of the press is required for this.
  • the invention is characterized by a high degree of robustness and reliability in torsional vibration compensation. Of the Effort for a torsional vibration compensation is minimized with the present invention.
  • the device associated with a drive controller comprises a first means for detecting from the or each state variable of the respective drive control loop a torsional vibration of the respective driven cylinder to be compensated, and a second means for generating from the detected torsional vibration the torsional vibration compensation variable for the respective drive control loop, wherein the first means and the second means of the device associated with the drive controller each comprise at least one function, and wherein at least one parameter of these functions in the sense of an adaptation online during the operation of the printing machine is adaptable.
  • each of the printing units 10, 11, 12 and 13 of the sheet-fed printing machine comprises according to Fig. 1 an impression cylinder 14, a transfer cylinder 15, an inking unit 16 and a forme cylinder 17.
  • each printing unit may also include a dampening unit.
  • one transfer cylinder 18 is positioned in each case in order to transfer printing material sheets to be printed between the individual printing units 10, 11, 12 and 13.
  • the printing machine has a main drive 19, wherein the main drive 19 drives into the impression cylinder 14 of the printing unit 10.
  • the main drive 19 are all the impression cylinder 14, transfer cylinder 15 and inking 16 of the printing units 10, 11, 12 and 13 and the transfer cylinder 18 in the sense of a closed Räderzugs drivable.
  • a further main drive 19 ' is present to drive decentralized in the closed gear train.
  • Each form cylinder 17 is associated with a separate direct drive 20 to drive the form cylinder 17 of all printing units 10, 11, 12 and 13 intrinsically.
  • Each form cylinder 17 of each printing unit 10, 11, 12 and 13 is in this case via a clutch 21 from the closed gear train, in which the impression cylinder 14, the transfer cylinder 15, the inking units 16 and the transfer cylinders 18 are integrated, uncoupled. Accordingly, when the forme cylinders 17 are driven by their direct drives 20 on their own power, the clutches 21 are opened in order to decouple the forme cylinders 17 on the drive side from the rest of the printing units or printing press.
  • Fig. 2 shows details of the drive controls the form cylinder 17 of the printing units 10, 11, 12 and 13 by the same associated direct drives 20. So can Fig. 2 be taken that each direct drive 20 of each printing unit 10, 11, 12 and 13 is assigned a respective drive controller 22. The controller 22 generates based on a control deviation between a setpoint and an actual value a manipulated variable for the direct drive 20 of the printing unit. The actual value is preferably an actual position value of the drive to be driven by the direct drive 20 Form cylinder 17 of the respective printing unit, this actual position value of the forme cylinder 17 is provided by a same associated position sensor 23.
  • the desired value is preferably the position actual value of the transfer cylinder 15 of the respective printing group 10, 11, 12 or 13 cooperating with the forme cylinder 17, this position actual value of the transfer cylinder 15 being provided by a position sensor 24 associated therewith.
  • a control deviation between this actual value and this setpoint is, as already mentioned, supplied to the drive controller 22, wherein the drive controller 22 generates an actuating signal for the direct drive 20 of the forme cylinder 17 of the respective printing unit 10, 11, 12 or 13 based on this control deviation.
  • each drive controller 22 of each direct drive 20 of each printing unit 10, 11, 12 and 13 is associated with such a device 25, which generates a valid only for the respective drive controller 22 torsional vibration compensation quantity.
  • the state variable from which the torsional vibration compensation variable is generated online during operation is the actual value of the respective drive control loop, namely the actual position of the corresponding forme cylinder 17. It should be noted at this point that when a real leading axis of the printing press is present , in addition to or as an alternative to the actual value of the respective drive control loop, also the desired value of the respective drive Drive control loop, namely the actual position of the corresponding transfer cylinder 15, can be used. Also can be used as a state variable from which the torsional vibration compensation quantity is generated online during operation, a motor current or an engine speed of the direct drive 20 or any other control technical state variable of the respective drive control loop.
  • the device 25 assigned to each drive controller 22 of each direct drive 20 has a first means for detecting a rotational vibration of the driven forme cylinder 17 to be compensated from the or each state variable of the respective drive control loop, in this case the position actual value of the forme cylinder 17. Furthermore, this device 25 has a second means for generating the torsional vibration compensation variable for the respective drive control loop from the detected torsional vibration.
  • Each drive controller 22 is preferably designed as a cascaded controller from a current control, speed control and position control.
  • the rotational vibration compensation variable generated for the respective drive controller 22 with the aid of the device 25 can be used in the current control, speed control and position control of the respective drive controller 22.
  • the torsional vibration compensation variable can be a current variable, rotational speed variable or position variable which is acted upon as compensation variable of the current control, rotational speed control or position control.
  • the regulation according to the invention for torsional vibration compensation changes online during the operation of the printing machine in the sense of an adaptation.
  • the first means and the second means of a device 25 associated with each drive controller 22 each comprise at least one function, wherein at least one parameter of these functions in the sense of an adaptation can be adapted online during the operation of the printing machine.
  • the adaptation can be based on the evaluation of an additional criterion, such. As a maximum lag error or temporary lag error, to particularly interesting operating points, in order to generate correspondingly adapted torsional vibration compensation variables.
  • the torsional vibration compensation quantities are time-variable compensation quantities.
  • each printing unit 10, 11, 12 and 13 each associated with a direct drive 20, regardless of the other printing units online during operation of the printing press torsional vibration compensation.
  • This torsional vibration compensation takes place using the already existing rotary encoder 23, 24 of the forme cylinder 17 and transfer cylinder 15 of the respective printing units.
  • each drive controller 22 of each direct drive 20 of each printing unit is associated with a device 25 for torsional vibration compensation, which individually generates a torsional vibration compensation variable for each drive controller 22 and thus for each printing unit.
  • the above torsional vibration compensation is preferably limited to the direct drives 20 and the direct drive 20 associated drive controller 22. Alternatively, however, it is also possible to use this torsional vibration compensation on the or each main drive 19, 19 'of the printing press, in which case the drive regulators of the main drives 19, 19' are assigned a device for generating an individual torsional vibration compensation variable.
  • the invention can also be used in printing presses whose printing units have no direct drives, but which exclusively comprises a plurality of main drives.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Rotary Presses (AREA)

