EP2392529A1 - Contrôle de tension d'une bande en mouvement - Google Patents

Contrôle de tension d'une bande en mouvement Download PDF

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Publication number
EP2392529A1
EP2392529A1 EP11006305A EP11006305A EP2392529A1 EP 2392529 A1 EP2392529 A1 EP 2392529A1 EP 11006305 A EP11006305 A EP 11006305A EP 11006305 A EP11006305 A EP 11006305A EP 2392529 A1 EP2392529 A1 EP 2392529A1
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EP
European Patent Office
Prior art keywords
web
determined
web tension
controller
speed
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
EP11006305A
Other languages
German (de)
English (en)
Other versions
EP2392529B1 (fr
Inventor
Stephan Dr. Schultze
Christian Zentgraf
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.)
Bosch Rexroth AG
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Bosch Rexroth AG
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.)
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Publication date
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Application filed by Bosch Rexroth AG filed Critical Bosch Rexroth AG
Publication of EP2392529A1 publication Critical patent/EP2392529A1/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
    • 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
    • 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
    • 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
    • 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 will be transported inaccurately for processing and, for example, tends to flutter. On the other hand, a certain maximum web tension must not be exceeded, since the web otherwise breaks or stretches inelastic.
  • the web tension In order to ensure a trouble-free operation of the transport device and a good quality of the processed web, the web tension must be kept within a certain range depending on the speed and parameters such as the elastic modulus of the web.
  • 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 phases of the 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, for example, also provide a start-up or control characteristic that is different 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)
EP11006305.4A 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement Active EP2392529B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005056802A DE102005056802A1 (de) 2005-11-29 2005-11-29 Regelung der Bahnspannung einer Warenbahn
EP06019736.5A EP1790601B2 (fr) 2005-11-29 2006-09-21 Contrôle de la tension d'une bande de matériau

Related Parent Applications (3)

Application Number Title Priority Date Filing Date
EP06019736.5 Division 2006-09-21
EP06019736.5A Division-Into EP1790601B2 (fr) 2005-11-29 2006-09-21 Contrôle de la tension d'une bande de matériau
EP06019736.5A Division EP1790601B2 (fr) 2005-11-29 2006-09-21 Contrôle de la tension d'une bande de matériau

Publications (2)

Publication Number Publication Date
EP2392529A1 true EP2392529A1 (fr) 2011-12-07
EP2392529B1 EP2392529B1 (fr) 2015-11-11

Family

ID=37807979

Family Applications (3)

Application Number Title Priority Date Filing Date
EP11006305.4A Active EP2392529B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP11006304.7A Active EP2386511B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP06019736.5A Active EP1790601B2 (fr) 2005-11-29 2006-09-21 Contrôle de la tension d'une bande de matériau

Family Applications After (2)

Application Number Title Priority Date Filing Date
EP11006304.7A Active EP2386511B1 (fr) 2005-11-29 2006-09-21 Contrôle de tension d'une bande en mouvement
EP06019736.5A Active EP1790601B2 (fr) 2005-11-29 2006-09-21 Contrôle de la tension d'une bande de matériau

Country Status (5)

Country Link
US (1) US7798382B2 (fr)
EP (3) EP2392529B1 (fr)
JP (1) JP2007145607A (fr)
AT (1) ATE532727T1 (fr)
DE (1) DE102005056802A1 (fr)

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DE102008021445B4 (de) * 2008-04-29 2016-03-24 Robert Bosch Gmbh Bahnverarbeitende Maschine und Verfahren zu deren Steuerung
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DE102010012291A1 (de) 2010-03-23 2011-09-29 Robert Bosch Gmbh Verfahren zur Bestimmung wenigstens eines Reglerparameters eines Bahnspannungs-Regelglieds
DE102010013782A1 (de) 2010-04-03 2011-10-06 Robert Bosch Gmbh Verfahren zur Bestimmung wenigstens eines Reglerparameters eines Tänzerlage-Regelglieds
DE102011101842A1 (de) 2011-05-17 2012-11-22 Robert Bosch Gmbh Verfahren zum Regeln der Bahnspannung in einer Bahnbearbeitungsmaschine
US9044977B2 (en) 2011-06-17 2015-06-02 Xerox Corporation System and method for threading a web through a printing device
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
CN105144001A (zh) * 2014-03-04 2015-12-09 株式会社尼利可 反馈控制方法、反馈控制装置和程序
DE102014219012A1 (de) * 2014-05-14 2015-12-03 Robert Bosch Gmbh Vorrichtung und Verfahren zur Erfassung von Materialeigenschaften einer Packstoffbahn, vorzugsweise in einer Verpackungsmaschine sowie Verpackungsmaschine
JP6107803B2 (ja) * 2014-12-19 2017-04-05 トヨタ自動車株式会社 捲回装置および捲回装置の設計方法
EP3416010B1 (fr) * 2017-06-12 2020-11-25 Siemens Aktiengesellschaft Procédé et dispositif de détermination de la tension d'une bande de produit, produit-programme d'ordinateur, installation industrielle et machine de production
KR102384031B1 (ko) 2017-09-19 2022-04-08 스미도모쥬기가이고교 가부시키가이샤 웨브처리시스템 및 제어방법
AT524284B1 (de) * 2020-10-15 2022-06-15 B & R Ind Automation Gmbh Parametrierung eines Zugkraftreglers
CN113353704B (zh) * 2021-05-31 2023-03-17 广东利元亨智能装备股份有限公司 多级主驱无缓存张力控制机构、方法、装置及存储介质
CN113353705B (zh) * 2021-05-31 2023-03-17 广东利元亨智能装备股份有限公司 单路径分多路径的无缓存张力控制机构、方法及装置
DE102021120371A1 (de) * 2021-08-05 2023-02-09 Multivac Sepp Haggenmüller Se & Co. Kg Verpackungsmaschine mit folientransporteinrichtung sowie verfahren

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DE19834725A1 (de) 1998-07-31 2000-02-03 Wifag Maschf Bahnspannungsregeleinrichtung
DE10322098A1 (de) 2003-05-15 2004-12-30 Technische Universität Chemnitz Verfahren und Einrichtung zur Steuerung der Bahngeschwindigkeit an einer Transportvorrichtung für Warenbahnen
US20050167460A1 (en) * 2004-02-04 2005-08-04 The Procter & Gamble Company Method of controlling tension in a moving web material

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DE102005056802A1 (de) 2007-05-31
EP1790601B1 (fr) 2011-11-09
EP1790601B2 (fr) 2019-04-24
EP1790601A2 (fr) 2007-05-30
US7798382B2 (en) 2010-09-21
EP2386511B1 (fr) 2015-12-02
US20070119894A1 (en) 2007-05-31
JP2007145607A (ja) 2007-06-14
EP2386511A1 (fr) 2011-11-16
ATE532727T1 (de) 2011-11-15
EP1790601A3 (fr) 2009-04-01
EP2392529B1 (fr) 2015-11-11

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