EP2386511B1 - Tension control for a running web - Google Patents
Tension control for a running web Download PDFInfo
- Publication number
- EP2386511B1 EP2386511B1 EP11006304.7A EP11006304A EP2386511B1 EP 2386511 B1 EP2386511 B1 EP 2386511B1 EP 11006304 A EP11006304 A EP 11006304A EP 2386511 B1 EP2386511 B1 EP 2386511B1
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- web
- web tension
- speed
- control loop
- control
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- 238000000034 method Methods 0.000 claims abstract description 11
- 238000005070 sampling Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 16
- 238000007599 discharging Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 230000001419 dependent effect Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 239000008141 laxative Substances 0.000 description 1
- 230000002475 laxative effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000123 paper Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000009420 retrofitting Methods 0.000 description 1
Images
Classifications
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- 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
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
- B65H2557/20—Calculating means; Controlling methods
- B65H2557/24—Calculating methods; Mathematic models
- B65H2557/242—Calculating methods; Mathematic models involving a particular data profile or curve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
- B65H2557/20—Calculating means; Controlling methods
- B65H2557/264—Calculating means; Controlling methods with key characteristics based on closed loop control
- B65H2557/2644—Calculating means; Controlling methods with key characteristics based on closed loop control characterised by PID control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
- B65H2557/30—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof
- B65H2557/34—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof for analog control, e.g. proportional, integral or differentiated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
- B65H2557/60—Details of processes or procedures
- B65H2557/63—Optimisation, self-adjustment, self-learning processes or procedures, e.g. during start-up
Definitions
- the invention relates to a method for regulating the web tension of a web moved by means of a transport device with a web tension controller with determination of control loop parameters.
- Goods webs are continuous webs of paper, foil or fabric.
- the web is conveyed within a transport device by drive rollers and printed, for example.
- the web of a processing stage is supplied via a feeding nip, which consists of a regulated in their speed drive roller with associated pressure roller.
- the web is removed via a second nip, which consists of a second controlled in their speed drive roller with associated pressure roller.
- Sufficient processing quality can only be achieved if the web has a certain minimum web tension between the nips, otherwise it is transported inaccurately for processing and tends, for example, to flutter.
- a certain maximum web tension must not be exceeded, since the web otherwise breaks or stretches inelastic.
- the web tension In order to ensure trouble-free operation of the transport device and a good quality of the processed web, the web tension must be dependent on the Speed and parameters such as the elastic modulus of the web are kept within a certain range.
- the web tension controller used is a PI controller which uses the lead or lag of the drive roller arranged at the incoming or outgoing clamping point as a manipulated variable.
- the control loop is closed by measuring the actual value of the web tension with a load cell.
- the control loop parameters of the tension controller with load cell depend on the machine speed and the material.
- the speed dependency can be modeled by an adaptive characteristic of the P component of the controller.
- the material dependence of the advantageous web tension control can be taken into account during commissioning by an optimization step.
- the disadvantage here is that when changing the material of the optimization step must be repeated. If, for example, harder material is inserted, otherwise the control loop may become unstable. If the first optimization is chosen to select suitable parameters for a larger group of materials, the control loop dynamics will not be exploited for more flexible materials, unnecessarily increasing the setting of a suitable web tension and resulting in an increased amount of faulty processed web.
- From the DE 198 34 725 A1 is a control device and a method for regulating the tension of a paper web of a printing press, in which a measured web tension actual value is detected within the controlled system.
- a speed reference value and a web tension setpoint are specified.
- From the web tension setpoint and the web tension actual value a pre-set or lag setpoint is determined which, together with the speed reference, results in the set speed.
- an apparatus and a method for dynamically controlling a drive for transport rollers in a web-fed printing press are known.
- the task was to ensure a desired web tension and a required print quality at different stages of machine operation.
- it is necessary to control the web tension of a section of a web between an infeed and a discharging nip formed respectively by a transport roller and a pressure roller.
- the controller operates in a web tension control mode during a first phase of the printing press operation to maintain the web tension at a first desired web tension value.
- control is effected in a speed control mode in which the ratio of the driving speeds of the feeding and discharging nips are controlled.
- a disadvantage of the prior art is that the web tension control must be adapted in each case to the web to be used and is not universally applicable.
- the object is achieved by means of the object defined in claim 1 easily and inexpensively with good quality processing.
