EP2286996A1 - Method for producing a position-synchronised drive system by specifying a speed and position reference and drive system for the execution of same - Google Patents
Method for producing a position-synchronised drive system by specifying a speed and position reference and drive system for the execution of same Download PDFInfo
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- EP2286996A1 EP2286996A1 EP09168385A EP09168385A EP2286996A1 EP 2286996 A1 EP2286996 A1 EP 2286996A1 EP 09168385 A EP09168385 A EP 09168385A EP 09168385 A EP09168385 A EP 09168385A EP 2286996 A1 EP2286996 A1 EP 2286996A1
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- spd
- speed
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- 238000004891 communication Methods 0.000 claims abstract description 45
- 238000000034 method Methods 0.000 claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 50
- 238000012937 correction Methods 0.000 claims description 14
- 230000001133 acceleration Effects 0.000 claims description 13
- 239000002131 composite material Substances 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 3
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- 230000001105 regulatory effect Effects 0.000 claims 1
- 241001136792 Alle Species 0.000 description 3
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- 238000005520 cutting process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F33/00—Indicating, counting, warning, control or safety devices
- B41F33/0009—Central control units
-
- 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 method for synchronizing a plurality of individual drives to a common drive position, wherein the individual drives are combined by means of a bus or other communication system to a position-synchronous drive network.
- the communication system is used for data exchange, in particular data about position, speed and / or acceleration information from or to the individual drives.
- a particular higher-level master control generates - independently of the individual drives - a Leitachs motion profile that is transmitted to the individual drives of the drive network via the communication system.
- the master axis motion profile can include data or information about a (virtual) master axis position, master axis speed and / or master axis acceleration, which serve as reference variables for the individual drives.
- the invention relates to a drive system suitable for carrying out this method with a plurality of individual electrical drives, which are coupled, organized and / or coordinated via one or more bus or other communication means to a synchronized drive network.
- the master axis control for the master axis motion profile is also coupled to the communication device (s).
- Said single-drive synchronizing method and the drive system suitable therefor are intended in particular for use in printing presses, especially if printed therein continuous paper webs and cut and folded in a final folder, which is brought to the printed paper web in physical engagement. Due to this, technical difficulties may occur at the start of production of the printing press, if required for the process Synchronizing the Schneidmesser- and / or folding blade must move relative to the paper web.
- the remedy is in EP 0 567 741 A1 described a rotary printing machine with a synchronized single drive system:
- the individual drives only the pressure cylinder together with the associated drive controller are summarized without folding drive to groups of pressure groups and assigned these groups of pressure points a separately driven folder.
- the print groups then take their positional reference from this folder.
- the individual drives and drive controllers of a print group are combined via a fast bus system, the drive bus, to form a drive network.
- the drive controllers of the individual pressure cylinder drives are coordinated with each other by a drive system which is connected both to the drive bus and to another bus, the data bus. With this data bus even more, similar pressure point groups and associated with these pressure groups groups folding device and a higher-level control system are coupled. It follows that the drive of the folder is not integrated in the drive system coordinated by the drive system and is not connected to the fast drive bus of the drive controller and the drive system. Rather, the folder communicates over the slower data bus with the respective drive system of the pressure point groups.
- An advantage achieved with the invention consists in the simplification of the bus or communication structure: by selecting a single drive from the drive network as the reference drive, which together with the other individual drives via a common communication system is coordinated under a common master control, a separate drive outside the drive and communication network is no longer used as reference position generator as explained above prior art. This eliminates the need for an additional separate bus system in relation to the aforementioned prior art in order to obtain position references from a separate drive, for example folding drive, driven separately from the drive system.
- the invention is characterized, inter alia, by the following:
- a purely virtual control axis position generated independent of the drive is specified to all individual drives of the drive group as a reference variable, whereupon the individual drives can each decentralize themselves.
- the current position of a specially selected individual drive as a reference drive, for example, the folding drive, does not have to be distributed via the communication system to the other individual drives.
- the offset of the position of the reference drive to the virtual Leitachsposition the entire drive network is avoided. This is particularly advantageous when the folder drive of a printing press is used as a reference drive because the folding unit is subject to particular restrictions in its adjustability due to the framework conditions in a printing press.
- the specification of a velocity reference profile takes place taking into account the real start position of a reference drive and simultaneous use of a higher-level, drive-independent specification of a leading axis velocity.
- a reference speed which takes into account the real starting position of a reference drive is specified for all drive or servo controllers of the individual drives efficiently achieve synchronized operation of all individual drives of the drive system.
- the respective speed control of the individual drives is superimposed on a control of the synchronous operation by transmitting to the individual drives of the drive system in parallel both the virtually generated master axis position and the reference speed taking into account an initial position of a real reference drive via the common communication system.
- the possibility for the respective local drive controllers to carry out decentrally superimposed position offset adjustments is not restricted.
- it is also possible to set an offset to the virtual Leitachsposition which can be particularly advantageous when used in a printing press for color and cut register.
- the decentralized setpoint generation is simplified with the invention, because, for example, the fine interpolator and / or the ramp-function generator can be omitted.
- An optional embodiment of the method according to the invention consists in that the guide-axis movement profile (w spd, l , w pos, l ) comprises a Leitachsposition (w pos, l ) and / or a Leitachs beau (w spd, l ) and / or a Leitachsbevantung , which are transmitted as a reference variable (s) to all individual drives (1,1a) of the drive system (1,1a, 2).
- this design can be further developed to the effect that, when the leading axis speed (w spd, l ) is specified for the drive assembly (1, 1a, 2), the positional offset (w pos, l -w pos, r ) of the reference drive (1a) Leitachsposition (w pos, l ) for the drive network (1,1a, 2) is taken into account.
- An optional embodiment of the method according to the invention is that for each individual drive (1,1a) of the drive system (1,1a, 2) a synchronous position control (6b) or other synchronous position adjustment with the reference speed (w spd, r ) and the Leitachsposition (w pos , l ) or another control axis motion profile (w spd, l , w pos, l ) as input variables and an actuating speed (w spdadj, d , w spdadj, l ) is taken as generated output variable, which for influencing the respective drive speed (x spd, d , x spd, r ) of the individual drives (1,1a) is used and / or processed.
- the reference speed (w spd, r ) is converted into a drive position value (w pos, d , w pos, r ) specific to the receiving individual drive (1,1a), and one between the master axis position (w pos, l ) and the drive position value (w pos, d , w pos, r ) difference is converted via a transfer function, such as proportional and / or Integrierfunktion, in the actuating speed (w spdadj, d , w spdadj, l ).
- a transfer function such as proportional and / or Integrierfunktion
- An optional embodiment of the method according to the invention is that only one unidirectional reference speed (x spd, r ) and / or acceleration is distributed.
- only reference velocities (w spd, r ) of one direction or of a uniform sign for distribution to the composite individual drives (1,1a) are released after the superimposition of setting and leading axis speeds (w spdadj, l , w spd, l ).
