EP2286996B1 - 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

Description

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.

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 one or more communication means.

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 doing so 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. WO 2004/028805 A1 relates to a method for the synchronization of several individual drives. The leading axis motion profiles represent target values to be observed.

1. a) als Referenzantrieb einen Einzelantrieb des Antriebsverbunds auszuwählen
2. b) aus einem Vergleich der Lage bzw. Position des Referenzantriebs mit dem Leitachs-Bewegungsprofil einen Lageversatz zu ermitteln
3. c) und aus dem Lageversatz eine Referenzgeschwindigkeit oder - beschleunigung abzuleiten
4. d) und die Referenzgeschwindigkeit oder -beschleunigung über das Kommunikationssystem an alle Einzelantriebe des Antriebsverbunds als gemeinsame Führungsgröße für eine jeweilige Einzelantriebs-Geschwindigkeitsregelung zu verteilen.

In contrast, the object of the invention is to be able to carry out synchronization processes for communication-related individual drives with a simplified structure. For the solution is proposed according to the invention in the synchronization with the features mentioned above or mentioned in the preamble of claim 1:

1. a) to select as a reference drive a single drive of the drive network
2. b) to determine a positional offset from a comparison of the position or position of the reference drive with the master axis motion profile
3. c) and derive a reference speed or acceleration from the positional offset
4. 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.

In addition, reference is made to the solution of said invention task to the specified in claim 1 synchronization method for several individual drives and to the specified in the independent independent claim 17 drive system, which is suitable for carrying out the synchronization. Optional, preferred embodiments of the invention will be apparent from the dependent claims.

• 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.

The invention thus comprises a system for synchronizing a plurality of movable functional parts of devices or machines, in particular printing machines, based on their position. Each functional part is individually movable by one each of a plurality of electrical individual drives, which are combined in a drive network, wherein transmitted by means of a bus or other communication system data or information regarding position, speed and / or acceleration of or for the individual drives or from a higher-level control become. According to the invention, the following steps or features are added in whole or in part to this basic concept known per se:

• 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.

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.

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.

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.

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.

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 in such a way that when the leading axis speed (w _{spd, l} ) for the drive assembly (1, 1a, 2) is determined, the positional offset (w _{pos, l} ) -w _{pos, r} ) of the reference drive (1a) to the Leitachsposition (w _{pos, l} ) for the drive network (1,1 a, 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 synchronizing _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 (1,1 a) is used and / or processed. This becomes optional in the course of 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, 1 a), and a reference 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 positioning speed (w _{spdadj, d} , w _{spdadj, l} ).

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 (1,1 a) 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). 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} ).

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.

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.

Further details, features, feature combinations, advantages and effects on the basis of the invention will become apparent from the claims and the following description of preferred embodiments of the invention and from the drawings. These show in:

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.

According to Fig. 1 The drive system comprises a plurality of individual drives 1, 1 a, 1 b, namely composite drives 1, which also include a selectable reference drive 1 a, and other individual drives 1b. Although the latter, like the other drives 1, 1 a, can be connected in terms of circuitry to a data communication bus 2 via a respective bus interface 3, they are not actuated 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 outside a drive or communication network 1, 1a, 2 of the composite drives 1, 1 a, which can be coordinated and / or dominated by a master axis control 5, which also coupled via a bus interface 3 with the data communication bus 2 is. In the embodiment of Fig. 1 has assumed a real bus in master-slave configuration, ie all control signals run from the master to the slaves, status signals corresponding to the slaves to the master. Thus, a reference signal derivable from a (random drive) must pass through the master (master axis control).

