EP2286996A1 - Procédé de fabrication d'un composite d'entraînement à position synchrone par l'émission d'une référence de vitesse et de position et système d'entraînement destiné à son exécution - Google Patents

Procédé de fabrication d'un composite d'entraînement à position synchrone par l'émission d'une référence de vitesse et de position et système d'entraînement destiné à son exécution Download PDF

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Publication number
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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EP
European Patent Office
Prior art keywords
drive
pos
spd
speed
spdadj
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09168385A
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German (de)
English (en)
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EP2286996A8 (fr
EP2286996B1 (fr
Inventor
Ulrich Strunz
Mathias Monse
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Baumueller Anlagen Systemtechnik GmbH and Co
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Baumueller Anlagen Systemtechnik GmbH and Co
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Priority to EP09168385.4A priority Critical patent/EP2286996B1/fr
Publication of EP2286996A1 publication Critical patent/EP2286996A1/fr
Publication of EP2286996A8 publication Critical patent/EP2286996A8/fr
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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
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Multiple Motors (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)
EP09168385.4A 2009-08-21 2009-08-21 Procédé de fabrication d'un composite d'entraînement à position synchrone par l'émission d'une référence de vitesse et de position et système d'entraînement destiné à son exécution Active EP2286996B1 (fr)

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EP09168385.4A EP2286996B1 (fr) 2009-08-21 2009-08-21 Procédé de fabrication d'un composite d'entraînement à position synchrone par l'émission d'une référence de vitesse et de position et système d'entraînement destiné à son exécution

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EP09168385.4A EP2286996B1 (fr) 2009-08-21 2009-08-21 Procédé de fabrication d'un composite d'entraînement à position synchrone par l'émission d'une référence de vitesse et de position et système d'entraînement destiné à son exécution

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EP2286996A1 true EP2286996A1 (fr) 2011-02-23
EP2286996A8 EP2286996A8 (fr) 2011-09-28
EP2286996B1 EP2286996B1 (fr) 2016-03-23

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016008993A1 (fr) * 2014-07-16 2016-01-21 Bielomatik Leuze Gmbh + Co. Kg Procédé pour faire fonctionner un dispositif servant à produire des imprimés
US10185305B2 (en) 2013-10-17 2019-01-22 Hewlett-Packard Development Company, L.P. Controlling actuators

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0567741A1 (fr) 1992-04-30 1993-11-03 Asea Brown Boveri Ag Machine à imprimer rotative
EP0930552A2 (fr) * 1998-01-20 1999-07-21 BAUMÜLLER ANLAGEN-SYSTEMTECHNIK GmbH & Co. Système d'entraínement électrique avec un axe maítre virtuel, distribué
WO2004028805A1 (fr) * 2002-09-19 2004-04-08 Koenig & Bauer Aktiengesellschaft Dispositifs d'entrainement et procede d'entrainement d'une machine de traitement
EP1503260A1 (fr) * 2003-07-28 2005-02-02 Fanuc Ltd Appareil à commande numérique

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0567741A1 (fr) 1992-04-30 1993-11-03 Asea Brown Boveri Ag Machine à imprimer rotative
EP0930552A2 (fr) * 1998-01-20 1999-07-21 BAUMÜLLER ANLAGEN-SYSTEMTECHNIK GmbH & Co. Système d'entraínement électrique avec un axe maítre virtuel, distribué
WO2004028805A1 (fr) * 2002-09-19 2004-04-08 Koenig & Bauer Aktiengesellschaft Dispositifs d'entrainement et procede d'entrainement d'une machine de traitement
EP1503260A1 (fr) * 2003-07-28 2005-02-02 Fanuc Ltd Appareil à commande numérique

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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 (fr) * 2014-07-16 2016-01-21 Bielomatik Leuze Gmbh + Co. Kg Procédé pour faire fonctionner un dispositif servant à produire des imprimés
EP3169529B1 (fr) 2014-07-16 2019-09-11 BW Papersystems Stuttgart GmbH Procédé pour faire fonctionner un dispositif pour produire matériau imprimé

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EP2286996A8 (fr) 2011-09-28
EP2286996B1 (fr) 2016-03-23

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