- An optional embodiment of the method according to the invention is that in the master axis control (5) the motion profile (w spd, l , w pos, l ) as a function of a production speed (w spd, p ), a production acceleration and / or deceleration (w acc , p , w dec, p ) is programmable or otherwise adjustable over time.
- An optional embodiment of the method according to the invention consists in that the distribution of the reference speed (x spd, r ) takes place with a compensation of a transit time (2) of the information transmission on the bus or other communication system (2).
- the reference drive (1a) is given an advance, which corresponds to the transit time (2), by means of an additional speed increase in relation to the lead axis movement profile (w spd, l , w pos, l ).
- An optional embodiment of the method according to the invention is that in each individual drive (1.1a) of the drive assembly (1,1a, 2) the Leitachsposition (w pos, l ) and / or a Leitachs beau (w spd, l ) and / or the other Leitachs motion profile (w spd, l , w pos, l ) each as Reference variable for a servo control (6a) and / or a speed control is processed.
- the drive system comprises a plurality of individual drives 1, 1a, 1b, namely composite drives 1, which also comprise a selectable reference drive 1a, and other individual drives 1b.
- the latter like the other drives 1, 1 a, can be circuit-coupled with a data communication bus 2 via a respective bus interface 3, they are not activated by the drive communication controllers 4 for data exchange, at least in coordination with the other individual drives. Consequently, the other individual drives 1b are located outside a drive or communication network 1, 1a, 2 of the composite drives 1, 1a, which can be coordinated and / or dominated by a master axis control 5, which is also coupled to the data communication bus 2 via a bus interface 3 , In the embodiment of Fig.
- a production speed w spd, p is input, for example programmed, into the master axis controller 5 from the outside . From this, a leading axle speed generator 5a (see FIG Fig. 2 ) based on an implemented motion profile characteristic curve 5b (see Fig. 2 ) independently of the drive, a leading axis speed w spd, l and a Leitachsposition w pos, l .
- the individual drive selected as the reference drive 1 a comprises the entire motion profile generated, which comprises the master axis position w pos, l and the master axis speed w spd, l , forwarded.
- a synchronizer position adjustment internal to the reference drive 1a takes into account an offset between the predetermined guide axis movement profile w pos, l , w spd, l , in particular the predefined Leitachsposition w pos, l on the one hand and the position of the reference drive 1a on the other.
- a correction speed x spd, r is formed via the correspondingly set computing means of the reference drive 1a and fed to the master axis controller 5 via the data communication bus 2. From the correction speed x spd, r, this generates a reference speed w spd, r , which is transmitted to all other individual drives 1 belonging to the drive assembly 1, 1a, 2 as reference variables for a respective speed control.
- a transmission of the leading speed w spd, l from the master axis control 5 to the composite drives 1 is not provided according to embodiment, except the selectable reference drive 1a.
- the individual drives 1, including the reference drive 1a can decentralize their specific setpoint values for a servo position and / or speed control in the sense of synchronism with the others from the supplied reference variables, namely the master axis position w pos, l and the reference speed w spd, r Generate individual drives.
- Fig. 2 is in the leading axis control 5 of the Leit Anlagensgenerator 5a to realize the Leitachs motion profile characteristic curve 5b with the Leitachsposition w pos, l and the Leitachs mecanic w spd, l set as output variables.
- the Leit Anlagensgenerator 5a directly outputs the Leitachs effet w spd, l , and by means of an integrating I is the Leitachsposition w pos, l generated, with an initial position or initial position w pos, l0 of the Leitachsposition is considered in the integration process as an initial value.
- Fig.2 It also supports the possibility that the master axis control and at least one compound drive can be calculated in the same control processor.
- the output of this motion profile w spd, l , w pos, l on the data communication bus 2 is still a bus delay 2a to consider, because dead times in the data transmission on the data communication bus from the sender to the receiver are inevitable.
- the bus system (the 3 vertical signal lines) is idealized, ie all taps of signals happen exactly at the same time.
- the maturities are concentrated in the maturity elements 2a assumed.
- the drives of the drive assembly 1, 1a, 2 are each provided with a servo-speed control 6a and a synchronizing position control 6b.
- the selected reference drive 1a additionally has a reference generator 6c.
- the respective servo-speed control 6a on the input side comprises a reference junction V, from the reference speed w spd, r as a reference variable and the (actual with an adjustment speed) actual drive speed x spd, d a control difference for a downstream control element PI, for example, proportional-integral controller , to build.
- the output of the control element is adapted via a converter W a servo controller S, which provides on the basis of a field-oriented control, for example, a torque-generating current to a servo motor 7a.
- a motion sensor 7b For example, servo encoder, sampled and fed via the downstream, further converter element W the negative input of the comparator V for the purpose of forming the control difference.
- the respective synchronizing position control 6b of the individual drives 1, 1a belonging to the drive network comprises on the input side an integrating element I and a comparator V.
- the latter is connected at its positive input to the data communication bus 2 for receiving the master axis position w pos, l .
- the integrator is connected to the data communication bus 2 for receiving the reference speed w spd, r .
- a further input parameter for the integrator I is the respective initial value w pos, r0 , w pos, d0 or the initial position of the composite drive 1 or of the reference drive 1a to be found during startup or startup of the drive system.
- These initial values represent the respective starting value from which the integration process for determining the current drive position w pos, r , w pos, d of the reference drive 1 a or the compound drive 1 starts.
- the output of the integrator I is connected to the negative input of the comparator V for the purpose of supplying the respective current drive position w pos, r or w pos, d .
- the resulting control difference w pos, l - W pos, r or d a control element PI, for example, PI controller supplied.
- PI for example, PI controller supplied.
- At the output of the control element there results a value for an adjustment speed w spdadj, l or w spdadj, d of the reference drive 1a or a compound drive 1.
- the readjustment speed w spdadj, l is supplied to a superimposition member Ü whose second input is connected to the data communication bus 2 for receiving the independently generated control axle speed w spd, l .
- the resulting overlay value at the output of the subcarrier Ü is supplied to the input of a unidirectional filter 8.
- Whose transfer function is designed so that only a correction speed x spd, r uniform direction or uniform sign at the output of the unidirectional filter 8 is provided as an overlay result.
- the unidirectional filter output is the drive or data communication bus 2 is provided, over which one of the correction speed x spd, r equal or corresponding reference speed w spd, r is distributed to all servo speed controls 6a of the drive network.
- FIG. 2 is at the respective compound drive 1, the output of the synchronous position control 6b with the readjustment speed w spdadj, d for the drive speed control 6a supplied to a comparator V at the positive input, while the guided via the transducer W signal from the motion sensor 7b the negative input of the comparator V is forwarded.
- the resulting difference at the output of the comparison element V is fed to a first input of a further superposition element Ü, whose second input for receiving the reference speed w spd, r is connected to the data communication bus 2.