The mode of operation is as follows: 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 ) independent of the drive, a leading axis speed w _{spd, l} and a Leitachsposition w _{pos, l} . These variables are fed via the data communication bus 2 to the drive network 1, 1 a, 2 as follows: the individual drive selected as the reference drive 1 a is the entire, generated motion profile which the master axis position w _{pos, l} and the master axis speed w _{spd, l} includes, supplied. An internal synchronizing position adjustment taking into account the reference drive 1 a takes into account an offset between the predetermined leading 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 1 a on the other. As a result, a correction _speed x _{spd, r is} formed via the correspondingly set computing means of the reference drive 1 a and fed to the master axis controller 5 via the data communication bus 2. This generates from the correction _speed x _{spd, r} a reference _speed w _{spd, d} , which is _transmitted to all other, the drive group 1, 1a, 2 belonging to individual drives 1 as a guide 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 1 a. 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.

According to Fig. 2 is in the leading axis control 5 of the Leitgeschwindigkeitsgenerator 5a to realize the Leitachs motion profile characteristic curve 5b with the Leitachsposition w _{pos, l} and the Leitachsgeschwindigkeit w _{spd, l} set as output variables. The Leitgeschwindigkeitsgenerator 5a directly outputs the Leitachsgeschwindigkeit 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. According to embodiment of the 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. In 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.

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.

According to Fig. 2 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 1 a additionally has a reference generator 6 c.

According to Fig. 2 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. Whose movements are by 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.

According to FIG. 2 the respective synchronous position control 6b of the individual drives belonging to the drive network 1, 1 a on the input side an integrating I and a comparator V. The latter is connected at its positive input to the data communication bus 2 for receiving the Leitachsposition 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 compound drive 1 or the reference drive 1 a 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} . About the output of the comparator V, the resulting control difference w _{pos, l} - w _{pos, r and d} a control 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 1 a or of a compound drive 1.

According to FIG. 2 in the reference _drive 1a, 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.

According to 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. Thus results from 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.

For the operation of the electric drive system according to Fig. 2 the following is executed:

This is particularly suitable in Fig. 2 shown drive system for single-drive use in a rotary printing press, in which a plurality of Druckzylindem 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. As a rule, each cylinder has its own servomotor 7a of an individual drive 1, 1a integrated into the drive assembly 1, 1a, 2. Suitably, the selected as a reference drive 1 a single drive with its servo motor 7a, for example, the cutting blade and / or the folding blade cylinder of the folding unit assigned.

When starting production on a print job, the individual drives which are the rollers / printing and folding units of the 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 1 a _assume random values. The initial position w _{pos, r0 of} the reference _drive 1 a is expediently read out from the master axis controller 5 and used to define the "zero position" of the machine rotary coordinate system. 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 1 a in accordance with the characteristic curve 5b of the leading axis motion profile. By means of 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 . However, a speed reference, which also follows the reference drive, for example folding drive, is continuously distributed.

According to Fig. 2 it is _desirable that the reference _speed w _{spd, r} , which is derived from the reference drive 1a, the Leitachsgeschwindigkeit w _{spd, l} corresponds. For this purpose, it is necessary to adjust the control difference Leitachsposition w _{pos, l} - reference drive position w _{pos, r} on the comparison element V of the synchronous position control 6b of the reference drive 1 a and reduce this difference. If the reference drive 1a 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. If, in the permitted direction of rotation, at start-up of the drive assembly 1, 1, the lead axle position w _{pos, l} initially still falls short of the initial position w _{pos, r0 of} the reference _drive 1a, because of the negative control difference w _{pos, l -w pos, r} at the output of the superposition member Ü of the reference generator 6c result in a speed value of negative sign. This is suppressed by the unidirectional filter 8, wherein a correction _speed x _{spd, r} or a reference _speed w _{sps, r is transmitted} with a value zero to the speed servo control circuits of all individual drives 1, 1a of the drive network via the data communication bus 2. The drive network therefore remains stationary. Only when the circumferential, purely virtual Leitachsposition w _{pos, l} the fold reference starting position w _{pos, r0} happens (w _{pos, l} greater or equal to zero), the drive network with the individual drives 1, 1a is set in motion, including the reference drive 1 a , For then correction _{speed values} x _{spd, r} or reference _{speed values} w _{spd, r} increasing greater than zero are output from the reference _drive 1a to the speed servo _{control circuits} .