- a particularly suitable for a fast and accurate control of the web tension of the web embodiment of the invention provides that the drive of the transport device takes place in at least two drive groups, which are driven by their own drives and their coupling takes place within the control and drive system on an electronic basis.
- This embodiment also referred to as a "shaftless" drive, does not mechanically couple the at least two drive groups via a rigid shaft but electronically via the web tension controller or another control and regulating device.
- These can act on servo-synchronous motors and thus provide, for example, a different start-up or control characteristic for two drives. In this way, for example, moments of inertia of components of the transport device for the material web can be taken into account.
- the control and regulation of the transport device can either be related to one of the actually existing drive axes or the controller parameters for the drive axes are related to a virtual master axis present only in the parameters of the web tension controller. If a virtual master axis is used, inaccuracies in the measured value acquisition and / or movement of the master axis have no influence on the control quality.
- the time constant of the controlled system is proportional to the reciprocal of the speed of the web. Therefore, it is advantageous if the control loop parameters are determined according to a hyperbolic characteristic as a function of the leading axis speed of the web.
- control loop parameters are determined according to a characteristic curve composed of functions as a function of the master axis speed.
- a predetermined target value of the web tension can be achieved faster and thus with less production failure by the control loop parameters are determined according to a predetermined as a function and / or at several nodes characteristic curve in response to a deviation of the web tension of a predetermined setpoint.
- control loop parameters are determined in accordance with a characteristic curve predefined as a function and / or at a plurality of supporting points as a function of a running length of the material web between a feeding nip and a discharging nip, it can be achieved that, during a retrofitting of the transport device, the length of the web is between the supply and the discharging terminal point is changed, a suitable set of control loop parameters is available for a smooth production start.
- control loop parameters below a minimum machine, line or web speed and above a maximum machine, line or web speed, it can be achieved that a steep characteristic curve with a good control characteristic can be selected in the normal operating range of the control, without damage to the web and / or the transport device occur during operation outside the usual operating range.
- control loop parameters are determined as a function of physical characteristics of the web, it can be achieved that a good processing quality is achieved with different materials. In particular, fluctuations of the physical characteristics can be detected and taken into account over time.
- a high production speed and processing quality with different materials and with different width and / or thickness of the web can be achieved by using as a physical characteristic of the modulus of elasticity of the web. If the modulus of elasticity is measured continuously, it can be achieved that a change in the modulus of elasticity which is dependent on the drying behavior and / or degree of moisture of the material web can also be taken into account.
- a cost-effective embodiment provides that the modulus of elasticity is determined with the aid of the elements already present in the transport device according to the prior art transducer, rotary encoder and the web tension controller. This can be determined without additional devices, and thus without additional costs, the modulus of elasticity.
- a particularly simple embodiment provides that the modulus of elasticity is determined from a change in length of the web as a function of a web tension change. In this case, it is possible to lengthen the web by a certain fixed amount and to measure the resulting web tension change or to increase the web tension by a certain fixed amount and measure the resulting length change.
- a high processing quality of a material web can be achieved by determining the control loop parameters as a function of the moment of inertia of non-driven rolls between the feeding nip and the discharging nip. The interference of these non-driven guide rollers on the web tension in the processing area can be reduced.
- the settling time of the web tension controller can be reduced by specifying default values for the control loop parameters as starting values for the manipulated variable, such as a lead or lag of a drive, and a self-optimization of the PI controller or PID controller. As a result, the proportion of product with good processing quality can be improved.
- presetting values for the manipulated variables are determined from the determined physical characteristics of the web, a set of presetting values can be determined for different and novel materials and material combinations of the web, which enables a fast achievement of optimal control parameters.
- FIG. 1 shows a transport device 1 for processing a web 2 between a feeding nip 10 and a laxative nip 30 with a web tension controller 3.
- the web 2 is clamped between a pinch roller 11 and a drive roller 12 and fed to the processing with a defined speed.
- the processing may be, for example, a printing operation.
- the drive roller 12 is driven by a motor 13, the rotational speed and angular position detected by a rotary encoder 14 and the web tension controller 3 are supplied.
- the web tension controller 3 controls the supply voltage of the motor 13 and is designed as a PI controller.
- the web 2 is moved at a discharging nip 30 by means of a pressure roller 31 and a drive roller 32.