Description

Die Erfindung betrifft eine Druckmaschine, insbesondere eine Bogendruckmaschine, gemäß dem Oberbegriff des Anspruchs 1. Des Weiteren betrifft die Erfindung ein Verfahren zum Betreiben einer Druckmaschine, insbesondere einer Bogendruckmaschine, gemäß dem Oberbegriff des Anspruchs 7.The invention relates to a printing machine, in particular a sheet-fed printing machine, according to the preamble of claim 1. Furthermore, the invention relates to a method for operating a printing press, in particular a sheet-fed press, according to the preamble of claim.

In einer Druckmaschine, wie z. B. einer Bogendruckmaschine, wird ein Bedruckstoff durch mehrere Druckwerke der Druckmaschine bewegt, um den Bedruckstoff zu bedrucken. Jedes Druckwerk einer Druckmaschine verfügt dabei über einen Formzylinder, einen auf dem Formzylinder abrollenden Übertragungszylinder, einen auf den Übertragungszylinder abrollenden Gegendruckzylinder sowie ein Farbwerk und vorzugsweise ein Feuchtwerk. Auf dem Formzylinder ist mindestens eine Druckform angeordnet, wobei Formzylinder auch als Plattenzylinder bezeichnet werden. Auf dem Übertragungszylinder ist mindestens eine Übertragungsform angeordnet, wobei Übertragungszylinder auch als Gummizylinder bezeichnet werden.In a printing machine, such. As a sheet-fed press, a substrate is moved through several printing units of the printing press to print on the substrate. Each printing unit of a printing machine has a form cylinder, a rolling on the forme cylinder transfer cylinder, a rolling on the transfer cylinder impression cylinder and an inking unit and preferably a dampening unit. At least one printing plate is arranged on the forme cylinder, whereby forme cylinders are also referred to as plate cylinders. At least one transfer mold is arranged on the transfer cylinder, wherein transfer cylinders are also referred to as rubber cylinders.

Die hier vorliegende Erfindung betrifft eine Druckmaschine mit mehreren Druckwerken sowie mit mehreren Antrieben, wobei die Antriebe in Druckwerke, nämlich in einen Zylinder der Druckwerke, eintreiben. Jedem Antrieb der Druckmaschine ist ein separater Antriebsregler zugeordnet, wobei jeder Antrieb zusammen mit dem jeweiligen Antriebsregler einen Antriebsregelkreis bildet, und wobei der jeweilige Antriebsregler auf Basis einer Abweichung zwischen einem Sollwert und einem Istwert ein Stellsignal für den entsprechenden Antrieb des Antriebsregelkreises erzeugt.The present invention relates to a printing machine with multiple printing units and with multiple drives, the drives in printing units, namely in a cylinder of the printing units, collect. Each drive of the printing press is assigned a separate drive controller, wherein each drive forms a drive control loop together with the respective drive controller, and wherein the respective drive controller generates a control signal for the corresponding drive of the drive control loop on the basis of a deviation between a desired value and an actual value.

Beim Betrieb einer Druckmaschine können sich an Zylindern der Druckwerke die Druckqualität negativ beeinflussende Drehschwingungen ausbilden. Aus dem Stand der Technik ist es bereits bekannt, derartige Drehschwingungen an Druckwerken einer Druckmaschine zu kompensieren. So offenbart die EP 1 202 147 B1 ein Verfahren zur Kompensation von Drehschwingungen, bei welchem mit Hilfe harmonischer Ausgleichsmomente Drehschwingungen kompensiert werden. Hierzu ist es erforderlich, vorab über eine modale Analyse der Druckmaschine das Schwingungsverhalten derselben zu analysieren. Dies ist aufwendig und teuer. Es besteht daher ein Bedarf an einer Druckmaschine sowie an einem Verfahren zum Betreiben einer Druckmaschine, bei welcher bzw. mit welchem eine Drehschwingungskompensation mit einfacheren Mitteln erfolgen kann.During operation of a printing press, the cylinders of the printing units can form the printing quality negatively influencing torsional vibrations. From the Prior art, it is already known to compensate for such torsional vibrations on printing units of a printing press. So revealed the EP 1 202 147 B1 a method for the compensation of torsional vibrations, in which with the help of harmonic balancing torques are compensated torsional vibrations. For this purpose, it is necessary to analyze in advance via a modal analysis of the printing press the vibration behavior of the same. This is complicated and expensive. There is therefore a need for a printing machine and a method for operating a printing press, in which or with which a torsional vibration compensation can be carried out with simpler means.

