EP2371748A2 - Procédé de détermination d'au moins un paramètre de régulation d'un élément de régulation d'une position de danseuse - Google Patents

Procédé de détermination d'au moins un paramètre de régulation d'un élément de régulation d'une position de danseuse Download PDF

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Publication number
EP2371748A2
EP2371748A2 EP11001033A EP11001033A EP2371748A2 EP 2371748 A2 EP2371748 A2 EP 2371748A2 EP 11001033 A EP11001033 A EP 11001033A EP 11001033 A EP11001033 A EP 11001033A EP 2371748 A2 EP2371748 A2 EP 2371748A2
Authority
EP
European Patent Office
Prior art keywords
dancer
web
controller parameter
controller
roller
Prior art date
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
EP11001033A
Other languages
German (de)
English (en)
Other versions
EP2371748B1 (fr
EP2371748A3 (fr
Inventor
Stephan Schultze
Mario Goeb
Holger Schnabel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2371748A2 publication Critical patent/EP2371748A2/fr
Publication of EP2371748A3 publication Critical patent/EP2371748A3/fr
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Publication of EP2371748B1 publication Critical patent/EP2371748B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/1888—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web and controlling web tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/182—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations
    • B65H23/1825—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations and controlling web tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/182—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations
    • B65H23/185—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations motor-controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/192—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web motor-controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2404/00—Parts for transporting or guiding the handled material
    • B65H2404/10—Rollers
    • B65H2404/14—Roller pairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/10—Size; Dimensions
    • B65H2511/14—Diameter, e.g. of roll or package
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/10—Speed
    • B65H2513/11—Speed angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/31—Tensile forces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/03—Image reproduction devices
    • B65H2801/21—Industrial-size printers, e.g. rotary printing press