- the drive roller 32 is driven by a motor 33 whose shaft is coupled to a rotary encoder 34 which supplies data for the rotational movement of the motor 33 to the web tension controller 3.
- the drive of the drive rollers 12, 32 take place by servo-synchronous motors, which eliminate the use of rotary encoders 14, 34 due to their operation.
- the control of the rotational speed and the angle of rotation of the motors 13, 33 takes place in this case on the phase and frequency of the supply voltage.
- the actual value of the web tension between the feeding nip 10 and the discharging nip 30 is measured by a sensor 21.
- the web 2 is fed via a deflection roller 20 to the transmitter 21 and a second guide roller 22 continued for further processing.
- the sensor 21 may be designed, for example, as a load cell. Its output signal is fed to the web tension controller 3 as an actual value of the web tension.
- the characteristic curve 50 represents the progression of the P-reinforcement 51 over a guide axle speed 54.
- the guide axle speed 54 is the peripheral speed of a drive roller 12, 22 or a drive roller arranged in the transport device 1 along the material web 2 before or after.
- the leading axis speed 54 may also refer to an axis that is not actually present, but may be a calculated variable within the web tension controller 3; In this case, the leading axis is called a "virtual master axis".
- On the Leitachsica 54 of the web tension controller 3 refers to the control and regulation of the other drives.
- the characteristic curve 50 is chosen so that the P-gain 51 is constant below a first operating point 52 and above a second operating point 53, respectively. This ensures that in the usual operating range between the first operating point 52 and the second operating point 53, a steep characteristic can be selected with a rapid adjustment of deviations, but outside of the range but non-damaging to the web 2 values of web tension are met.
- FIG. 3 shows a characteristic 50, which specifies a dependent of a control deviation 55 P-gain 51.
- a flat curve 50 is provided for small deviations from the setpoint, while for larger deviations a steep curve 50 is provided. In this way it can be achieved that, with slight deviations, the web 2 runs smoothly and the processing quality is very high. For larger deviations, the web tension is quickly brought to the setpoint.
Landscapes
- Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
- Inking, Control Or Cleaning Of Printing Machines (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Regelung der Bahnspannung einer mittels einer Transporteinrichtung bewegten Warenbahn mit einem Bahnspannungsregler unter Bestimmung von Regelkreisparametern.The invention relates to a method for regulating the web tension of a web moved by means of a transport device with a web tension controller with determination of control loop parameters.
Bei Warenbahnen handelt es sich um fortlaufende Materialbahnen aus Papier, Folie oder Stoff. Zur Bearbeitung wird die Warenbahn innerhalb einer Transporteinrichtung durch Antriebswalzen befördert und beispielsweise bedruckt. Gemäß dem Stand der Technik wird die Warenbahn einer Bearbeitungsstufe dabei über eine zuführende Klemmstelle zugeführt, die aus einer in ihrer Drehzahl geregelten Antriebswalze mit zugehöriger Andruckwalze besteht. Nach der Bearbeitungsstufe wird die Warenbahn über eine zweite Klemmstelle abgeführt, die aus einer zweiten in ihrer Drehzahl geregelten Antriebswalze mit zugehöriger Andruckwalze besteht. Eine ausreichende Bearbeitungsqualität kann nur erreicht werden, wenn die Warenbahn zwischen den Klemmstellen eine gewisse Mindest-Bahnspannung besitzt, da sie ansonsten für die Bearbeitung ungenau transportiert wird und beispielsweise zum Flattern neigt. Andererseits darf eine gewisse Maximal-Bahnspannung nicht überschritten werden, da die Warenbahn ansonsten reißt oder sich unelastisch dehnt.
Um einen problemlosen Betrieb der Transporteinrichtung sowie eine gute Qualität der bearbeiteten Warenbahn zu gewährleisten, muss die Bahnspannung in Abhängigkeit von der Geschwindigkeit und Parametern wie dem Elastizitätsmodul der Warenbahn innerhalb eines bestimmten Bereichs gehalten werden.Goods webs are continuous webs of paper, foil or fabric. For processing, the web is conveyed within a transport device by drive rollers and printed, for example. According to the prior art, the web of a processing stage is supplied via a feeding nip, which consists of a regulated in their speed drive roller with associated pressure roller. After the processing stage, the web is removed via a second nip, which consists of a second controlled in their speed drive roller with associated pressure roller. Sufficient processing quality can only be achieved if the web has a certain minimum web tension between the nips, otherwise it is transported inaccurately for processing and tends, for example, to flutter. On the other hand, a certain maximum web tension must not be exceeded, since the web otherwise breaks or stretches inelastic.
