EP2486458A1 - Procédé de modélisation d'un circuit de régulation d'un registre latéral pour une machine de traitement - Google Patents

Procédé de modélisation d'un circuit de régulation d'un registre latéral pour une machine de traitement

Info

Publication number
EP2486458A1
EP2486458A1 EP10754434A EP10754434A EP2486458A1 EP 2486458 A1 EP2486458 A1 EP 2486458A1 EP 10754434 A EP10754434 A EP 10754434A EP 10754434 A EP10754434 A EP 10754434A EP 2486458 A1 EP2486458 A1 EP 2486458A1
Authority
EP
European Patent Office
Prior art keywords
modeling
controller
account
machine
taken
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.)
Ceased
Application number
EP10754434A
Other languages
German (de)
English (en)
Inventor
Stephan Schultze
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
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2486458A1 publication Critical patent/EP2486458A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

Definitions

  • the present invention relates to a method for modeling a control loop for controlling a side register of a processing machine and a correspondingly arranged arithmetic unit.
  • Directed processing machines in which a web or sporadic material (sheet) is processed.
  • the invention is particularly applicable to printing machines, e.g. Newspaper printing machines, commercial printing machines, gravure printing machines,
  • Processing machines such as Pouch machines, envelope machines or packaging machines, can be used.
  • the material can be made of paper, cloth, cardboard, plastic, metal, rubber, in foil form, etc.
  • controllers such as P controllers, D controllers, I controllers, etc., as well as any combinations thereof include controller parameters that must be set.
  • Conventional controller parameters are the proportional gain Kp, the integral gain Ki, the differential gain K D , the reset time T N , the lead time Tv, delays T, etc.
  • the controller parameters are manually set or evaluated in the prior art via an evaluation of a step response, which is why the machine operator possess control technical knowledge and must adjust the parameters individually.
  • the control loop structure consists at least of the two elements controller and controlled system (behavior behavior).
  • the path behavior of an actuating movement for example of a printing unit, is usually modeled as a PT1 element with a path gain Ks and a (speed-dependent) path time constant Ti or Ts.
  • the path behavior is usually compensated with the aid of a PI controller in such a way that a system of second order results.
  • the known methods have the disadvantage that, on the one hand, the controller parameters have to be entered manually, which usually does not lead to an optimal regulation, and on the other hand the Methods for automatic adaptation are not yet mature enough for optimal results to be achieved.
  • the present invention proposes a method for modeling a control loop for a processing machine and a computing unit having the features of the independent patent claims.
  • Advantageous developments are the subject of the dependent claims and the following description.
  • the invention is based essentially on the recognition that in the case of a side register control special machine or process parameters have a strong influence on the control by influencing the system gain. By taking into account these parameters in the modeling of the control loop, an improved side register control can be achieved.
  • the control loop modeled in this way can be used to automatically determine the controller parameters, in particular by means of known methods.
  • the controller parameters are thus optimally matched to the underlying processing machine and manual input by a user can be omitted. This excludes a significant source of error in machine setup.
  • the system gain enters the denominator. For example, the controller gain K R for a PI controller is calculated at a PT1 distance (see FIG. Optimum to:
  • the deviation of the printed color separations from each other perpendicular to the direction of material flow is usually determined by measuring the register marks in the material flow direction.
  • the shape of the register mark influences the ratio between the actual lateral deviation and the detected length deviation (see Figure 2). If the register mark shape is taken into account, for example, in the form of the angle of a triangular mark, the control quality can be improved.
  • the processing material is moved relative to the processing unit, for example a printing cylinder, perpendicular to the material flow direction.
  • the type of movement is dependent on the drive driving this movement, eg spindle drive, stepping motor and the like, and is often characterized by a fixed speed of movement (adjustment speed), at least after setting up.
  • this adjustment speed is taken into account. It has been recognized that the adjustment speed of a 39register- adjustment device directly affect the track gain Ks and thus takes on the controller parameters. It is Ks ⁇ Verstell Anlagen.
  • the adjustment speed which also includes, for example, an adjustment rotational speed of the drive together with a feed constant (spindle pitch) of the mechanism, can be input into the arithmetic unit according to the invention and / or can be read out from the relevant drive and / or predefined in the relevant drive.
  • a maximum adjustment movement per adjustment can, for example, be provided in order not to damage or destroy the material.
  • a minimum adjustment and / or a maximum adjustment of a side register adjustment device are taken into account in the modeling.
  • a minimum adjustment can be provided as a dead zone in the controller output and / or at the controller input.
  • a maximum adjustment can be provided as a limit in the controller output and / or at the controller input. Expediently, at least one dead time is taken into account in the modeling.
  • Constant ie not transport speed-dependent and / or speed-dependent dead times are taken into account in order to achieve good results in all speed ranges.
  • a speed-dependent dead time usually has a large influence at low speeds, which decreases with increasing transport speed.
  • the influence of constant dead times has a particularly disturbing effect since, by definition, they show no speed dependency and can therefore dominate the track behavior in these speed ranges.
  • a determination of controller parameters is carried out on the basis of the modeled control loop.
  • this determination can be carried out automatically within a computing unit, such as e.g. a controller or a register controller done.
  • a computing unit such as e.g. a controller or a register controller done.
  • controller parameters it is advisable to carry out the determination of the controller parameters as a function of a characteristic field.