Definitions

  • the present invention relates to a method for determining at least one controller parameter of a dancer position control element and to a computing unit configured for carrying out the method.
  • the web can be made of paper, cloth, cardboard, plastic, metal, rubber, in foil form, etc.
  • the present invention relates to the field of web tension control in processing machines.
  • processing machines in particular printing machines, a web is moved along driven axes (web transport axes), such as draw rolls or feed rolls, and non-driven axes, such as deflection, guide, drying or cooling rolls.
  • driven axes web transport axes
  • non-driven axes such as deflection, guide, drying or cooling rolls.
  • the web will be at the same time processed by means of mostly likewise driven processing axes, for example printed, punched, cut, folded, etc.
  • a known possibility for web tension adjustment in particular for a winder (winding or unwinding device), uses a dancer, in which a movable dancer roll impresses the web tension.
  • the position of the dancer roll is kept at a setpoint value by the dancer position control.
  • the dancer is within its mobile mechanical limits, the web tension is essentially maintained by the impression of force, for example, a pneumatic. Dynamic processes will not be explained further here.
  • the dancer has the advantageous property of being able to absorb irregularities in the web run within relatively large limits, without there being any significant change in the web tension.
  • Known regulators such as P controllers, D controllers, I controllers, etc., and any combinations thereof, include controller parameters that must be set.
  • Typical control parameters are the proportional gain K P, the integral gain K I, the differential gain K D, the reset time T N, the derivative-action time T V, T delays etc.
  • a controller parameter depending on at least one parameter characterizing the web, such as the modulus of elasticity and / or cross-section, at least one parameter characterizing the machine, such as the web speed and / or the section length, and at least one, in particular constant (ie not web speed-dependent) and / or speed-dependent, dead time, such as a transmission time and / or a measurement time described.
  • the invention is essentially based on the recognition that a dancer position control element can be parameterized automatically if the diameter of the axis or roller controlled by the dancer position controller is taken into account for determining at least one controller parameter.
  • a dancer position control element can be parameterized automatically if the diameter of the axis or roller controlled by the dancer position controller is taken into account for determining at least one controller parameter.
  • this can be achieved by changing the diameter of the winding device during the winding process, i. Up or unwinding device, or on the other hand, in a web tension control with dancer position control the constant diameter of a web transport roller.
  • the latter case can be found, for example, in the regulation of a collection or withdrawal plant.
  • the parameterization can be automated, so that the operator of the machine no longer has to have control technical expertise.
  • the at least one controller parameter is determined as a function of a predefinable weighting factor.
  • controller parameters calculated by a theoretical design are not optimal in practice.
  • additional, non-ascertainable delay times, nonlinearities, signal noise, incorrectly determined route parameters or the control quality or the web tension behavior in a constant run can be cited.
  • the last point is usually disadvantageous.
  • the control loop oscillates quickly, in the constant run it often results due to the discretization or quantization of the measurement results or manipulated variables a restlessness due to a relatively "strong" Proportionalanteils.
  • a weighting factor for example, as a measure of a "controller sharpness" is specified as a further input variable.
  • the weighting factor e.g between 0 and 1, but also greater than 1.
  • the user can adjust the controller parameters as required.
  • this could be achieved in the case of a PI control element by multiplying the proportional gain and / or reset time by this percentage factor.
  • a selection of predefined values may be possible (eg 20%, 40%, 50%, 60%, 70%, 80%, 85%, 90%, 95%, 100%, 105%). , ).
  • a design criterion for determining the at least one controller parameter is specified.
  • various design criteria e.g., symmetrical optimum, root locus design, magnitude optimum, or Ziegler-Nichols
  • the quality and speed of the determination can be influenced.
  • These design criteria are partially interpretable also for leadership or disruptive behavior. Thus, it is possible for the user to switch between management behavior and disturbance behavior, depending on the machine requirement and machine condition (for example, set-up or production phase).
  • Suitable data carriers for providing the computer program are, in particular, floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and the like. It is also possible to download a program via computer networks (Internet, intranet, etc.).
  • a dancer position control for an unwinding process will be described below. It is understood, however, that the invention can also be used for the dancer position control for a winding operation or for the dancer position control of a feed or pull-out unit.
  • the illustration is chosen so that both mechanisms, ie the control of a winding device with a changing diameter on the one hand and a tension roller with a constant diameter on the other hand can be explained on the basis of the example of a developer with dancer in combination with a subsequent driven roller.