In order to ensure trouble-free operation of the transport device and a good quality of the processed web, the web tension must be dependent on the Speed and parameters such as the elastic modulus of the web are kept within a certain range.
Als Bahnspannungsregler dient ein PI-Regler, der als Stellgröße die Voreilung bzw. Nacheilung der an der zu- oder abführenden Klemmstelle angeordneten Antriebswalze verwendet. Der Regelkreis wird dabei über die Messung des Istwertes der Bahnspannung mit einer Kraftmessdose geschlossen. Die Regelkreisparameter des Zugspannungsreglers mit Kraftmessdose sind von der Maschinengeschwindigkeit und vom Material abhängig. Die Geschwindigkeitsabhängigkeit kann durch eine adaptive Kennlinie des P-Anteils des Reglers modelliert werden. Die Materialabhängigkeit der vorteilhaften Bahnspannungsregelung kann während der Inbetriebnahme durch einen Optimierungsschritt berücksichtigt werden. Nachteilig ist hierbei, dass bei einem Materialwechsel der Optimierungsschritt wiederholt werden muss. Wird beispielsweise härteres Material eingelegt, kann ansonsten der Regelkreis instabil werden. Wird die erste Optimierung so gewählt, dass für eine größere Gruppe von Materialien geeignete Parameter gewählt werden, wird für flexiblere Materialien die Regelkreisdynamik nicht ausgenutzt, was die Einstellung einer geeigneten Bahnspannung unnötig verlängert und eine erhöhte Menge fehlerhaft bearbeiteter Warenbahn zur Folge hat.The web tension controller used is a PI controller which uses the lead or lag of the drive roller arranged at the incoming or outgoing clamping point as a manipulated variable. The control loop is closed by measuring the actual value of the web tension with a load cell. The control loop parameters of the tension controller with load cell depend on the machine speed and the material. The speed dependency can be modeled by an adaptive characteristic of the P component of the controller. The material dependence of the advantageous web tension control can be taken into account during commissioning by an optimization step. The disadvantage here is that when changing the material of the optimization step must be repeated. If, for example, harder material is inserted, otherwise the control loop may become unstable. If the first optimization is chosen to select suitable parameters for a larger group of materials, the control loop dynamics will not be exploited for more flexible materials, unnecessarily increasing the setting of a suitable web tension and resulting in an increased amount of faulty processed web.
Aus der
Aus der
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Nachteilig beim Stand der Technik ist, dass die Bahnspannungsregelung jeweils an die zu verwendende Warenbahn angepasst werden muss und nicht universell einsetzbar ist.A disadvantage of the prior art is that the web tension control must be adapted in each case to the web to be used and is not universally applicable.
Es ist Aufgabe der Erfindung, ein Verfahren für die Regelung der Bahnspannung einer Warenbahn zu schaffen, das eine Erhöhung der Produktqualität bei gleichzeitig hohem Produktionsvolumen und geringem Aufwand bei der Umstellung des Typs der Warenbahn ermöglicht.It is an object of the invention to provide a method for the regulation of the web tension of a web, which allows an increase in product quality with high production volume and low effort in the changeover of the type of web.
Die Aufgabe wird mittels des in Anspruch 1 definierten Gegenstandes einfach und kostengünstig bei guter Bearbeitungsqualität gelöst.The object is achieved by means of the object defined in
Eine für eine schnelle und genaue Regelung der Bahnspannung der Warenbahn besonders geeignete Ausgestaltung der Erfindung sieht vor, dass der Antrieb der Transporteinrichtung in zumindest zwei Antriebsgruppen erfolgt, die von eigenen Antrieben angetrieben werden und deren Kopplung innerhalb des Steuerungs- und Antriebssystems auf elektronischer Basis erfolgt. Diese auch als "wellenloser" Antrieb bezeichnete Ausführungsform koppelt die zumindest zwei Antriebsgruppen nicht mechanisch über eine starre Welle sondern elektronisch über den Bahnspannungsregler oder eine andere Regel- und Steuereinrichtung. Diese können auf Servosynchronmotore wirken und so beispielsweise auch eine für zwei Antriebe unterschiedliche Anlauf- oder Regel-Charakteristik vorsehen. Auf diese Weise können beispielsweise Trägheitsmomente von Komponenten der Transporteinrichtung für die Warenbahn berücksichtigt werden.A particularly suitable for a fast and accurate control of the web tension of the web embodiment of the invention provides that the drive of the transport device takes place in at least two drive groups, which are driven by their own drives and their coupling takes place within the control and drive system on an electronic basis. This embodiment, also referred to as a "shaftless" drive, does not mechanically couple the at least two drive groups via a rigid shaft but electronically via the web tension controller or another control and regulating device. These can act on servo-synchronous motors and thus provide, for example, a different start-up or control characteristic for two drives. In this way, for example, moments of inertia of components of the transport device for the material web can be taken into account.