- the readjustment speed w spdadj, d from the synchronizing position control 6b "superimposed" control difference at the output of the superposition member Ü or at the input of the downstream control element PI.
- FIG. 2 shown drive system for single-drive use in a rotary printing press, in which a plurality of printing cylinders and the cylinders of a cutting and / or folding blade of the paper web to be final folding factory must be synchronized in their movements to a common position on the paper web.
- each cylinder is assigned its own servomotor 7a of an individual drive 1, 1a integrated in the drive assembly 1, 1a, 2.
- the individual drive selected as the reference drive 1a is expediently associated with its servo motor 7a, for example, the cutting blade cylinder and / or the folding blade cylinder of the folding unit.
- the individual drives which are the rollers / printing and folding units of Rotate rotary press to synchronize to the common location on the paper web.
- the initial or initial values w pos, d0 , w pos, r0 of the positions of the composite drives 1 and of the reference drive 1a assume random values.
- the initial position w pos, r0 of the reference drive 1a is expediently read out from the master axis controller 5 and used to define the "zero position" of the machine rotary coordinate system.
- the leading axis speed generator 5a With print job and start of production start-up, the leading axis speed generator 5a generates leading axis velocity values w spd, l , which are fed via the data communication bus 2 at least to the reference generator 6c of the reference drive 1a in accordance with the characteristic curve 5b of the leading axis motion profile.
- an integrator I calculates the leading axis control 5, starting from any initial position w pos, l0 , from the speed Leitachspositionwerts w pos, l , which are transmitted via the data communication bus 2 to the respective synchronous position control 6b of the composite drives 1 and the reference drive 1a as a reference.
- the reference speed w spd, r relates primarily to the guide speed w spd, l, which is superimposed on an adjustment speed w spdadj, l .
- This correction or readjustment speed is the manipulated variable of the synchronous position controller and has the task of making the deviation from the master axis position to the reference drive position w pos, l -w pos, r zero.
- the initial value w pos, r0 of the reference position has (at one time) a reference to the real drive position during the initialization step .
- a speed reference which also follows the reference drive, for example folding drive, is continuously distributed.
- the reference speed w spd, r which is derived from the reference drive 1a, the Leitachs beau w spd, l corresponds.
- the control difference Leitachsposition w pos, l - reference drive position w pos, r on the comparison element V of the synchronizing position control 6b of the reference drive 1a or reduce this difference.
- the Folding mechanism is assigned to ensure that drive direction changes are avoided, for which the unidirectional filter 8 is used at the output of the reference generator 6c.
- Direction of rotation of the paper web engaged with the folding unit in, for example, positive direction can be allowed, in the negative direction they are excluded.
- the common speed default or the specification of the reference speed w spd, r can be such that the deviation from the fold reference position w pos, r to the virtual leading position w pos, l of the entire drive network 1, 1 a, 2 is adjustable, for example zero.
- the output of a negative reference speed x spd, r , w spd, r from the synchronous position controller 6b is prevented.
- the prevention of accumulating the integral component in the PI controller PI is expedient or the integral component in the PI controller PI of the synchronous position controller 6b is kept at zero, as long as the reference speed x spd, r , w spd, r is zero.
- 1a of the drive network within the synchronous position control 6b of the respective position offset w is in each individual drive 1 pos, l - w pos, d or - w pos, r of the reference drive 1a to the virtual Leitachslage w pos, l of the drive network based on the reference junction V and the resulting control difference taken into account and constantly corrected.
- the decentralized speed servo controls 6a of the individual drives 1, 1a are each a synchronous operation control 6b superimposed by parallel transmission of the reference position w pos, r based reference speed w spd, r to the individual drives 1, 1a of the drive network.
- the compensation of the bus runtime results from the inclusion of the, this bus running time representing delay element 2a in the Iswertzweig the synchronous position controller 6b.
- dynamic deviations between the master axis speed w pos, l and reference drive position w pos, r lead to the readjustment speed w spdadj, l for the master axis speed as a manipulated variable.
- This counteracts the position deviation during acceleration and reduces / compensates the influence of the bus runtime.
- the bus run time In stationary operation with the correction speed x spd, r or the reference speed w spd, r constant, the bus run time has no effect anyway.
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Abstract
Description
Die Erfindung betrifft ein Verfahren zur Synchronisierung mehrerer Einzelantriebe auf eine gemeinsame Antriebsposition, wobei die Einzelantriebe mittels eines Bus- oder sonstigen Kommunikationssystems zu einem positionssynchronen Antriebsverbund zusammengefasst werden. Das Kommunikationssystem dient dem Datenaustausch, insbesondere von Daten über Positions-, Geschwindigkeits- und/oder Beschleunigungsinformationen von oder zu den Einzelantrieben. Eine insbesondere übergeordnete Leitachssteuerung erzeugt - unabhängig von den Einzelantrieben - ein Leitachs-Bewegungsprofil, das den Einzelantrieben des Antriebsverbunds über das Kommunikationssystem übermittelt wird. Das Leitachs-Bewegungsprofil kann Daten oder Informationen über eine (virtuelle) Leitachsposition, Leitachsgeschwindigkeit und/oder Leitachsbeschleunigung umfassen, die als Führungsgrößen für die Einzelantriebe dienen.The invention relates to a method for synchronizing a plurality of individual drives to a common drive position, wherein the individual drives are combined by means of a bus or other communication system to a position-synchronous drive network. The communication system is used for data exchange, in particular data about position, speed and / or acceleration information from or to the individual drives. A particular higher-level master control generates - independently of the individual drives - a Leitachs motion profile that is transmitted to the individual drives of the drive network via the communication system. The master axis motion profile can include data or information about a (virtual) master axis position, master axis speed and / or master axis acceleration, which serve as reference variables for the individual drives.
Ferner betrifft die Erfindung ein zur Durchführung dieses Verfahrens geeignetes Antriebssystem mit mehreren elektrischen Einzelantrieben, die über ein oder mehrere Bus- oder sonstige Kommunikationsmittel zu einem synchronisierten Antriebsverbund gekoppelt, organisiert und/oder koordiniert sind. Die Leitachssteuerung für das LeitachsBewegungsprofil ist ebenfalls mit dem oder den Kommunikationsmitteln gekoppelt.Furthermore, the invention relates to a drive system suitable for carrying out this method with a plurality of individual electrical drives, which are coupled, organized and / or coordinated via one or more bus or other communication means to a synchronized drive network. The master axis control for the master axis motion profile is also coupled to the communication device (s).