  • FIG. 1 a section of a web-processing machine 100 is shown schematically, wherein a web 101 is unwound from an unwinding device 102 as an upstream nip and via a dancer 110 a downstream nip, here an infeed 103, is supplied.
  • the dancer 110 comprises two stationary deflection rollers 111 and a movable dancer roller 112, which imprints a force F 01 and thus a web tension in the web.
  • the distance between the clamping points is designated L 01 .
  • the dancer position actual value x is detected by a dancer position detection device 140 shown schematically and transmitted to a computing unit 150, which is set up in particular for controlling the dancer position.
  • the task of the dancer position control is to keep the position of the dancer roller 112 at a desired position x nominal .
  • the arithmetic unit 150 also determines according to an embodiment of the invention automatically the necessary controller parameters.
  • the speeds of the unwinding device 102 and of the intake system 103 can be controlled by the arithmetic unit 150, resulting in the peripheral speeds (web speeds, conveying speeds) v 1 and v 2 , respectively, depending on the respective diameter.
  • v 1 is used for the dancer position control.
  • FIG. 2 the dancer position control on which the invention is based is schematically illustrated by means of a control loop 200.
  • the reference variable, x set is supplied to a comparator or subtracter, which also includes the control variable, ie the dancer position is x, via links 205 and 204 will be discussed in more detail below on, is supplied.
  • the resulting control deviation e is fed to a dancer position control element 201, which in the present case is designed as a PI element with a proportional gain K P and a readjustment time T N.
  • the dancer position controller 201 may also be implemented as a P, PD, or PID member, or as another controller, such as a state controller.
  • the control element generates in the present case as a control signal nv an additive speed setpoint, which is guided to a controlled system 202, which is designed here as an I-section.
  • This control signal causes a speed adjustment - depending on the control sense - the unwinding device 102 or the infeed 103.
  • a change in speed affects as a linear increase or decrease in the total length of the web 101 between unwinding 102 and retraction 103 and thus on the dancer position Actual value x is off.
  • the dancer position actual value x is - as shown below - a function of the geometric variables D, L 01 , L Hypo .
  • the dancer position actual value x is detected by the dancer position detection device 140, in which a certain relationship between detected actual position value and is present measured value. This ratio is represented by a linear or non-linear characteristic (eg static characteristic of a Hammerstein model) 205 in the return branch. Since the measuring signal is always subject to a transmission dead time and usually an additional signal filter, a PT1 element 204 is also present in the return branch.
  • a linear or non-linear characteristic eg static characteristic of a Hammerstein model
  • the function f ( ⁇ ) may have a linear or nonlinear behavior as a function of the geometric conditions. Since this function represents only a static nonlinearity due to the trigonometric functions, this can be taken into account by an input or output characteristic compensation (eg Wiener or Hammerstein model).
  • an input or output characteristic compensation eg Wiener or Hammerstein model.
  • the ratio of actual position value to measuring signal can in turn show a linear or non-linear as well as a static or dynamic behavior.
  • a static relationship can, for example, be taken into account again via an input or output characteristic compensation (Wienerstein or Hammerstein model) become.
  • a dynamic relationship can be taken into account, for example, via a nonlinear or adaptive controller.
  • the length L 01 between unwinding device 102 and intake system 103 can be neglected in a first approximation if the controller is linearized at the operating point. Further simplification can be achieved by neglecting elements 204 and 205 in the return branch.
  • a determination of the controller parameters only takes into account the winding diameter D and control sense, optionally additionally taking into account delay times and optionally additionally taking into account the characteristic curve of the dancer bearing detection device
  • control sense to the function block.
  • the sense of control is denoted by +/- in the figures.
  • the sense of control essentially influences the sign of the controller output variable and can therefore also be supplied to another location within the control loop.
  • the current diameter D of the winding device or the constant diameter D of a tension roller fed to each of the illustrated functional components.
  • the function module 400 is provided for the determination of the controller parameters in cases in which the wrap angle ⁇ is not 180 °.
  • the distance L Hypo of the deflection rollers 111 of the dancer 110 and the length L 01 are preferably also taken into account here.
  • the angles a and ⁇ can also be taken into account.
  • a weighting factor w is used to determine the controller parameters, which is e.g. between 0 and 100% can be (also possible values greater than 100%). As explained above, the weighting factor w influences the so-called controller sharpness.
  • the function module 600 differs from the functional module 500 by the additional possibility of specifying the design criterion K, e.g. CHR, etc. (see above).
  • the controller parameters can be calculated automatically depending on physical quantities. Some of these sizes, in particular the diameter of the winding device, change during the machining process. In addition to the measurement of these quantities, a determination by means of control-technical observers and / or a parameter estimation method is also proposed.