DE 197 40 153 A1 offenbart eine Druckmaschine mit Teilsystemen, insbesondere Druckwerke, welche-durch einzelne Elektromotoren antreibbar sind. Jedes der Druckwerke ist durch je einen Elektromotor antreibbar, wobei die Formzylinder und Übertragungszylinder eines Druckwerkes über einen Zahnradräderzug mit dem jeweiligen Elektromotor verbunden sind. Dabei ist die Ist-Drehzahl jedes Elektromotors jeweils durch einen Regelkreis regelbar. Aus der Ist-Winkelgeschwindigkeit oder dem Ist-Drehwinkel sowie dem Soll-Drehmoment des Elektromotors wird ein Soll-Lastmoment gewonnen. DE 197 40 153 A1 discloses a printing machine with subsystems, in particular printing units, which are driven by individual electric motors. Each of the printing units can be driven by a respective electric motor, wherein the form cylinder and transfer cylinder of a printing unit are connected via a gear wheel train with the respective electric motor. In this case, the actual speed of each electric motor can be regulated in each case by a control circuit. From the actual angular velocity or the actual rotational angle and the desired torque of the electric motor, a desired load torque is obtained.

Hiervon ausgehend liegt der vorliegenden Erfindung das Problem zugrunde, eine neuartige Druckmaschine und ein neuartiges Verfahren zum Betreiben einer Druckmaschine zu schaffen.On this basis, the present invention is based on the problem to provide a novel printing press and a novel method for operating a printing press.

Dieses Problem wird durch eine Druckmaschine gemäß Anspruch 1 gelöst. Erfindungsgemäß ist mindestens einem Antriebsregler eine Einrichtung zugeordnet, die online während des Betriebs der Druckmaschine aus mindestens einer Zustandsgröße des Antriebsregelkreises, in den der jeweilige Antriebsregler eingebunden ist, eine Drehschwingungskompensationsgröße generiert, die ausschließlich in diesem Antriebsregelkreis zur Drehschwingungskompensation gültig ist.This problem is solved by a printing machine according to claim 1. According to the invention, at least one drive controller is associated with a device which generates online during the operation of the printing machine from at least one state variable of the drive control loop, in which the respective drive controller is integrated, a torsional vibration compensation variable, which is valid exclusively in this drive control loop for torsional vibration compensation.

Im Sinne der hier vorliegenden Erfindung wird online während des Betriebs der Druckmaschine aus mindestens einer Zustandsgröße mindestens eines Antriebsregelkreises der Druckmaschine für den Antriebsregler dieses Antriebsregelkreises eine Drehschwingungskompensationsgröße generiert, die ausschließlich in diesem Antriebsregelkreis zur Drehschwingungskompensation gültig ist bzw. verwendet wird. Hierzu ist keine modale Analyse der Druckmaschine erforderlich.Within the meaning of the present invention, at least one state variable of at least one drive control loop is generated online during operation of the printing press the printing machine for the drive controller of this drive control loop generates a torsional vibration compensation variable, which is valid or used exclusively in this drive control loop for torsional vibration compensation. No modal analysis of the press is required for this.

Des Weiteren ist keine spektral differenzierte Kompensation mit harmonischen Ausgleichsmomenten notwendig. Die Erfindung zeichnet sich durch eine hohe Robustheit sowie Zuverlässigkeit bei der Drehschwingungskompensation aus. Der Aufwand für eine Drehschwingungskompensation wird mit der hier vorliegenden Erfindung minimiert.Furthermore, no spectrally differentiated compensation with harmonic compensation torques is necessary. The invention is characterized by a high degree of robustness and reliability in torsional vibration compensation. Of the Effort for a torsional vibration compensation is minimized with the present invention.

Vorzugsweise umfasst die einem Antriebsregler zugeordnete Einrichtung ein erstes Mittel, um aus der oder jeder Zustandsgröße des jeweiligen Antriebsregelkreises eine zu kompensierende Drehschwingung des jeweils angetriebenen Zylinders zu detektieren, und ein zweites Mittel, um aus der detektierten Drehschwingung die Drehschwingungskompensationsgröße für den jeweiligen Antriebsregelkreis zu generieren, wobei das erste Mittel und das zweite Mittel der dem Antriebsregler zugeordneten Einrichtung jeweils mindestens eine Funktion umfassen, und wobei mindestens ein Parameter dieser Funktionen im Sinne einer Adaption online während des Betriebs der Druckmaschine anpassbar ist.Preferably, the device associated with a drive controller comprises a first means for detecting from the or each state variable of the respective drive control loop a torsional vibration of the respective driven cylinder to be compensated, and a second means for generating from the detected torsional vibration the torsional vibration compensation variable for the respective drive control loop, wherein the first means and the second means of the device associated with the drive controller each comprise at least one function, and wherein at least one parameter of these functions in the sense of an adaptation online during the operation of the printing machine is adaptable.