  • a characteristic field As already explained above, only a few variables are used as parameters in the modeling, whereas many variables, such as e.g. the brand shape, adjustment speeds, distances, constant dead times, etc., are fixed. For this reason, it makes sense to use characteristic fields as a function of variable variables, such as, for example, Provide web speed that can be stored, for example, in a memory device of the arithmetic unit. In this way the automatic parameterization of the controllers can be significantly accelerated.
  • An arithmetic unit according to the invention is, in particular programmatically, configured to perform a method according to the invention.
  • Suitable data carriers for providing the computer program are in particular floppy disks, hard disks, flash Memory, EEPROMs, CD-ROMs, DVDs Also a download of a program over computer networks (Internet, Intranet etc.) is possible.
  • Figure 1 shows a schematic representation of a trained as a printing press
  • Figure 2 shows the principle of taking into account a register mark shape in a
  • Figure 3 shows a schematic representation of a modeled according to the invention
  • Control circuit for a processing machine in a simplified representation.
  • a processing machine configured as a printing press is designated by 100 as a whole.
  • a printing material such as paper 101, is formed by printing units 1 10, 120, 130, 140focusessseinrichrungen in the direction R. guided and printed.
  • the printing units are shaftless driven and equipped with drives 1 1 1.
  • the printing units are cylindrical or angle correctable for longitudinal register control, which is indicated by the curved arrows on the drives 1 1 1.
  • the printing units are additionally equipped with side register adjustment devices 12.
  • the soregister- adjusting devices 112 are perpendicular to the material transport direction R at an adjustment speed v adjustable.
  • the drives 111 and adjusting devices 112 of the individual printing units are connected to a controller 150 via a data connection 151. Furthermore, there are a plurality of sensors 132, 133, 134 for detecting register marks for the control of the side register (optionally longitudinal register), which are also connected to the controller 150 between the printing units. For clarity, only one sensor 134 is shown connected to the controller.
  • the controller 150 comprises an embodiment of a computing unit according to the invention and is set up for automatic controller parameterization.
  • a side register control is performed as a color control.
  • the sensors 132, 133, 134 are arranged, which determine the register position of the web 101 and, for example, are designed as a brand reader.
  • the extent of the mark applied by the associated printing unit as well as the mark applied by the first printing unit 110 in direction R are detected by a brand reader (color control of the colors).
  • the measured values are fed to a device for register control (register controller). From this, a respective register deviation can be calculated. Detected register deviations are used to position the respective printing unit.
  • the color control has the advantage that in principle one sensor (behind the last printing unit) is sufficient. However, it takes on the Stand color control correspondingly long, until a printed by the first printing unit print mark is transported to the last printing unit. Only then can the page register control of the last printing unit begin to start its control process. For gravure printing machines, this length can be in the range of 100 m.
  • the register controller is automatically parameterized using a method according to the invention. It is understood that the register controller may be embodied in the computing unit 150, for example a computer.
  • register mark sensor 134 measures a mark 201 applied by printing unit 110 and a mark 202 applied by printing unit 140. Marks 201 and 202 in the present example are rectangular triangles, for further consideration only the angle a is considered.
  • the extent dl of the mark 201 and the extent d2 of the mark 202 in the material flow direction are determined and their difference dl - d2 used for the side register control.
  • the purpose of the side register control is to regulate the difference dl - d2 to 0 (optionally to a specified reference value, since the markers can be measured with a different width due to their contrast).
  • this difference between the control variable d1-d2 used for the control and the actual register deviation e was recognized and taken into account.
  • the difference is from a machine parameter, here from the Brand shape, influences and affects the track gain, in the present example with the factor cos a / sin a.
  • the control deviation d1-d2 is determined in mm (optionally also in degrees) and from this a manipulated variable for the corresponding side register adjusting device 112 is determined.
  • This manipulated variable depends on the adjustment speed v of the adjusting device. If, for example, it is to be adjusted by 1 mm, an adjustment device with an adjustment speed of 1 mm / s requires at least one second, whereas an adjustment device with an adjustment speed of 0.5 mm / s requires at least two seconds for this. In the first case, the system gain is thus greater and thus a smaller controller gain K R better.
  • the side register adjusting devices 112 are often designed such that they can only perform a certain minimum adjustment, for example because they are pulse-controlled. In certain situations, this can lead to constant positioning movements, which lead to a troubled web run.
  • an adjustment device can adjust at least x mm per pulse.
  • this dead zone at the controller output can be calculated as follows:
  • dead zone at the controller output minimum pulse duration * adjustment speed v of the adjustment device.
  • Dead zone at the controller input dead zone at the controller output / gain of the controller.
  • a control loop modeled according to the invention is shown schematically and designated as a whole by 300.
  • the control circuit may for example be based on a printing press according to FIG.
  • the control loop 300 comprises a PI element 310 with a control gain K R and a reset time T N -
  • the path behavior with the path time constant Ts and the path gain Ks is modeled in a PT1 element 340.
  • a control loop member 330 which is characterized by a sum dead time Ts.
  • the control loop member 330 can be approximated by means of PTI behavior. It goes without saying that other rules-related approximations are also possible.
  • the position of the control loop element 330 within the control loop 300 can be selected by the person skilled in the art.
  • the control loop member 330 may also be disposed in the feedback.
  • an adjustment speed v of the side register adjustment devices 112 and an angle a of the register marks enter the model of the controlled system 340.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)