Das genannte Einzelantriebs-Synchronisierverfahren und das dafür geeignete Antriebssystem sind insbesondere zum Einsatz in Druckmaschinen vorgesehen, vor allem wenn darin kontinuierliche Papierbahnen bedruckt und in einem abschließenden Falzwerk geschnitten und gefaltet werden, das dazu mit der bedruckten Papierbahn in körperlichen Eingriff gebracht wird. Aufgrund dessen können beim Produktionsanlauf der Druckmaschine technische Schwierigkeiten auftreten, wenn für den dabei vorzunehmenden Synchronisiervorgang die Schneidmesser- und/oder Falzmesserzylinder sich relativ zur Papierbahn bewegen müssen.Said single-drive synchronizing method and the drive system suitable therefor are intended in particular for use in printing presses, especially if printed therein continuous paper webs and cut and folded in a final folder, which is brought to the printed paper web in physical engagement. Due to this, technical difficulties may occur at the start of production of the printing press, if required for the process Synchronizing the Schneidmesser- and / or folding blade must move relative to the paper web.
Zur Abhilfe ist in
Demgegenüber liegt der Erfindung die Aufgabe zugrunde, Synchronisierverfahren für kommunikationstechnisch verbundene Einzelantriebe mit vereinfachter Struktur durchführen zu können. Zur Lösung wird bei dem Synchronisierverfahren mit den eingangs genannten oder den im Oberbegriff des Anspruchs 1 genannten Merkmalen erfindungsgemäß vorgeschlagen:
- a) als Referenzantrieb einen Einzelantrieb des Antriebsverbunds auszuwählen
- b) aus einem Vergleich der Lage bzw. Position des Referenzantriebs mit dem Leitachs-Bewegungsprofil einen Lageversatz zu ermitteln
- c) und aus dem Lageversatz eine Referenzgeschwindigkeit oder - beschleunigung abzuleiten
- d) und die Referenzgeschwindigkeit oder -beschleunigung über das Kommunikationssystem an alle Einzelantriebe des Antriebsverbunds als gemeinsame Führungsgröße für eine jeweilige Einzelantriebs-Geschwindigkeitsregelung zu verteilen.
- a) to select as a reference drive a single drive of the drive network
- b) to determine a positional offset from a comparison of the position or position of the reference drive with the master axis motion profile
- c) and derive a reference speed or acceleration from the positional offset
- d) and to distribute the reference speed or acceleration via the communication system to all individual drives of the drive system as a common reference variable for a respective single drive speed control.
Daneben wird zur Lösung der genannten Erfindungsaufgabe auf das im Anspruch 1 angegebene Synchronisierverfahren für mehrere Einzelantriebe und auf das im nebengeordneten, unabhängigen Anspruch 17 angegebene Antriebssystem verwiesen, das zur Durchführung des Synchronisierverfahrens geeignet ist. Optionale, bevorzugte Ausführungsformen der Erfindung ergeben sich aus den abhängigen Ansprüchen.In addition, reference is made to the solution of said invention task to the specified in
Die Erfindung umfasst also ein System zur Synchronisierung mehrerer bewegbarer Funktionsteile von Geräten oder Maschinen, insbesondere Druckmaschinen, anhand ihrer Position. Jedes Funktionsteil ist einzeln von je einem mehrerer elektrischer Einzelantriebe bewegbar, welche in einem Antriebsverbund zusammengefasst sind, worin anhand eines Bus- oder sonstigen Kommunikationssystems Daten bzw. Informationen bezüglich Position, Geschwindigkeit und/oder Beschleunigung von oder für die Einzelantriebe oder von einer übergeordneten Leitsteuerung übermittelt werden. Erfindungsgemäß werden diesem an sich bekannten Grundkonzept ganz oder teilweise folgende Schritte bzw. Merkmale hinzugefügt:
- Ein Einzelantrieb aus dem Antriebsverbund wird als Referenzantrieb zur Lieferung einer autonom erzeugten, lokalen Referenzposition ausgewählt.
- Unabhängig von den Einzelantrieben wird eine Sollreferenzlage bzw. virtuelle Leitposition generiert, beispielsweise von oder in einer Leitachssteuerung. Die Generierung der Leitachsposition kann auf der Grundlage eines programmtechnisch beispielsweise an einem Leitstand einstellbaren Bewegungsprofils erfolgen, wobei die Leitachsposition oder auch eine entsprechende Leitachsgeschwindigkeit Funktionen einer beispielsweise am Leitstand einstellbaren Produktionsgeschwindigkeit, - beschleunigung oder -verzögerung sind. Das Bewegungsprofil lässt sich auch als Funktion der Zeit darstellen.
- Die Leitachsposition wird im Antriebsverbund an alle Einzelantriebe, einschließlich des ausgewählten Referenzantriebs, übertragen.
- Die virtuell erzeugte, übertragene Leitachsposition wird mit der jeweiligen lokalen Antriebsposition, einschließlich der lokalen Referenzposition des Referenzantriebs, verglichen.
- Es wird eine Korrektur- bzw. Nachstellgeschwindigkeit unter Berücksichtigung des Leitachs-Bewegungsprofils und der aktuellen Position des Referenzantriebs generiert. Die daraus resultierende, an den Antriebsverbund vorzugebende Referenzgeschwindigkeit sollte, wenn der Referenzantrieb dem Falzwerk zugeordnet ist, immer unidirektional, beispielsweise positiv sein, damit im Einsatzbeispiel einer Druckmaschine mit Falzwerk dieses nicht rückwärts dreht bzw. nicht Makulatur erzeugt.
- Die so generierte Referenzgeschwindigkeit wird an alle Antriebe des Antriebsverbundes verteilt, vorzugsweise unter Kompensation einer Tot- bzw. Laufzeit, welche vom Bus- oder Kommunikationssystem bedingt ist.
- Anhand der empfangenen Referenzgeschwindigkeit generieren die Einzelantriebe mit ihren jeweiligen Servoregelungen dezentral bzw. lokal achsspezifische Bewegungssollwerte, wobei der Gleichlauf der Einzelantriebe durch die Vorgabe der Referenzgeschwindigkeit sichergestellt wird.
- A single drive from the drive network is selected as a reference drive for the delivery of an autonomously generated, local reference position.
- Regardless of the individual drives, a setpoint reference position or virtual routing position is generated, for example, by or in a master axis control. The generation of the Leitachsposition can be done on the basis of a programmable, for example, on a control station adjustable motion profile, the Leitachsposition or Also, a corresponding Leitachsgeschwindigkeit functions of, for example, the control station adjustable production speed, - acceleration or deceleration are. The motion profile can also be represented as a function of time.
- The master axis position is transmitted in the drive network to all individual drives, including the selected reference drive.
- The virtually generated, transmitted master axis position is compared with the respective local drive position, including the local reference position of the reference drive.
- A correction or reset speed is generated taking into account the master axis motion profile and the current position of the reference drive. The resulting, to be given to the drive network reference speed should, if the reference drive is assigned to the folding unit, always unidirectional, for example, be positive, so in the application of a printing press with folding this does not rotate backwards or not waste generated.
- The reference speed thus generated is distributed to all drives of the drive network, preferably with the compensation of a dead time or runtime, which is conditional on the bus or communication system.