Das erfindungsgemäße Verfahren zum Betreiben einer Druckmaschine ist in Anspruch 7 definiert.The inventive method for operating a printing press is defined in claim 7.

Bevorzugte Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen und der nachfolgenden Beschreibung. Ausführungsbeispiele der Erfindung werden, ohne hierauf beschränkt zu sein, an Hand der Zeichnung näher erläutert. Dabei zeigt:

Fig. 1:
eine schematisierte Darstellung einer Bogendruckmaschine; und
Fig. 2:
ein Druckwerk der Bogendruckmaschine der Fig. 1 in größerem Detail.
Preferred embodiments of the invention will become apparent from the dependent claims and the description below. Embodiments of the invention will be described, without being limited thereto, with reference to the drawings. Showing:
Fig. 1:
a schematic representation of a sheet-fed press; and
Fig. 2:
a printing unit of the sheet-fed printing machine of Fig. 1 in greater detail.

Nachfolgend wird die hier vorliegende Erfindung unter Bezugnahme auf Fig. 1 bis 2 für eine Bogendruckmaschine beschrieben, die vier Druckwerke 10, 11, 12 und 13 umfasst. Jedes der Druckwerke 10, 11, 12 und 13 der Bogendruckmaschine umfasst gemäß Fig. 1 einen Gegendruckzylinder 14, einen Übertragungszylinder 15, ein Farbwerk 16 sowie einen Formzylinder 17. Zusätzlich kann jedes Druckwerk auch ein Feuchtwerk umfassen.Hereinafter, the present invention will be described with reference to FIG Fig. 1 to 2 for a sheet-fed press comprising four printing units 10, 11, 12 and 13. Each of the printing units 10, 11, 12 and 13 of the sheet-fed printing machine comprises according to Fig. 1 an impression cylinder 14, a transfer cylinder 15, an inking unit 16 and a forme cylinder 17. In addition, each printing unit may also include a dampening unit.

Zwischen den Gegendruckzylindern 14 zweier benachbarter Druckwerke 10 und 11, 11 und 12 sowie 12 und 13 ist im gezeigten Ausführungsbeispiel der Fig. 1 jeweils ein Transferzylinder 18 positioniert, um zu bedruckende Bedruckstoffbogen zwischen den einzelnen Druckwerken 10, 11, 12 und 13 zu überführen.Between the counter-pressure cylinders 14 of two adjacent printing units 10 and 11, 11 and 12 and 12 and 13 is in the illustrated embodiment of the Fig. 1 one transfer cylinder 18 is positioned in each case in order to transfer printing material sheets to be printed between the individual printing units 10, 11, 12 and 13.

Gemäß Fig. 1 weist die Druckmaschine einen Hauptantrieb 19 auf, wobei der Hauptantrieb 19 in den Gegendruckzylinder 14 des Druckwerks 10 eintreibt. Über den Hauptantrieb 19 sind sämtliche Gegendruckzylinder 14, Übertragungszylinder 15 sowie Farbwerke 16 der Druckwerke 10, 11, 12 und 13 sowie die Transferzylinder 18 im Sinne eines geschlossenen Räderzugs antreibbar. Wie Fig. 1 entnommen werden kann, ist es möglich, dass zusätzlich zu dem Hauptantrieb 19 ein weiterer Hauptantrieb 19' vorhanden ist, um dezentral in den geschlossenen Räderzug einzutreiben.According to Fig. 1 the printing machine has a main drive 19, wherein the main drive 19 drives into the impression cylinder 14 of the printing unit 10. About the main drive 19 are all the impression cylinder 14, transfer cylinder 15 and inking 16 of the printing units 10, 11, 12 and 13 and the transfer cylinder 18 in the sense of a closed Räderzugs drivable. As Fig. 1 can be removed, it is possible that in addition to the main drive 19, a further main drive 19 'is present to drive decentralized in the closed gear train.

Gemäß Fig. 1 ist jedem Formzylinder 17 ein separater Direktantrieb 20 zugeordnet, um die Formzylinder 17 aller Druckwerke 10, 11, 12 und 13 eigenmotorisch anzutreiben. Jeder Formzylinder 17 jedes Druckwerks 10, 11, 12 und 13 ist dabei über eine Kupplung 21 vom geschlossenen Räderzug, in den die Gegendruckzylinder 14, die Übertragungszylinder 15, die Farbwerke 16 sowie die Transferzylinder 18 eingebunden sind, abkuppelbar. Die Kupplungen 21 sind demnach dann, wenn die Formzylinder 17 von ihren Direktantrieben 20 eigenmotorisch angetrieben werden, geöffnet, um die Formzylinder 17 antriebsseitig vom Rest der Druckwerke bzw. Druckmaschine zu entkoppeln.According to Fig. 1 Each form cylinder 17 is associated with a separate direct drive 20 to drive the form cylinder 17 of all printing units 10, 11, 12 and 13 intrinsically. Each form cylinder 17 of each printing unit 10, 11, 12 and 13 is in this case via a clutch 21 from the closed gear train, in which the impression cylinder 14, the transfer cylinder 15, the inking units 16 and the transfer cylinders 18 are integrated, uncoupled. Accordingly, when the forme cylinders 17 are driven by their direct drives 20 on their own power, the clutches 21 are opened in order to decouple the forme cylinders 17 on the drive side from the rest of the printing units or printing press.