Werden die Antriebe mittels einer realen oder virtuellen Leitachse gesteuert, kann die Steuerung und Regelung der Transporteinrichtung entweder auf eine der real vorhandenen Antriebsachsen bezogen werden oder die Reglerparameter für die Antriebsachsen werden auf eine nur in den Parametern des Bahnspannungsreglers vorhandene virtuelle Leitachse bezogen. Wird eine virtuelle Leitachse benutzt, haben Ungenauigkeiten in der Messwerterfassung und/oder Bewegung der Leitachse keinen Einfluss auf die Regelgüte.If the drives are controlled by means of a real or virtual master axis, the control and regulation of the transport device can either be related to one of the actually existing drive axes or the controller parameters for the drive axes are related to a virtual master axis present only in the parameters of the web tension controller. If a virtual master axis is used, inaccuracies in the measured value acquisition and / or movement of the master axis have no influence on the control quality.
Die Zeitkonstante der Regelstrecke ist proportional zu dem Kehrwert der Geschwindigkeit der Warenbahn. Daher ist es vorteilhaft, wenn die Regelkreisparameter gemäß einer hyperbolischen Kennlinie in Abhängigkeit von der Leitachsgeschwindigkeit der Warenbahn bestimmt werden.The time constant of the controlled system is proportional to the reciprocal of the speed of the web. Therefore, it is advantageous if the control loop parameters are determined according to a hyperbolic characteristic as a function of the leading axis speed of the web.
Eine besonders einfache zu realisierende Ausführungsform sieht vor, dass die Regelkreisparameter gemäß einer stückweise aus Funktionen zusammengesetzten Kennlinie in Abhängigkeit von der Leitachsgeschwindigkeit bestimmt werden.A particularly simple embodiment to be implemented provides that the control loop parameters are determined according to a characteristic curve composed of functions as a function of the master axis speed.
Ein vorgegebener Sollwert der Bahnspannung kann schneller und damit mit weniger Produktionsausfall erreicht werden, indem die Regelkreisparameter gemäß einer als Funktion und/oder an mehreren Stützstellen vorgebbaren Kennlinie in Abhängigkeit von einer Abweichung der Bahnspannung von einem vorgegebenen Sollwert bestimmt werden.A predetermined target value of the web tension can be achieved faster and thus with less production failure by the control loop parameters are determined according to a predetermined as a function and / or at several nodes characteristic curve in response to a deviation of the web tension of a predetermined setpoint.
Werden die Regelkreisparameter gemäß einer als Funktion und/oder an mehreren Stützstellen vorgebbaren Kennlinie in Abhängigkeit von einer Lauflänge der Warenbahn zwischen einer zuführenden Klemmstelle und einer abführenden Klemmstelle bestimmt, kann erreicht werden, dass bei einer Umrüstung der Transporteinrichtung, bei der die Länge der Warenbahn zwischen der zuführenden und der abführenden Klemmstelle verändert wird, ein für einen reibungslosen Produktionsanlauf geeigneter Satz von Regelkreisparametern zur Verfügung steht.If the control loop parameters are determined in accordance with a characteristic curve predefined as a function and / or at a plurality of supporting points as a function of a running length of the material web between a feeding nip and a discharging nip, it can be achieved that, during a retrofitting of the transport device, the length of the web is between the supply and the discharging terminal point is changed, a suitable set of control loop parameters is available for a smooth production start.