Landscapes

  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Tension Adjustment In Filamentary Materials (AREA)
EP11001033.7A 2010-04-03 2011-02-09 Procédé de détermination d'au moins un paramètre de régulation d'un élément de régulation d'une position de danseuse Revoked EP2371748B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010013782A DE102010013782A1 (de) 2010-04-03 2010-04-03 Verfahren zur Bestimmung wenigstens eines Reglerparameters eines Tänzerlage-Regelglieds

Publications (3)

Publication Number Publication Date
EP2371748A2 true EP2371748A2 (fr) 2011-10-05
EP2371748A3 EP2371748A3 (fr) 2012-03-28
EP2371748B1 EP2371748B1 (fr) 2014-12-31

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ID=44235378

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EP11001033.7A Revoked EP2371748B1 (fr) 2010-04-03 2011-02-09 Procédé de détermination d'au moins un paramètre de régulation d'un élément de régulation d'une position de danseuse

Country Status (3)

Country Link
US (1) US20110246127A1 (fr)
EP (1) EP2371748B1 (fr)
DE (1) DE102010013782A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3392029A1 (fr) * 2017-04-21 2018-10-24 Held Technologie GmbH Dispositif d'alimentation pour une presse à double bande, système de presse à double bande et procédé de fonctionnement

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EP2559641B1 (fr) * 2011-08-17 2016-06-15 Seiko Epson Corporation Dispositif de transport de supports, dispositif d'impression, et procédé de transport de supports
DE102011117358A1 (de) * 2011-10-29 2013-05-02 Robert Bosch Gmbh Verfahren zum Berechnen des Ausgangsdurchmessers einer Warenbahnwicklung auf einer Rolle nach einem Rollenwechsel
DE102011122520A1 (de) 2011-12-29 2013-07-04 Robert Bosch Gmbh Verfahren zum Rüsten einer Materialbahnbearbeitungsmaschine, Vorrichtung zum Bearbeiten einer Materialbahn mit einer Materialbahnbearbeitungsmaschine, Anordnung aus einer Vorrichtung zum Bearbeiten einer Materialbahn mit einer Materialbahnbearbeitungsmaschine und aus einer digitalen Druckstufenvorrichtung und Verwendung einer elektronischen Datenschnittstelleneinrichtung
DE102012013435A1 (de) * 2012-04-04 2013-10-10 Robert Bosch Gmbh Verfahren zur Vorregistrierung einerBearbeitungsstation
JP5894841B2 (ja) * 2012-04-09 2016-03-30 株式会社日立産機システム 巻出ロールの制御装置及びその制御方法
JP6125046B2 (ja) 2013-12-17 2017-05-10 三菱電機株式会社 ロール間搬送制御装置
JP6510914B2 (ja) * 2015-07-02 2019-05-08 株式会社タカゾノテクノロジー 薬剤包装装置
JP6691879B2 (ja) * 2017-02-28 2020-05-13 株式会社沖データ 媒体供給装置
WO2020160473A1 (fr) * 2019-01-31 2020-08-06 Kimberly-Clark Worldwide, Inc. Régulation de tension de bande améliorée
US11801696B2 (en) * 2019-12-16 2023-10-31 Brother Kogyo Kabushiki Kaisha Sheet conveyor and image forming system
JP7451191B2 (ja) * 2020-01-28 2024-03-18 住友重機械工業株式会社 制御装置およびロール・ツー・ロール搬送システム
JP2022085082A (ja) * 2020-11-27 2022-06-08 ブラザー工業株式会社 搬送装置および画像記録装置
DE102021120371A1 (de) * 2021-08-05 2023-02-09 Multivac Sepp Haggenmüller Se & Co. Kg Verpackungsmaschine mit folientransporteinrichtung sowie verfahren

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Publication number Priority date Publication date Assignee Title
EP3392029A1 (fr) * 2017-04-21 2018-10-24 Held Technologie GmbH Dispositif d'alimentation pour une presse à double bande, système de presse à double bande et procédé de fonctionnement
WO2018192916A1 (fr) * 2017-04-21 2018-10-25 Held Technologie Gmbh Dispositif d'alimentation pour une presse à double bande, système de presse à double bande ainsi que procédé de fonctionnement
US11148896B2 (en) 2017-04-21 2021-10-19 Held Technologie Gmbh Supply device for a double-belt press, double-belt press system and operating method

Also Published As

Publication number Publication date
DE102010013782A1 (de) 2011-10-06
EP2371748B1 (fr) 2014-12-31
EP2371748A3 (fr) 2012-03-28
US20110246127A1 (en) 2011-10-06

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