Fig. 2 zeigt Details der Antriebsregelungen der Formzylinder 17 der Druckwerke 10, 11, 12 und 13 durch die denselben zugeordneten Direktantriebe 20. So kann Fig. 2 entnommen werden, dass jedem Direktantrieb 20 eines jeden Druckwerks 10, 11, 12 bzw. 13 jeweils ein Antriebsregler 22 zugeordnet ist. Der Antriebsregler 22 erzeugt auf Basis einer Regelabweichung zwischen einem Sollwert und einem Istwert eine Stellgröße für den Direktantrieb 20 des Druckwerks. Bei dem Istwert handelt es sich vorzugsweise um einen Lageistwert des vom Direktantrieb 20 anzutreibenden Formzylinders 17 des jeweiligen Druckwerks, wobei dieser Lageistwert des Formzylinders 17 von einem demselben zugeordneten Lagegeber 23 bereitgestellt wird. Beim Sollwert handelt es sich vorzugsweise um den Lageistwert des mit dem Formzylinder 17 zusammenwirkenden Übertragungszylinders 15 des jeweiligen Druckwerks 10, 11, 12 bzw. 13, wobei dieser Lageistwert des Übertragungszylinders 15 von einem demselben zugeordneten Lagegeber 24 bereitgestellt wird. Eine Regelabweichung zwischen diesem Istwert und diesem Sollwert wird, wie bereits erwähnt, dem Antriebsregler 22 zugeführt, wobei der Antriebsregler 22 auf Basis dieser Regelabweichung ein Stellsignal für den Direktantrieb 20 des Formzylinders 17 des jeweiligen Druckwerks 10, 11, 12 bzw. 13 generiert. Fig. 2 shows details of the drive controls the form cylinder 17 of the printing units 10, 11, 12 and 13 by the same associated direct drives 20. So can Fig. 2 be taken that each direct drive 20 of each printing unit 10, 11, 12 and 13 is assigned a respective drive controller 22. The controller 22 generates based on a control deviation between a setpoint and an actual value a manipulated variable for the direct drive 20 of the printing unit. The actual value is preferably an actual position value of the drive to be driven by the direct drive 20 Form cylinder 17 of the respective printing unit, this actual position value of the forme cylinder 17 is provided by a same associated position sensor 23. The desired value is preferably the position actual value of the transfer cylinder 15 of the respective printing group 10, 11, 12 or 13 cooperating with the forme cylinder 17, this position actual value of the transfer cylinder 15 being provided by a position sensor 24 associated therewith. A control deviation between this actual value and this setpoint is, as already mentioned, supplied to the drive controller 22, wherein the drive controller 22 generates an actuating signal for the direct drive 20 of the forme cylinder 17 of the respective printing unit 10, 11, 12 or 13 based on this control deviation.

Um bei einer derartigen Druckmaschine eine Drehschwingungskompensation zu gewährleisten, wird erfindungsgemäß vorgeschlagen, dem Antriebsregler 22 des Direktantriebs 20 mindestens eines Druckwerks, vorzugsweise dem Antriebsregler 22 des Direktantriebs 20 jedes Druckwerks, eine Einrichtung 25 zuzuordnen, die online während des Betriebs der Druckmaschine aus mindestens einer Zustandsgröße des entsprechenden Antriebsregelkreises, in den der jeweilige Antriebsregler 22 eingebunden ist, eine Drehschwingungskompensationsgröße generiert, die ausschließlich in diesem Antriebsregelkreis zur Drehschwingungskompensation verwendet wird bzw. für diesen Antriebsregelkreis gültig ist.In order to ensure a torsional vibration compensation in such a printing press, it is proposed according to the invention to associate with the drive controller 22 of the direct drive 20 at least one printing unit, preferably the drive controller 22 of the direct drive 20 of each printing unit, a device 25 which is online during operation of the printing machine from at least one state variable of the corresponding drive control loop, in which the respective drive controller 22 is integrated, generates a torsional vibration compensation variable which is used exclusively in this drive control loop for torsional vibration compensation or is valid for this drive control loop.

Im Ausführungsbeispiel der Fig. 1 und 2 ist jedem Antriebsregler 22 jedes Direktantriebs 20 eines jeden Druckwerks 10, 11, 12 und 13 eine derartige Einrichtung 25 zugeordnet, die eine ausschließlich für den jeweiligen Antriebsregler 22 gültige Drehschwingungskompensationsgröße generiert.In the embodiment of Fig. 1 and 2 each drive controller 22 of each direct drive 20 of each printing unit 10, 11, 12 and 13 is associated with such a device 25, which generates a valid only for the respective drive controller 22 torsional vibration compensation quantity.