Werden für die Regelkreisparameter unterhalb einer minimalen Maschinen-, Anlagen- oder Warenbahngeschwindigkeit und oberhalb einer maximalen Maschinen-, Anlagen- oder Warenbahngeschwindigkeit konstante Werte vorgegeben, kann erreicht werden, dass im normalen Betriebsbereich der Regelung eine steile Kennlinie mit einer guten Regelcharakteristik gewählt werden kann, ohne dass bei einem Betrieb außerhalb des üblichen Betriebsbereichs Schäden an der Warenbahn und/oder der Transporteinrichtung auftreten.If constant values are specified for the control loop parameters below a minimum machine, line or web speed and above a maximum machine, line or web speed, it can be achieved that a steep characteristic curve with a good control characteristic can be selected in the normal operating range of the control, without damage to the web and / or the transport device occur during operation outside the usual operating range.
Werden die Regelkreisparameter in Abhängigkeit von physikalischen Kenngrößen der Warenbahn bestimmt, kann erreicht werden dass bei unterschiedlichen Materialien eine gute Bearbeitungsqualität erreicht wird. Insbesondere können Schwankungen der physikalischen Kenngrößen über die Zeit erfasst und berücksichtigt werden.If the control loop parameters are determined as a function of physical characteristics of the web, it can be achieved that a good processing quality is achieved with different materials. In particular, fluctuations of the physical characteristics can be detected and taken into account over time.
Werden die physikalischen Kenngrößen innerhalb der Transporteinrichtung bestimmt, kann eine schnelle Berücksichtigung von Änderungen während des laufenden Betriebs erfolgen und somit der Anteil von zu verwerfender Warenbahn verringert werden.If the physical parameters are determined within the transport device, rapid consideration of changes during ongoing operation can take place and thus the proportion of web to be rejected can be reduced.
Eine hohe Produktionsgeschwindigkeit und Bearbeitungsqualität bei unterschiedlichen Materialien sowie bei unterschiedlicher Breite und/oder Dicke der Warenbahn kann erreicht werden, indem als physikalische Kenngröße der Elastizitätsmodul der Warenbahn verwendet. Wird der Elastizitätsmodul kontinuierlich gemessen, kann erreicht werden, dass auch eine vom Trocknungsverhalten und/oder Feuchtegrad der Warenbahn abhängige Änderung des Elastizitätsmoduls berücksichtigt werden kann.A high production speed and processing quality with different materials and with different width and / or thickness of the web can be achieved by using as a physical characteristic of the modulus of elasticity of the web. If the modulus of elasticity is measured continuously, it can be achieved that a change in the modulus of elasticity which is dependent on the drying behavior and / or degree of moisture of the material web can also be taken into account.
Eine kostengünstige Ausführungsform sieht vor, dass der Elastizitätsmodul mit Hilfe der in der Transporteinrichtung nach dem Stand der Technik bereits vorhandenen Elemente Messwertgeber, Drehwinkelgeber und dem Bahnspannungsregler ermittelt wird. Hiermit kann ohne zusätzliche Vorrichtungen, und damit ohne Zusatzkosten, der Elastizitätsmodul bestimmt werden.A cost-effective embodiment provides that the modulus of elasticity is determined with the aid of the elements already present in the transport device according to the prior art transducer, rotary encoder and the web tension controller. This can be determined without additional devices, and thus without additional costs, the modulus of elasticity.
Eine besonders einfache Ausführungsform sieht vor, dass der Elastizitätsmodul aus einer Längenänderung der Warenbahn in Abhängigkeit einer Bahnspannungsänderung ermittelt wird. Hierbei ist es möglich, die Warenbahn um einen bestimmten festen Betrag zu längen und die sich daraus ergebende Bahnspannungsänderung zu messen oder man erhöht die Bahnspannung um einen bestimmten festen Betrag und misst die sich ergebende Längenänderung.A particularly simple embodiment provides that the modulus of elasticity is determined from a change in length of the web as a function of a web tension change. In this case, it is possible to lengthen the web by a certain fixed amount and to measure the resulting web tension change or to increase the web tension by a certain fixed amount and measure the resulting length change.