- On the basis of the received reference speed, the individual drives generate with their respective servo control decentralized or local axis-specific motion setpoints, whereby the synchronization of the individual drives is ensured by specifying the reference speed.
Ein mit der Erfindung erzielter Vorteil besteht in der Vereinfachung der Bus- bzw. Kommunikationsstruktur: Indem als Referenzantrieb ein Einzelantrieb aus dem Antriebsverbund ausgewählt wird, der zusammen mit den anderen Einzelantrieben über ein gemeinsames Kommunikationssystem unter einer gemeinsamen Leitachssteuerung koordiniert wird, wird nicht mehr wie nach oben erläutertem Stand der Technik ein separater Antrieb außerhalb des Antriebs- und Kommunikationsverbundes als Referenzpositionsgeber verwendet. Damit entfällt gegenüber eingangs genanntem Stand der Technik die Notwendigkeit eines zusätzlichen separaten Bussystems, um von einem gegenüber dem Antriebsverbund separat angetriebenen Einzelantrieb, beispielsweise Falzantrieb, Positionsreferenzen zu beziehen.An advantage achieved with the invention consists in the simplification of the bus or communication structure: by selecting a single drive from the drive network as the reference drive, which together with the other individual drives via a common communication system is coordinated under a common master control, a separate drive outside the drive and communication network is no longer used as reference position generator as explained above prior art. This eliminates the need for an additional separate bus system in relation to the aforementioned prior art in order to obtain position references from a separate drive, for example folding drive, driven separately from the drive system.
Die Erfindung zeichnet sich unter anderem durch Folgendes aus:The invention is characterized, inter alia, by the following:
Es wird eine rein virtuelle, antriebsunabhängig generierte Leitachslage allen Einzelantrieben des Antriebsverbunds als Führungsgröße vorgegeben, worauf sich die Einzelantriebe jeweils für sich dezentral einregeln können. Die aktuelle Position eines speziell ausgewählten Einzelantriebs als Referenzantrieb, beispielsweise des Falzantriebs, muss nicht über das Kommunikationssystem an die übrigen Einzelantriebe verteilt werden.A purely virtual control axis position generated independent of the drive is specified to all individual drives of the drive group as a reference variable, whereupon the individual drives can each decentralize themselves. The current position of a specially selected individual drive as a reference drive, for example, the folding drive, does not have to be distributed via the communication system to the other individual drives.
Indem auf der Basis der Erfindung der Versatz der Position des Referenzantriebs zur virtuellen Leitachsposition des gesamten Antriebsverbundes berücksichtigt wird, ist die Notwendigkeit einer zusätzlichen Positionskorrektur am Referenzantrieb vermieden. Dies ist besonders vorteilhaft, wenn als Referenzantrieb der Falzapparateantrieb einer Druckmaschine verwendet wird, weil das Falzwerk in seiner Verstellbarkeit aufgrund der Rahmenbedingungen in einer Druckmaschine besonderen Einschränkungen unterliegt.By taking into account on the basis of the invention, the offset of the position of the reference drive to the virtual Leitachsposition the entire drive network, the need for additional position correction on the reference drive is avoided. This is particularly advantageous when the folder drive of a printing press is used as a reference drive because the folding unit is subject to particular restrictions in its adjustability due to the framework conditions in a printing press.
Die Vorgabe eines Geschwindigkeits-Referenzprofils erfolgt unter Berücksichtigung der realen Anfangsposition eines Referenzantriebs und gleichzeitiger Nutzung einer übergeordneten, antriebsunabhängigen Vorgabe einer Leitachsgeschwindigkeit.The specification of a velocity reference profile takes place taking into account the real start position of a reference drive and simultaneous use of a higher-level, drive-independent specification of a leading axis velocity.
Indem im Rahmen der Erfindung eine die reale Anfangsposition eines Referenzantriebs berücksichtigende Referenzgeschwindigkeit allen Antriebs- oder Servoreglern der Einzelantriebe vorgegeben wird, lässt sich effizient ein Gleichlauf aller Einzelantriebe des Antriebsverbunds erreichen. Der jeweiligen Geschwindigkeitsregelung der Einzelantriebe wird eine Regelung des Synchronlaufs überlagert, indem an die Einzelantriebe des Antriebsverbunds parallel sowohl die virtuell erzeugte Leitachsposition als auch die eine Anfangsposition eines realen Referenzantriebs berücksichtigende Referenzgeschwindigkeit über das gemeinsame Kommunikationssystem übertragen wird. Die Möglichkeit für die jeweiligen lokalen Antriebsregler, dezentral überlagerte Lageoffsetverstellungen durchzuführen, wird nicht eingeschränkt. Es lässt sich also weiterhin ein Versatz zur virtuellen Leitachsposition einstellen, was insbesondere beim Einsatz in einer Druckmaschine für Farb- und Schnittregister vorteilhaft sein kann. Zweckmäßig wird mit der Erfindung auch die dezentrale Sollwertgenerierung vereinfacht, weil beispielsweise der Feininterpolator und/oder der Hochlaufgeber wegfallen können.By within the scope of the invention, a reference speed which takes into account the real starting position of a reference drive is specified for all drive or servo controllers of the individual drives efficiently achieve synchronized operation of all individual drives of the drive system. The respective speed control of the individual drives is superimposed on a control of the synchronous operation by transmitting to the individual drives of the drive system in parallel both the virtually generated master axis position and the reference speed taking into account an initial position of a real reference drive via the common communication system. The possibility for the respective local drive controllers to carry out decentrally superimposed position offset adjustments is not restricted. Thus, it is also possible to set an offset to the virtual Leitachsposition, which can be particularly advantageous when used in a printing press for color and cut register. Advantageously, the decentralized setpoint generation is simplified with the invention, because, for example, the fine interpolator and / or the ramp-function generator can be omitted.
Eine optionale Ausbildung des erfindungsgemäßen Verfahrens besteht darin, dass das Leitachs-Bewegungsprofil (wspd,l, wpos,l) eine Leitachsposition (wpos,l) und/oder eine Leitachsgeschwindigkeit (wspd,l) und/oder eine Leitachsbeschleunigung umfasst, die als Führungsgröße(n) an alle Einzelantriebe (1,1a) des Antriebsverbunds (1,1a,2) übertragen werden. Diese Ausbildung kann gegebenenfalls dahingehend weiter entwickelt werden, dass bei der Vorgabe der Leitachsgeschwindigkeit (wspd,l) für den Antriebsverbund (1,1a,2) der Lageversatz (wpos,l - wpos,r) des Referenzantriebes (1a) zur Leitachsposition (wpos,l) für den Antriebsverbunds (1,1a,2) berücksichtigt wird.An optional embodiment of the method according to the invention consists in that the guide-axis movement profile (w spd, l , w pos, l ) comprises a Leitachsposition (w pos, l ) and / or a Leitachsgeschwindigkeit (w spd, l ) and / or a Leitachsbeschleunigung , which are transmitted as a reference variable (s) to all individual drives (1,1a) of the drive system (1,1a, 2). If appropriate, this design can be further developed to the effect that, when the leading axis speed (w spd, l ) is specified for the drive assembly (1, 1a, 2), the positional offset (w pos, l -w pos, r ) of the reference drive (1a) Leitachsposition (w pos, l ) for the drive network (1,1a, 2) is taken into account.