Im gezeigten Ausführungsbeispiel dient als Zustandsgröße, aus der die Drehschwingungskompensationsgröße während des Betriebs online generiert wird, der Istwert des jeweiligen Antriebsregelkreises, nämlich der Lageistwert des entsprechenden Formzylinders 17. An dieser Stelle sei darauf hingewiesen, dass dann, wenn eine reale Leitachse der Druckmaschine vorhanden ist, zusätzlich oder alternativ zum Istwert des jeweiligen Antriebsregelkreises auch der Sollwert des jeweiligen Antriebsregelkreises, nämlich der Lageistwert des entsprechenden Übertragungszylinders 15, herangezogen werden kann. Auch kann als Zustandsgröße, aus der die Drehschwingungskompensationsgröße während des Betriebs online generiert wird, ein Motorstrom oder eine Motordrehzahl des Direktantriebs 20 oder jede andere regelungstechnische Zustandgröße des jeweiligen Antriebsregelkreises herangezogen werden.In the exemplary embodiment shown, the state variable from which the torsional vibration compensation variable is generated online during operation is the actual value of the respective drive control loop, namely the actual position of the corresponding forme cylinder 17. It should be noted at this point that when a real leading axis of the printing press is present , in addition to or as an alternative to the actual value of the respective drive control loop, also the desired value of the respective drive Drive control loop, namely the actual position of the corresponding transfer cylinder 15, can be used. Also can be used as a state variable from which the torsional vibration compensation quantity is generated online during operation, a motor current or an engine speed of the direct drive 20 or any other control technical state variable of the respective drive control loop.

Die einem jeden Antriebsregler 22 eines jeden Direktantriebs 20 zugeordnete Einrichtung 25 verfügt über ein erstes Mittel, um aus der oder jeder Zustandsgröße des jeweiligen Antriebsregelkreises, hier aus dem Lageistwert des Formzylinders 17, eine zu kompensierende Drehschwingung des angetriebenen Formzylinders 17 zu detektieren. Weiterhin verfügt diese Einrichtung 25 über ein zweites Mittel, um aus der detektierten Drehschwingung die Drehschwingungskompensationsgröße für den jeweiligen Antriebsregelkreis zu generieren.The device 25 assigned to each drive controller 22 of each direct drive 20 has a first means for detecting a rotational vibration of the driven forme cylinder 17 to be compensated from the or each state variable of the respective drive control loop, in this case the position actual value of the forme cylinder 17. Furthermore, this device 25 has a second means for generating the torsional vibration compensation variable for the respective drive control loop from the detected torsional vibration.

Jeder Antriebsregler 22 ist vorzugsweise als kaskadierter Regler aus einer Stromregelung, Drehzahlregelung und Lageregelung ausgebildet. Die für den jeweiligen Antriebsregler 22 mit Hilfe der Einrichtung 25 generierte Drehschwingungskompensationsgröße ist in der Stromregelung, Drehzahlregelung und Lageregelung des jeweiligen Antriebsreglers 22 nutzbar. Bei der Drehschwingungskompensationsgröße kann es sich demnach um eine Stromgröße, Drehzahlgröße oder Lagegröße handeln, die als Kompensationsgröße der Stromregelung, Drehzahlregelung oder Lageregelung beaufschlagt wird.Each drive controller 22 is preferably designed as a cascaded controller from a current control, speed control and position control. The rotational vibration compensation variable generated for the respective drive controller 22 with the aid of the device 25 can be used in the current control, speed control and position control of the respective drive controller 22. Accordingly, the torsional vibration compensation variable can be a current variable, rotational speed variable or position variable which is acted upon as compensation variable of the current control, rotational speed control or position control.

Nach einer vorteilhaften Weiterbildung ist vorgesehen, dass die erfindungsgemäße Regelung zur Drehschwingungskompensation sich während des Betriebs der Druckmaschine im Sinne einer Adaption online ändert. Das erste Mittel und das zweite Mittel einer jedem Antriebsregler 22 zugeordneten Einrichtung 25 umfasst dabei jeweils mindestens eine Funktion, wobei mindestens ein Parameter dieser Funktionen im Sinne einer Adaption online während des Betriebs der Druckmaschine anpassbar ist.According to an advantageous development, it is provided that the regulation according to the invention for torsional vibration compensation changes online during the operation of the printing machine in the sense of an adaptation. The first means and the second means of a device 25 associated with each drive controller 22 each comprise at least one function, wherein at least one parameter of these functions in the sense of an adaptation can be adapted online during the operation of the printing machine.

Die Adaption kann dabei auf Grundlage der Auswertung eines zusätzlichen Kriteriums, wie z. B. eines maximalen Schleppfehlers oder temporären Schleppfehlers, zu besonders interessanten Betriebspunkten erfolgen, um dabei entsprechend angepasste Drehschwingungskompensationsgrößen zu generieren. Bei den Drehschwingungskompensationsgrößen handelt es sich um über der Zeit veränderliche Kompensationsgrößen.The adaptation can be based on the evaluation of an additional criterion, such. As a maximum lag error or temporary lag error, to particularly interesting operating points, in order to generate correspondingly adapted torsional vibration compensation variables. The torsional vibration compensation quantities are time-variable compensation quantities.

Gemäß Fig. 1 und 2 erfolgt demnach im Bereich jedes Druckwerks 10, 11, 12 und 13, dem jeweils ein Direktantrieb 20 zugeordnet ist, unabhängig von den anderen Druckwerken online während des Betriebs der Druckmaschine eine Drehschwingungskompensation. Diese Drehschwingungskompensation erfolgt unter Verwendung der bereits vorhandenen Drehgeber 23, 24 der Formzylinder 17 sowie Übertragungszylinder 15 der jeweiligen Druckwerke.According to Fig. 1 and 2 Accordingly, in the region of each printing unit 10, 11, 12 and 13, each associated with a direct drive 20, regardless of the other printing units online during operation of the printing press torsional vibration compensation. This torsional vibration compensation takes place using the already existing rotary encoder 23, 24 of the forme cylinder 17 and transfer cylinder 15 of the respective printing units.