Eine hohe Bearbeitungsqualität einer Warenbahn, auch bei Beschleunigungs- und Abbremsvorgängen, kann erreicht werden, indem die Regelkreisparameter in Abhängigkeit vom Trägheitsmoment von nicht angetriebenen Walzen zwischen der zuführenden Klemmstelle und der abführenden Klemmstelle bestimmt werden. Der Störeinfluss dieser nicht angetriebenen Umlenkwalzen auf die Bahnspannung im Bearbeitungsbereich kann so vermindert werden.A high processing quality of a material web, even during acceleration and deceleration processes, can be achieved by determining the control loop parameters as a function of the moment of inertia of non-driven rolls between the feeding nip and the discharging nip. The interference of these non-driven guide rollers on the web tension in the processing area can be reduced.
Die Einschwingdauer des Bahnspannungsreglers kann vermindert werden, indem Voreinstellwerte für die Regelkreisparameter als Startwerte für die Stellgröße, wie beispielsweise eine Vor- oder Nacheilung eines Antriebs, und eine Selbstoptimierung des PI-Reglers oder PID-Reglers angegeben werden. Hierdurch kann der Anteil an Produkt mit guter Bearbeitungsqualität verbessert werden.The settling time of the web tension controller can be reduced by specifying default values for the control loop parameters as starting values for the manipulated variable, such as a lead or lag of a drive, and a self-optimization of the PI controller or PID controller. As a result, the proportion of product with good processing quality can be improved.
Werden die Voreinstellwerte für die Stellgrößen aus den ermittelten physikalischen Kenngrößen der Warenbahn bestimmt, kann auch für unterschiedliche und neuartige Materialien und Materialkombinationen der Warenbahn ein Satz von Voreinstellwerten bestimmt werden, der ein schnelles Erreichen optimaler Regelparameter ermöglicht.If the presetting values for the manipulated variables are determined from the determined physical characteristics of the web, a set of presetting values can be determined for different and novel materials and material combinations of the web, which enables a fast achievement of optimal control parameters.
Wird als Stellgröße ein additiver Geschwindigkeitssollwert, ein Drehzahlsollwert, ein Geschwindigkeitsfaktor oder ein Drehzahlfaktor der Transporteinrichtung verwendet, kann eine besonders einfach ausgeführte Bahnspannungsregelung verwirklicht werden, die dennoch den Erfordernissen an eine hohe Bearbeitungsqualität genügt.If an additive speed setpoint, a speed setpoint, a speed factor or a speed factor of the transport device is used as the manipulated variable, a particularly simple web tension control can be realized, which nevertheless satisfies the requirements for high machining quality.
Wird in dem Bahnspannungsregler eine maschinengeschwindigkeitsbezogene Zykluszeit berücksichtigt, kann erreicht werden, dass auch bei niedrigen Geschwindigkeiten der Warenbahn die Bahnspannung innerhalb der für eine hohe Bearbeitungsqualität erforderlichen Grenzen bleibt. Hiermit wird der Effekt eines kontinuierlichen PI-Reglers vermieden, dass bei geringen Geschwindigkeiten und auch bei Stillstand der Integralanteil weiter wirkt und die Stellgröße aus dem geeigneten Bereich treiben kann.If a machine speed-related cycle time is taken into account in the web tension controller, it is possible to ensure that the web tension remains within the limits required for a high quality of processing even at low speeds of the web. This avoids the effect of a continuous PI controller that at low speeds and even at standstill, the integral component continues to act and can drive the manipulated variable from the appropriate range.
Die Erfindung wird im Folgenden anhand der in den Figuren dargestellten Ausführungsbeispiele näher erläutert. Es zeigen:
-
eine Transporteinrichtung für eine Warenbahn,Figur 1 -
eine Kennlinie für eine geschwindigkeitsadaptive Regelung,Figur 2 -
eine Kennlinie für eine regelabweichungsabhängige Regelung.Figur 3
-
FIG. 1 a transport device for a web, -
FIG. 2 a characteristic curve for a speed-adaptive control, -
FIG. 3 a characteristic curve for a control deviation-dependent control.