Eine optionale Ausbildung des erfindungsgemäßen Verfahrens besteht darin, dass für jeden Einzelantrieb (1,1a) des Antriebsverbundes (1,1a,2) eine Synchronlageregelung (6b) oder sonstige Synchronlageeinstellung mit der Referenzgeschwindigkeit (wspd,r) und der Leitachsposition (wpos,l) oder eines sonstigen Leitachs-Bewegungsprofils (wspd,l, wpos,l) als Eingangsgrößen und einer Stellgeschwindigkeit (wspdadj,d, wspdadj,l) als erzeugte Ausgangsgröße vorgenommen wird, welche zur Beeinflussung der jeweiligen Antriebsgeschwindigkeit (xspd,d, xspd,r) der Einzelantriebe (1,1a) verwendet und/oder verarbeitet wird. Dabei wird optional im Zuge der Synchronlageeinstellung (6b) die Referenzgeschwindigkeit (wspd,r) in einen für den empfangenden Einzelantrieb (1,1a) spezifischen Antriebspositionswert (wpos,d,wpos,r) umgewandelt, und eine zwischen der Leitachsposition (wpos,l) und dem Antriebspositionswert (wpos,d,wpos,r) gebildete Differenz wird über eine Übertragungsfunktion, beispielsweise Proportional-und/oder Integrierfunktion, in die Stellgeschwindigkeit (wspdadj,d, wspdadj,l) umgewandelt.An optional embodiment of the method according to the invention is that for each individual drive (1,1a) of the drive system (1,1a, 2) a synchronous position control (6b) or other synchronous position adjustment with the reference speed (w spd, r ) and the Leitachsposition (w pos , l ) or another control axis motion profile (w spd, l , w pos, l ) as input variables and an actuating speed (w spdadj, d , w spdadj, l ) is taken as generated output variable, which for influencing the respective drive speed (x spd, d , x spd, r ) of the individual drives (1,1a) is used and / or processed. This becomes optional in the course of the synchronizing position adjustment (6b), the reference speed (w spd, r ) is converted into a drive position value (w pos, d , w pos, r ) specific to the receiving individual drive (1,1a), and one between the master axis position (w pos, l ) and the drive position value (w pos, d , w pos, r ) difference is converted via a transfer function, such as proportional and / or Integrierfunktion, in the actuating speed (w spdadj, d , w spdadj, l ).
Eine optionale Ausbildung des erfindungsgemäßen Verfahrens besteht darin, dass nur eine unidirektionale Referenzgeschwindigkeit (xspd,r) und/oder -beschleunigung verteilt wird. Insbesondere werden nach der Überlagerung von Stell- und Leitachsgeschwindigkeit (wspdadj,l ,wspd,l) nur Referenzgeschwindigkeiten (wspd,r) einer Richtung beziehungsweise eines einheitlichen Vorzeichens zur Verteilung an die Verbund-Einzelantriebe (1,1a) frei gegeben.An optional embodiment of the method according to the invention is that only one unidirectional reference speed (x spd, r ) and / or acceleration is distributed. In particular, only reference velocities (w spd, r ) of one direction or of a uniform sign for distribution to the composite individual drives (1,1a) are released after the superimposition of setting and leading axis speeds (w spdadj, l , w spd, l ).
Eine optionale Ausbildung des erfindungsgemäßen Verfahrens besteht darin, dass in der Leitachssteuerung (5) das Bewegungsprofil (wspd,l, wpos,l) als Funktion einer Produktionsgeschwindigkeit (wspd,p), einer Produktionsbeschleunigung und/oder -verzögerung (wacc,p, wdec,p ) über die Zeit programmierbar oder sonst einstellbar ist.An optional embodiment of the method according to the invention is that in the master axis control (5) the motion profile (w spd, l , w pos, l ) as a function of a production speed (w spd, p ), a production acceleration and / or deceleration (w acc , p , w dec, p ) is programmable or otherwise adjustable over time.
Eine optionale Ausbildung des erfindungsgemäßen Verfahrens besteht darin dass die Verteilung der Referenzgeschwindigkeit (xspd,r) mit einer Kompensation einer Laufzeit (2) der Informationsübertragung auf dem Bus- oder sonstigen Kommunikationssystem (2) erfolgt. Beispielsweise wird zur Laufzeit-Kompensation dem Referenzantrieb (1a) mittels zusätzlicher Geschwindigkeitserhöhung gegenüber dem Leitachs-Bewegungsprofil (wspd,l, wpos,l) eine Vorauseilung erteilt, welche der Laufzeit (2) entspricht.An optional embodiment of the method according to the invention consists in that the distribution of the reference speed (x spd, r ) takes place with a compensation of a transit time (2) of the information transmission on the bus or other communication system (2). For example, for runtime compensation, the reference drive (1a) is given an advance, which corresponds to the transit time (2), by means of an additional speed increase in relation to the lead axis movement profile (w spd, l , w pos, l ).
Eine optionale Ausbildung des erfindungsgemäßen Verfahrens besteht darin, dass in jedem Einzelantrieb (1.1a) des Antriebsverbunds (1,1a,2) die Leitachsposition (wpos,l) und/oder eine Leitachsgeschwindigkeit (wspd,l) und/oder das sonstige Leitachs-Bewegungsprofil (wspd,l, wpos,l) jeweils als Führungsgröße für eine Servoregelung (6a) und/oder eine Geschwindigkeitsregelung verarbeitet wird.An optional embodiment of the method according to the invention is that in each individual drive (1.1a) of the drive assembly (1,1a, 2) the Leitachsposition (w pos, l ) and / or a Leitachsgeschwindigkeit (w spd, l ) and / or the other Leitachs motion profile (w spd, l , w pos, l ) each as Reference variable for a servo control (6a) and / or a speed control is processed.
Weitere Einzelheiten, Merkmale, Merkmalskombinationen, Vorteile und Wirkungen auf der Basis der Erfindung ergeben sich aus den Ansprüchen und der nachfolgenden Beschreibung bevorzugter Ausführungsformen der Erfindung sowie anhand der Zeichnungen. Diese zeigen in:
- Fig. 1
- anhand eines Blockschaltbilds die Grobstruktur eines beispielhaften Antriebssystems gemäß Erfindung.
- Fig. 2
- anhand eines etwas detaillierteren Blockschaltbildes die Grobstruktur eines weiteren, beispielhaften Antriebssystems gemäß Erfindung.
- Fig. 1
- on the basis of a block diagram, the coarse structure of an exemplary drive system according to the invention.