Unter Bezugnahme auf Fig. 1 und 2 wurde die Erfindung am bevorzugten Ausführungsbeispiel einer Bogendruckmaschine beschrieben, deren Druckwerke Direktantriebe 20 für die Formzylinder 17 derselben aufweisen. Dabei ist jedem Antriebsregler 22 eines jeden Direktantriebs 20 eines jeden Druckwerks eine Einrichtung 25 zur Drehschwingungskompensation zugeordnet, die für jeden Antriebsregler 22 und damit für jedes Druckwerk individuell eine Drehschwingungskompensationsgröße generiert.With reference to Fig. 1 and 2 the invention has been described on the preferred embodiment of a sheet-fed press whose printing units have direct drives 20 for the forme cylinder 17 thereof. In this case, each drive controller 22 of each direct drive 20 of each printing unit is associated with a device 25 for torsional vibration compensation, which individually generates a torsional vibration compensation variable for each drive controller 22 and thus for each printing unit.

Die obige Drehschwingungskompensation ist vorzugsweise auf die Direktantriebe 20 bzw. die den Direktantrieben 20 zugeordneten Antriebsregler 22 beschränkt. Alternativ ist es jedoch auch möglich, an dem oder jedem Hauptantrieb 19, 19' der Druckmaschine diese Drehschwingungskompensation zu nutzen, wobei dann den Antriebsreglern der Hauptantriebe 19, 19' eine Einrichtung zur Generierung einer individuellen Drehschwingungskompensationsgröße zugeordnet ist.The above torsional vibration compensation is preferably limited to the direct drives 20 and the direct drive 20 associated drive controller 22. Alternatively, however, it is also possible to use this torsional vibration compensation on the or each main drive 19, 19 'of the printing press, in which case the drive regulators of the main drives 19, 19' are assigned a device for generating an individual torsional vibration compensation variable.

Die Erfindung kann auch bei solchen Druckmaschinen zum Einsatz kommen, deren Druckwerke keine Direktantriebe aufweist, sondern die ausschließlich mehrere Hauptantriebe umfasst.The invention can also be used in printing presses whose printing units have no direct drives, but which exclusively comprises a plurality of main drives.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

1010
Druckwerkprinting unit
1111
Druckwerkprinting unit
1212
Druckwerkprinting unit
1313
Druckwerkprinting unit
1414
GegendruckzylinderImpression cylinder
1515
Übertragungszylindertransfer cylinder
1616
Farbwerkinking
1717
Formzylinderform cylinder
1818
Transferzylindertransfer cylinder
19, 19'19, 19 '
Hauptantriebmain drive
2020
Direktantriebdirect drive
2121
Kupplungclutch
2222
Antriebsreglerdrive controller
2323
Drehgeberencoders
2424
Drehgeberencoders
2525
EinrichtungFacility

Claims (10)