Advantageously, therefore, the common speed default or the specification of the reference _speed w _{spd, r} can be such that the deviation from the hemming reference position w _{pos, r} to the virtual leading position w _{pos, l of} the entire drive system 1.1 a, 2 is adjustable, for example zero , In particular, the output of a negative reference _speed x _{spd, r} , w _{spd, r} from the synchronous _{position controller} 6b is prevented. In a further embodiment, 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.

In subsequent operation, 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. After the _startup phase is achieved by the superpositions of the readjustment _speeds w _{spdadj, d} , w _{spdadj, l} in the respective compound drive 1 or reference drive 1 a to the control loop command values or to the input of the reference generator 6c a position synchronism of the individual drives 1.1 a to each other.

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. Thus, 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. 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. The influence of the bus runtime in the transmission of the control position w _pos.l is ensured by time-synchronous measurements of all the layers in the system. Thus, w _{pos, l} and w _{pos, d} are compared with one another by the same time t_x without the bus running time being of any importance.

LIST OF REFERENCE NUMBERS

1, 1a, 1b

individual drives

1

multi-axis controller

1a

reference drive

1b

other drive outside the network

2

data communication bus

2a

Buslaufzeitglied

3

bus switching

1, 1a, 2

drive system

5

Leitachssteuerung

5a

Master axis speed generator

5b

Characteristic of the master axis motion profile

I

integrating

6a

Servo speed control

6b

Synchronous position control

6c

reference generator

V

comparator

PI

Proportional integral control element

W

converter

S

servo controller

7a

servomotor

7b

motion sensor

Ü

Superposition element

8th

Unidirektionalfilter

w _{spd, p}

production speed

w _{spd, l}

Master axis

w _{pos, l}

Master axis

w _{pos, r}

Reference driving position

x _{spd, r}

correction speed

w _{spd, r}

reference speed

w _{pos, l0}

Initial value of the master axis position

w _{spd, d}

Target speed drive

x _{spd, d}

Actual speed drive

w _{spdadj, l}

Adjustment speed for master axis speed

w _{spdadj, d}

Adjustment speed for drive

w _{pos, d}

Drive target position

w _{pos, d0}

Initial value of the drive position or drive setpoint position

w _{pos, r0}

Initial value of the reference drive position

Claims (15)

1. A method for synchronising a number of individual drives (1, 1a) onto a common drive position, used in particular in a printing press with a folding unit that has at least one individual folding drive, the individual drives being combined by at least one bus or other communication system (2) conveying position, speed and/or acceleration information to form a position-synchronous drive group (1, 1a, 2) which is fed with a leading axis movement profile (w_spd,l, w_pos,l) by a leading axis control (5), information on the common position being derived from an individually driven reference drive (1a), for example the individual folding drive, characterised by the following steps:

   - an individual drive of the drive group (1, 1a, 2) is selected as the reference drive (1 a),

   - the leading axis movement profile (w_spd,l, w_pos,l) is generated virtually and independently of the drive,

   - the leading axis movement profile (w_spd,l, w_pos,l) comprising at least one virtual leading axis position,