Nach der Bearbeitung wird die Warenbahn 2 an einer abführenden Klemmstelle 30 mittels einer Andruckwalze 31 und einer Antriebswalze 32 bewegt. Die Antriebswalze 32 wird von einem Motor 33 angetrieben, dessen Welle mit einem Drehwinkelgeber 34 gekoppelt ist, der Daten zur Umdrehungsbewegung des Motors 33 dem Bahnspannungsregler 3 zuführt. In einer anderen Ausführungsform kann der Antrieb der Antriebswalzen 12, 32 durch Servosynchronmotore erfolgen, die aufgrund ihrer Funktionsweise die Verwendung von Drehwinkelgebern 14, 34 erübrigen. Die Steuerung der Umdrehungsgeschwindigkeit und des Drehwinkels der Motore 13, 33 erfolgt in diesem Fall über die Phase und Frequenz der Versorgungsspannung.After processing, the
Der Istwert der Bahnspannung zwischen der zuführenden Klemmstelle 10 und der abführenden Klemmstelle 30 wird mit einem Messwertgeber 21 gemessen. Hierzu wird die Warenbahn 2 über eine Umlenkwalze 20 dem Messwertgeber 21 zugeführt und über eine zweite Umlenkwalze 22 zur weiteren Bearbeitung weitergeführt. Der Messwertgeber 21 kann beispielsweise als Kraftmessdose ausgeführt sein. Sein Ausgangssignal wird dem Bahnspannungsregler 3 als Istwert der Bahnspannung zugeführt.The actual value of the web tension between the feeding nip 10 and the discharging nip 30 is measured by a
In
Claims (5)
- Method for controlling the web tension of a product web (2) moved by means of a transport device (1) by using a web tension controller (3) while determining control loop parameters,
characterized in that the control loop parameters of the web tension controller (3) are determined in accordance with a hyperbolic characteristic curve (50) that can be predefined at a plurality of reference points as a function of the speed of the machine, plant or product web and as a function of a running length of the product web (2) between an input clamping point (10) and an output clamping point (30). - Method according to Claim 1,
characterized in that the control loop parameters are additionally determined in accordance with a function. - Method according to one of the preceding claims,
characterized in that the control loop parameters are determined in accordance with a characteristic curve (50) assembled piece by piece from functions, as a function of the speed of the machine, plant or product web. - Method according to one of the preceding claims,
characterized in that the control loop parameters are determined as a function of a deviation of the web tension from a predefined set point. - Method according to one of the preceding claims,
characterized in that, below a minimum speed of the machine, plant or product web and above a maximum speed of the machine, plant or product web, constant values are predefined for the control loop parameters.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102005056802A DE102005056802A1 (en) | 2005-11-29 | 2005-11-29 | Regulation of the web tension of a web |
EP06019736.5A EP1790601B2 (en) | 2005-11-29 | 2006-09-21 | Control of the web tension of a running web |
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Application Number | Title | Priority Date | Filing Date |
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EP06019736.5A Division-Into EP1790601B2 (en) | 2005-11-29 | 2006-09-21 | Control of the web tension of a running web |
EP06019736.5A Division EP1790601B2 (en) | 2005-11-29 | 2006-09-21 | Control of the web tension of a running web |
EP06019736.5 Division | 2006-09-21 |
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EP2386511A1 EP2386511A1 (en) | 2011-11-16 |
EP2386511B1 true EP2386511B1 (en) | 2015-12-02 |
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EP11006304.7A Active EP2386511B1 (en) | 2005-11-29 | 2006-09-21 | Tension control for a running web |
EP06019736.5A Active EP1790601B2 (en) | 2005-11-29 | 2006-09-21 | Control of the web tension of a running web |
EP11006305.4A Active EP2392529B1 (en) | 2005-11-29 | 2006-09-21 | Tension control of w material web |
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EP06019736.5A Active EP1790601B2 (en) | 2005-11-29 | 2006-09-21 | Control of the web tension of a running web |
EP11006305.4A Active EP2392529B1 (en) | 2005-11-29 | 2006-09-21 | Tension control of w material web |
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US (1) | US7798382B2 (en) |
EP (3) | EP2386511B1 (en) |
JP (1) | JP2007145607A (en) |
AT (1) | ATE532727T1 (en) |
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2005
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ATE532727T1 (en) | 2011-11-15 |
EP1790601B1 (en) | 2011-11-09 |
JP2007145607A (en) | 2007-06-14 |
EP1790601B2 (en) | 2019-04-24 |
EP1790601A2 (en) | 2007-05-30 |
EP2386511A1 (en) | 2011-11-16 |
EP2392529A1 (en) | 2011-12-07 |
EP2392529B1 (en) | 2015-11-11 |
US20070119894A1 (en) | 2007-05-31 |
EP1790601A3 (en) | 2009-04-01 |
US7798382B2 (en) | 2010-09-21 |
DE102005056802A1 (en) | 2007-05-31 |
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