- Fig. 2
- Based on a slightly more detailed block diagram, the coarse structure of another, exemplary drive system according to the invention.
Gemäß
Die Funktionsweise ist wie folgt: In die Leitachssteuerung 5 wird von extern eine Produktionsgeschwindigkeit wspd,p eingegeben, beispielsweise einprogrammiert. Daraus generiert ein Leitachsgeschwindigkeitsgenerator 5a (siehe
Gemäß
Für die Erfindungsvariante, dass eine direkte Slave-zu-Slave-Kommunikation (1:n) realisiert wird, entfiele die Vorgabe durch den Master und alle Slaves (nur "gekuppelte" Antriebe) würden die Referenzgeschwindigkeitgröße wspd,r(t_x)= xspd,r(t_x-1) empfangen.For the variant of the invention that realizes a direct slave-to-slave communication (1: n), the specification would be omitted by the master and all slaves (only "coupled" drives) would be the reference speed variable w spd, r (t_x) = x spd, r (t_x-1) received.
Gemäß
Gemäß
Gemäß
Gemäß
Gemäß
Zur Wirkungsweise des elektrischen Antriebssystems nach
Besonders geeignet ist das in
Beim Produktionsanlauf auf einen Druckauftrag hin sind die Einzelantriebe, welche die Walzen/Druck- und Falzwerke der Rotationsdruckmaschine antreiben, auf die gemeinsame Lage auf der Papierbahn zu synchronisieren. Dabei nehmen die Anfangs- bzw. Ausgangswerte wpos,d0, wpos,r0 der Positionen der Verbundantriebe 1 und des Referenzantriebs 1a zufällige Werte ein. Zweckmäßig wird die Anfangsposition wpos,r0 des Referenzantriebs 1a von der Leitachssteuerung 5 ausgelesen und zur Definition der "Nulllage" des Maschinen-Drehkoordinatensystems verwendet. Mit Druckauftrag und Beginn des Produktionsanlaufs generiert in der Leitachssteuerung 5 der Leitachs-Geschwindigkeitsgenerator 5a entsprechend der Kennlinie 5b des Leitachs-Bewegungsprofils Leitachsgeschwindigkeitswerte wspd,l, die über den Datenkommunikationsbus 2 wenigstens dem Referenzgenerator 6c des Referenzantriebs 1a zugeführt werden. Mittels eines Integrierglieds I berechnet die Leitachssteuerung 5, ausgehend von einer beliebigen Anfangslage wpos,l0, aus den Geschwindigkeitswerten Leitachspositionswerte wpos,l, die über den Datenkommunikationsbus 2 an die jeweilige Synchronlageregelung 6b der Verbundantriebe 1 und des Referenzantriebs 1a als Führungsgrößen übermittelt werden.When starting production on a print job out the individual drives, which are the rollers / printing and folding units of Rotate rotary press to synchronize to the common location on the paper web. The initial or initial values w pos, d0 , w pos, r0 of the positions of the
Die Referenzgeschwindigkeit wspd,r bezieht sich in erster Linie auf die Leitgeschwindigkeit wspd,l, der eine Nachstellgeschwindigkeit wspdadj,l überlagert wird. Diese Korrektur- beziehungsweise Nachstellgeschwindigkeit ist die Stellgröße des Synchronlagereglers und hat die Aufgabe, die Abweichung Leitachsposition zu Referenzantriebsposition wpos,l - wpos,r zu Null werden zu lassen. Der Anfangswert wpos,r0 der Referenzposition hat beim Initialisierungsschritt (einmalig) einen Bezug zur realen Antriebsposition. Verteilt wird allerdings fortlaufend eine Geschwindigkeitsreferenz, der auch der Referenzantrieb, beispielsweise Falzantrieb folgt.The reference speed w spd, r relates primarily to the guide speed w spd, l, which is superimposed on an adjustment speed w spdadj, l . This correction or readjustment speed is the manipulated variable of the synchronous position controller and has the task of making the deviation from the master axis position to the reference drive position w pos, l -w pos, r zero. The initial value w pos, r0 of the reference position has (at one time) a reference to the real drive position during the initialization step . However, a speed reference, which also follows the reference drive, for example folding drive, is continuously distributed.
Gemäß
Mit Vorteil kann also die gemeinsame Gesschwindigkeitsvorgabe beziehungsweise die Vorgabe der Referenzgeschwindigkeit wspd,r so erfolgen, dass die Abweichung von der Falzreferenzlage wpos,r zur virtuellen Leitposition wpos,l des gesamten Antriebsverbundes 1,1a,2 einstellbar, beispielsweise Null ist. Insbesondere wird die Ausgabe einer negativen Referenzgeschwindigkeit xspd,r, wspd,r aus dem Synchronlageregler 6b verhindert. In weiterer Ausgestaltung ist solchenfalls auch die Verhinderung des Aufsummieren des Integralanteils im PI-Regler PI zweckmäßig beziehungsweise wird der Integralanteil im PI-Regler PI des Synchronlagereglers 6b auf Null gehalten, solange die Referenzgeschwindigkeit xspd,r , wspd,r Null ist.Advantageously, therefore, the common speed default or the specification of the reference speed w spd, r can be such that the deviation from the fold reference position w pos, r to the virtual leading position w pos, l of the
Im weiteren Betrieb wird bei jedem Einzelantrieb 1, 1a des Antriebsverbunds im Rahmen der Synchronlageregelung 6b der jeweilige Lageversatz wpos,l - wpos,d beziehungsweise - wpos,r des Referenzantriebs 1a zur virtuellen Leitachslage wpos,l des Antriebsverbunds anhand der Vergleichsstelle V und der daraus resultierenden Regeldifferenz berücksichtigt und ständig ausgeregelt. Den dezentralen Geschwindigkeits-Servoregelungen 6a der Einzelantriebe 1, 1a wird jeweils eine Synchronlaufregelung 6b durch parallele Übermittlung der auf der Referenzlage wpos,r basierenden Referenzgeschwindigkeit wspd,r an die Einzelantriebe 1, 1a des Antriebsverbunds überlagert. Nach Ende der Anlaufphase ist durch die Überlagerungen der Nachstellgeschwindigkeiten wspdadj,d, wspdadj,l im jeweiligen Verbundantrieb 1 beziehungsweise Referenzantrieb 1a zu den Regelkreis-Führungsgrößen bzw. zum Eingang des Referenzgenerators 6c eine Lagesynchronität der Einzelantriebe 1,1a untereinander erreicht.In subsequent operation, 1a of the drive network within the