   - and upon specifying the leading axis movement profile (w_spd,l, w_pos,l) to the drive group (1, 1 a, 2) an offset (w_pos,l - w_pos,r) of the location or position (w_pos,r0, w_pos,r) of the reference drive (1a) in relation to the leading axis movement profile (w_spd,l, w_pos,l) is taken into consideration.
2. The method according to Claim 1, characterised in that the location offset (w_pos,l, - w_pos,r), and from this a reference speed (x_spd,r) or acceleration, is derived from a comparison of the location or position (w_pos,r0, w_pos,r) of the reference drive (1a) with the leading axis movement profile (w_spd,l, w_pos,l), and are distributed by the communication system (2) to all of the individual drives (1, 1a) of the drive group (1, 1a, 2) as a common guide value (w_spd,r) for a respective individual drive speed regulation (6a).
3. The method according to Claim 1 or 2, characterised in that the leading axis movement profile (w_spd,l, w_pos,l) comprises a leading axis position (w_pos,l) and a leading axis speed (w_spd,l) and/or a leading axis acceleration that are transmitted as guide value(s) to all of the individual drives (1, 1a) of the drive group (1, 1a, 2), upon specifying the leading axis speed (w_spd,l) for the drive group (1, 1a, 2) the location offset (w_pos,l - w_pos,r) of the reference drive (1a) in relation to the leading axis position (w_pos,l) being taking into consideration for the drive group (1, 1a, 2).
4. The method according to Claim 2 and 3, characterised by a specification of the common reference speed guide value (x_spd,r, w_spd,r) such that a deviation or offset (w_pos,l - w_pos,r) between the reference drive position (w_pos,r0, w_pos,r) and the drive group leading position (w_pos,l) can be set, in particular to zero.
5. The method according to any of the preceding claims, characterised in that for each individual drive (1, 1 a) of the drive group (1, 1 a, 2) a synchronous location regulation (6b) or other synchronous location setting is undertaken with the reference speed (w_spd,r) and of the leading axis position (w_pos,l) or of another leading axis movement profile (w_spd,l, w_pos,l) as input values and of a positioning speed (w_spdadj,d, w_spdadj,l) as a generated output value, which is used and/or processed in order to influence the respective drive speed (x_spd,d, x_spd,r) of the individual drives (1, 1 a), in the course of the synchronous location setting (6b) the reference speed (w_spd,r) being converted into a drive position value (w_pos,d, w_pos,r) specific to the individual receiving drive (1, 1 a), and a difference formed between the leading axis position (w_pos,l) and the drive position value (w_pos,d, w_pos,r) being converted by a transmission function, for example a proportional and/or integrating function, into the positioning speed (w_spdadj,d, w_spdadj,l).
6. The method according to Claim 5, characterised in that at least in one part (1) of the individual group drives (1, 1a) the positioning speed (w_spdadj,d) is superimposed over the regulating value of the servo and/or speed regulation, for example the actual drive speed (w_spd,d).
7. The method according to either of Claims 5 or 6, characterised in that in the reference drive (1a) for generating and/or influencing the reference speed (x_spd,r), the positioning speed (w_spdadj,l) is superimposed over the delivered leading axis speed (w_spd,l).
8. The method according to Claims 2 and 3 and optionally any of the other claims, characterised in that the drive group (1, 1a, 2) is only started and/or a reference speed (w_spd,r) different from zero and of fixed direction is specified when the leading axis position (w_pos,l) generated by the leading axis control (5) and changed according to the leading axis speed (w_spd,l) passes the starting position (w_pos,r0) of the reference drive (1a) and/or the location offset (w_pos,l - w_pos,r) of the reference drive (1 a) is zero in relation to the leading axis position (w_pos,i).
9. The method according to any of the preceding claims, characterised in that the distribution of the reference speed (x_spd,r) takes place with compensation for a transit time (2) of the information transmission on the bus or other communication system (2).
10. A drive system for implementing the method according to any of the preceding claims, comprising a number of individual electrical drives (1, 1a) which are coupled to form a synchronised drive group (1, 1a, 2) by means of one or a number of bus or other communication means (2) designed to convey position, speed and/or acceleration information, preferably in real time, comprising a leading axis control (5) which is designed to generate a leading axis movement profile (5b, w_spd,1, w_pos,l) and is coupled to the communication means (2) in order to be fed into the drive group (1, 1a, 2), characterised by the following features:

    - each individual drive (1, 1a) is provided with a synchronous location setting device (6b) that is connected on the input side to the communication means (2) in order to receive the leading axis movement profile (5b,w_spd,l, w_pos,l) and is designed so that it can be further processed in consideration of individual drive location information (w_p0s,r0, w_pos,r, W_pos,d0, w_pos,d) into a resulting movement reset value (w_spdadj,d, w_spdadj,l) and on the output side communicates with an internal or local motor control or regulator (6a) of the individual drive (1, 1a) in order to forward the movement reset value (w_spdadj,d, w_spdadj,l),

    - a reference drive (1a) of the individual drives (1, 1a) of the drive group (1, 1a, 2) has a reference generator (6c) that is connected on the input side to the synchronous location setting device (6b) in order to receive the movement reset value (w_spdadj,l) and to the communication means (2) in order to receive the leading axis movement profile (w_spd,l w_pos,l), in order to superimpose the movement reset value (w_spdadj,d, w_spdadj,1) and the leading axis movement profile (w_spd,1) over one another in order to form a resulting correction movement profile (x_spd,r) and on the output side to the communication means (2) and/or the leading axis control (5) in order to deliver the correction movement profile (x_spd,r) as a guide value and/or reference movement profile (w_spd,r) to at least the other individual drives (1),

    - the synchronous location setting device (6b) of the respective individual drive (1, 1a) is connected to the communication means (2) and/or the leading axis control (5) in order to receive the reference movement profile as a guide value (w_spd,r) and to take it into consideration for the formation of the movement reset value (w_spdadj,d, w_spdadj,l), the leading axis movement profile (w_spd,1, w_pos,l) being generated virtually and independently of the drive, and the leading axis movement profile (w_spd,1, w_pos,l) comprising at least one virtual leading axis position.
11. The drive system according to Claim 10, characterised in that the synchronous location setting device (6b) comprises an integrating element (I) initialised or initialisable by an initial position value (w_pos,d0, w_pos.r0) of the respective individual drive (1, 1a) in order to determine and take into consideration the respective drive position (w_pos,d, w_pos,r) for the formation of the movement reset value (w_spdadj,d, w_spdadj,l), and the integrating element (I) is connected on the input side to the communication means (2) and/or the leading axis control (5) in order to receive the reference movement profile (w_spd,r).
12. The drive system according to Claim 10 or 11, characterised in that the synchronous location setting device (6b) comprises on the input side a comparison element (V) designed to receive the leading axis movement profile (w_spd,l, w_pos,l), for example the leading axis position (w_pos,l), and the reference movement profile (w_spd,r) optionally further processed to form individual drive location information (w_pos,r, w_pos,d) in order to determine a deviation for the formation of the movement reset value (w_spdadj,d, w_spdadj,l).
13. The drive system according to Claim 12, characterised in that the synchronous location setting device (6b) comprises a regulating element (PI), for example a Proportional-Integral/PI regulator that is connected on the input side to the output of the comparison element (V) in order to generate and/or supply the movement reset value (w_spdadj,d, w_spdadj,l).
14. The drive system according to any of the preceding claims, characterised in that the reference generator (6c) comprises a superimposition element (Ü) that is designed on the input side to receive the leading axis speed (w_spd,l) or the other leading axis movement profile (w_spd,l, w_pos,l) and the movement reset value (w_spdadj,l), and on the output side is optionally connected via a unidirectional filter (8) to the communication means (2) in order to distribute the reference movement profile (x_spd,r, w_spd,r).
15. The drive system according to any of the preceding claims, characterised in that at least in the group drive or drives the respective motor control or regulator (6a) has superimposition and comparison means combined and/or linked to one another on the input side that have inputs for the drive actual speed (x_spd,d), the reference or correction movement profile (x_spd,r, x_spd,r) and the movement reset value (x_spdadj,d) and on the output side are connected to a control or regulation element (PI) of the motor control or regulator (6a).

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