  1. A printing press, in particular reel-fed printing press, having multiple printing units (10 to 13), wherein each printing unit (10 to 13) comprises a forme cylinder (17), a transfer cylinder (15) rolling on the forme cylinder (17), an impression cylinder (14) rolling on the transfer cylinder (15), an inking unit (16) and preferentially a dampening unit, and having multiple drives (19, 19', 20), which drive into printing units (10 to 13), namely into a cylinder (14, 15, 17, 18) of the same, wherein each drive (19, 19', 20) is assigned a separate drive controller (22), which based on a deviation between a set point value and an actual value generates a control input for the relevant drive (19, 19', 20),
    characterized in that at least one of the drive controllers (22), for a forme cylinder (17) assigned to the drive controller (22) and driven by means of a direct drive (20) is assigned a device (25),which online during the operation of the printing press generates a torsional vibration compensation variable out of at least one state variable of the closed loop drive control circuit, in which the respective drive controller (22) is incorporated, which exclusively in this closed loop drive control circuit is valid for torsional vibration compensation, and in that in the drive controller (22) position actual values of the forme cylinder (17) or of the transfer cylinder (15) interacting with the forme cylinder (17) which can be driven by the main drive (19, 19')serve as state variables.
  2. The printing press according to Claim 1, Characterized in that in the drive controller (22) position actual values of the forme cylinder (17) and of the transfer cylinder (15) interacting with the forme cylinder (17) that can be driven by the main drive (19, 19') serve as state variables.
  3. The printing press according to Claim 1 or 2,
    characterized in that the device (25) assigned to a drive controller (22) comprises a first means in order to detect a torsional vibration of the respective driven cylinder to be compensated out of the or each state variable of the respective closed loop drive control circuit, and in that the device (25) comprises a second means in order to generate the torsional vibration compensation variable for the respective closed loop drive control circuit out of the detected torsional vibration.
  4. The printing press according to Claim 3,
    characterized in that the first means and the second means of the device (25) assigned to the drive controller (22) each comprise at least one function, wherein at least one parameter of said function is adaptable in in terms of adaptation online during the operation of the printing press.
  5. The printing press according to any one of the Claims 1 to 4,
    characterized in that the same is designed as a sheet-fed printing press, wherein the same comprises at least one main drive (19) in order to drive the transfer cylinders (15), the impression cylinders (14), the inking units (16) as well as preferentially dampening units of the printing units, and wherein the forme cylinder (17) of each printing unit is assigned a direct drive (20) each in order to drive the forme cylinders (17) of the printing units by their own motor.
  6. The printing press according to Claim 5,
    characterized in that each drive control (22) of a direct drive (20) is assigned a device (25) for the torsional vibration compensation, wherein the drive controller (22) assigned to a direct drive (20) generates a control input for the direct drive (20) of the forme cylinder (17) out of actual value of the respective closed loop control circuit, in particular out of a position actual value of the driven forme cylinder (17), and out of the set point value of the respective closed loop control circuit, in particular out of a position actual value of the transfer cylinder (15) rolling on the forme cylinder (17), and wherein the device (25) for the torsional vibration compensation generates the torsional vibration compensation variable online during the operation of the printing press out of the or each state variable of the respective closed loop control circuit, in particular out of the position actual value and /or the position set point value, which torsional vibration compensation variable is exclusively valid for torsional vibration compensation in this closed loop control circuit.
  7. The printing press according to any one of the Claims 1 to 6,
    characterized in that each drive controller (22) is a cascaded controller from a current control, rotational speed control and position control, wherein the torsional vibration compensation variable generated for the respective drive controller (22) can be utilized in the current control, rotational speed control and position control.
  8. A method for operating a printing press, in particular a sheet-fed printing press, having multiple printing units (10 to 13) and multiple drives (19, 19', 20), wherein each printing unit (10 to 13) comprises a forme cylinder (17), a transfer cylinder (15) rolling on the forme cylinder (17), an impression cylinder (14) rolling on the transfer cylinder (15), an inking unit (16) and preferentially a dampening unit, wherein the drives (19, 19', 20) drive into printing units (10 to 13), namely into a cylinder (14, 15, 17, 18) of the same, and wherein each drive (19, 19', 20) is assigned a separate drive controller (22), which based on a deviation between a set point value and an actual value generates a control input for the respective drive (19, 19', 20),
    characterized in that online during the operation of the printing press for at least one drive controller (22) a torsional vibration compensation variable is generated for a forme cylinder (17) driven by means of a separate direct drive (20) out of at least on state variable of the closed loop drive control circuit, in which the drive controller (22) is incorporated, which is exclusively used for torsional vibration compensation in this closed loop drive control circuit.
  9. The method according to Claim 8,
    Characterized in that for this purpose a torsional vibration of the respective driven forme cylinder (17) to be compensated is detected out of the or each state variable of the respective closed loop drive control circuit, wherein out of the detected torsional vibration the torsional vibration compensation variable for the respective closed loop drive control circuit is generated.
  10. The method according to Claim 9,
    characterized in that at least one parameter of a function for detecting the torsional vibration to be detected and /or of a function for generating the torsional vibration compensation variable is adapted in terms of adaptation online during the operation of the printing press.
EP20080154855 2007-05-03 2008-04-21 Printing press and method for operating a printing press Active EP1987951B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200710020727 DE102007020727B4 (en) 2007-05-03 2007-05-03 Printing machine and method for operating a printing press

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EP1987951A3 EP1987951A3 (en) 2010-09-08
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ITMI20111867A1 (en) 2011-10-13 2013-04-14 Gima Spa PROCEDURE FOR THE COMMAND AND CONTROL OF THE ELECTRIC MOTOR OF AN AUTOMATION SYSTEM AND CONNECTED SYSTEM
DE102013110459A1 (en) 2012-10-23 2014-04-24 manroland sheetfed GmbH Printing machine and method for operating a printing press
DE102018201968A1 (en) * 2017-03-08 2018-09-13 Heidelberger Druckmaschinen Ag Method for reducing quasi-static registration differences in a printing machine
DE102018120397A1 (en) * 2017-08-21 2019-02-21 manroland sheetfed GmbH Control of printing machines with several main drive motors

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DE19740153C2 (en) 1997-09-12 2001-02-01 Roland Man Druckmasch Method for controlling a drive within a printing press and drive for a printing press
DE19961880B4 (en) * 1999-08-20 2005-10-06 Baumüller Nürnberg GmbH Electric drive system for active vibration damping
CZ302554B6 (en) * 2000-10-26 2011-07-13 Heidelberger Druckmaschinen Ag Method for compensating mechanical oscillation, particularly in printing machines
DE10217707A1 (en) * 2002-04-17 2003-11-06 Heidelberger Druckmasch Ag Compensation for cylinder vibrations in printing material processing machines
DE102004048151B4 (en) * 2004-10-02 2018-06-21 Koenig & Bauer Ag Method for optimizing drive controllers
DE102005041697B4 (en) * 2005-09-02 2017-09-21 manroland sheetfed GmbH press
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
DE202006004340U1 (en) * 2006-03-18 2006-05-11 Man Roland Druckmaschinen Ag Sheetfed

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DE102007020727B4 (en) 2014-07-17
DE102007020727A1 (en) 2008-11-13
JP2008273207A (en) 2008-11-13
EP1987951A2 (en) 2008-11-05

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