Die Kompensation der Buslaufzeit ergibt sich durch die Einbeziehung des, diese Buslaufzeit repräsentierenden Laufzeitgliedes 2a in den Iswertzweig des Synchronlagereglers 6b. Damit führen dynamische Abweichungen zwischen der Leitachsgeschwindigkeit wpos,l und Referenzantriebsposition wpos,r zur Nachstellgeschwindigkeit wspdadj,l für die Leitachsgeschwindigkeit als Stellgröße. Das wirkt der Lageabweichung beim Beschleunigen entgegen und reduziert/kompensiert den Einfluss der Buslaufzeit. Im stationären Betrieb mit der Korrekturgeschwindigkeit xspd,r beziehungsweise der Referenzgeschwindigkeit wspd,r konstant hat die Buslaufzeit sowieso keine Wirkung. Der Einfluss der Buslaufzeit bei der Übertragung der Leitlage wpos.l wird durch zeitsynchrone Messungen aller Lagen im System sichergestellt. Damit werden wpos,l und wpos,d vom selben Zeitpunkt t_x miteinander verglichen, ohne dass die Buslaufzeit eine Rolle spielt.The compensation of the bus runtime results from the inclusion of the, this bus running time representing
- 1, 1a, 1b1, 1a, 1b
- Einzelantriebeindividual drives
- 11
- Verbundantriebmulti-axis controller
- 1a1a
- Referenzantriebreference drive
- 1b1b
- sonstiger Antrieb außerhalb des Verbundsother drive outside the network
- 22
- Datenkommunikationsbusdata communication bus
- 2a2a
- BuslaufzeitgliedBuslaufzeitglied
- 33
- Busumschaltungbus switching
- 1, 1a, 21, 1a, 2
- Antriebsverbunddrive system
- 55
- LeitachssteuerungLeitachssteuerung
- 5a5a
- Leitachs-Geschwind ig keitsgeneratorLeading axis velocity generator
- 5b5b
- Kennlinie des Leitachs-BewegungsprofilCharacteristic of the master axis motion profile
- ll
- Integriergliedintegrating
- 6a6a
- Servo-GeschwindigkeitsregelungServo speed control
- 6b6b
- SynchronlageregelungSynchronous position control
- 6c6c
- Referenzgeneratorreference generator
- VV
- Vergleichsgliedcomparator
- PIPI
- Proportional-IntegralregelgliedProportional integral control element
- WW
- Wandlerconverter
- SS
- Servoreglerservo controller
- 7a7a
- Servomotorservomotor
- 7b7b
- Bewegungssensormotion sensor
- ÜÜ
- ÃœberlagerungsgliedSuperposition element
- 88th
- UnidirektionalfilterUnidirektionalfilter
- wspd,p w spd, p
- Produktionsgeschwindigkeitproduction speed
- wspd,l w spd, l
- LeitachsgeschwindigkeitMaster axis
- wpos,l w pos, l
- LeitachspositionMaster axis
- wpos,r w pos, r
- ReferenzantriebspositionReference driving position
- xspd,r x spd, r
- Korrekturgeschwindigkeitcorrection speed
- wspd,r w spd, r
- Referenzgeschwindigkeitreference speed
- wos,l0 w os, l0
- Anfangswert der LeitachspositionInitial value of the master axis position
- wspd,d w spd, d
- Sollgeschwindigkeit AntriebTarget speed drive
- xspd,d x spd, d
- Istgeschwindigkeit AntriebActual speed drive
- wspdadj,l w spdadj, l
- Nachstellgeschwindigkeit für LeitachsgeschwindigkeitAdjustment speed for master axis speed
- wspdadj,d w spdadj, d
- Nachstellgeschwindigkeit für AntriebAdjustment speed for drive
- wpos,d w pos, d
- AntriebssollpositionDrive target position
- wpos,d0 w pos, d0
- Anfangswert der Antriebsposition oder AntriebssollpositionInitial value of the drive position or drive setpoint position
- wpos,r0 w pos, r0
- Anfangswert der ReferenzantriebspositionInitial value of the reference drive position
Claims (15)
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EP09168385.4A EP2286996B1 (en) | 2009-08-21 | 2009-08-21 | Method for producing a position-synchronised drive system by specifying a speed and position reference and drive system for the execution of same |
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EP09168385.4A EP2286996B1 (en) | 2009-08-21 | 2009-08-21 | Method for producing a position-synchronised drive system by specifying a speed and position reference and drive system for the execution of same |
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EP (1) | EP2286996B1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016008993A1 (en) * | 2014-07-16 | 2016-01-21 | Bielomatik Leuze Gmbh + Co. Kg | Method for operating a device for producing printed matter |
US10185305B2 (en) | 2013-10-17 | 2019-01-22 | Hewlett-Packard Development Company, L.P. | Controlling actuators |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0567741A1 (en) | 1992-04-30 | 1993-11-03 | Asea Brown Boveri Ag | Rotary printing machine |
EP0930552A2 (en) * | 1998-01-20 | 1999-07-21 | BAUMÃœLLER ANLAGEN-SYSTEMTECHNIK GmbH & Co. | Electrical drive system with a virtual, ditributed lead axis |
WO2004028805A1 (en) * | 2002-09-19 | 2004-04-08 | Koenig & Bauer Aktiengesellschaft | Drive devices and method for driving a processing machine |
EP1503260A1 (en) * | 2003-07-28 | 2005-02-02 | Fanuc Ltd | Numerical control device |
-
2009
- 2009-08-21 EP EP09168385.4A patent/EP2286996B1/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0567741A1 (en) | 1992-04-30 | 1993-11-03 | Asea Brown Boveri Ag | Rotary printing machine |
EP0930552A2 (en) * | 1998-01-20 | 1999-07-21 | BAUMÃœLLER ANLAGEN-SYSTEMTECHNIK GmbH & Co. | Electrical drive system with a virtual, ditributed lead axis |
WO2004028805A1 (en) * | 2002-09-19 | 2004-04-08 | Koenig & Bauer Aktiengesellschaft | Drive devices and method for driving a processing machine |
EP1503260A1 (en) * | 2003-07-28 | 2005-02-02 | Fanuc Ltd | Numerical control device |
Non-Patent Citations (1)
Title |
---|
BENDER K ET AL: "Tagungsband - SPS/IPC/DRIVES elektrische automatrsierunq system und komponenten fachmesse & kongress", IEE - AUTOMATISIERUNG UND DATENTECHNIK, HUETHIG, HEIDELBERG, DE, 28 November 2000 (2000-11-28), pages 1 - 18, XP007902996, ISSN: 1434-2898 * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10185305B2 (en) | 2013-10-17 | 2019-01-22 | Hewlett-Packard Development Company, L.P. | Controlling actuators |
WO2016008993A1 (en) * | 2014-07-16 | 2016-01-21 | Bielomatik Leuze Gmbh + Co. Kg | Method for operating a device for producing printed matter |
EP3169529B1 (en) | 2014-07-16 | 2019-09-11 | BW Papersystems Stuttgart GmbH | Method for operating a device for producing printed matter |
Also Published As
Publication number | Publication date |
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EP2286996A8 (en) | 2011-09-28 |
EP2286996B1 (en) | 2016-03-23 |
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