Abstract

L'invention concerne un procédé de modélisation d'un circuit de régulation (300) servant à réguler un registre latéral d'une machine de traitement d'un produit en bande (101), en particulier d'une machine à imprimer sans broche (100), au moins un paramètre (v, a) de la machine qui influe sur l'amplification linéaire (Ks) étant pris en compte pour la modélisation.
EP10754434A 2009-10-10 2010-09-16 Procédé de modélisation d'un circuit de régulation d'un registre latéral pour une machine de traitement Ceased EP2486458A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009048951A DE102009048951A1 (de) 2009-10-10 2009-10-10 Verfahren zur Modellierung eines Seitenregister-Regelkreises für eine Bearbeitungsmaschine
PCT/EP2010/005676 WO2011042115A1 (fr) 2009-10-10 2010-09-16 Procédé de modélisation d'un circuit de régulation d'un registre latéral pour une machine de traitement

Publications (1)

Publication Number Publication Date
EP2486458A1 true EP2486458A1 (fr) 2012-08-15

Family

ID=43530868

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10754434A Ceased EP2486458A1 (fr) 2009-10-10 2010-09-16 Procédé de modélisation d'un circuit de régulation d'un registre latéral pour une machine de traitement

Country Status (3)

Country Link
EP (1) EP2486458A1 (fr)
DE (1) DE102009048951A1 (fr)
WO (1) WO2011042115A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19826333A1 (de) * 1997-10-21 1999-04-22 Heidelberger Druckmasch Ag Verfahren zur Passermessung beim Überineinanderdruck mehrerer Teilfarben auf einem Druckerzeugnis
DE19919741A1 (de) * 1999-04-30 2000-11-02 Heidelberger Druckmasch Ag Verfahren zur Registersteuerung beim Übereinanderdruck mehrerer Teilfarben
US20030028266A1 (en) * 2001-06-29 2003-02-06 Robert Jacques Tuning control parameters of vibration reduction and motion control systems for fabrication equipment and robotic systems
DE10318571A1 (de) * 2002-05-16 2003-11-27 Heidelberger Druckmasch Ag Verfahren zum Betreiben einer Register-Verstelleinrichtung in einer Offset-Druckmaschine
DE102005054975A1 (de) * 2005-11-16 2007-05-24 Siemens Ag Registerregelung bei einer Druckmaschine
US20090138102A1 (en) * 2005-12-30 2009-05-28 Per-Erik Moden Method and device for tuning and control
DE102007062454A1 (de) * 2007-12-22 2009-07-02 Robert Bosch Gmbh Verfahren zur Regelung einer Bahnspannung und/oder eines Registers

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2578486B1 (fr) 1985-03-08 1987-06-12 Bertin & Cie Procede et dispositif de positionnement d'objets les uns par rapport aux autres, en particulier des rouleaux d'impression de couleurs dans une presse rotative offset
DE4218761C2 (de) * 1992-06-06 2002-01-24 Heidelberger Druckmasch Ag Verfahren zum Voreinstellen von Registereinstelleinrichtungen einer Druckmaschine mit Druck von mehrfarbigen Teilbildern
US5735205A (en) * 1996-11-07 1998-04-07 Westvaco Corporation Printing press controller
DE10013876B4 (de) * 1999-04-08 2013-10-02 Heidelberger Druckmaschinen Ag Verfahren zum Regeln der Farbgebung beim Drucken mit einer Druckmaschine
DE10131957A1 (de) * 2001-07-02 2003-01-16 Nexpress Solutions Llc Verfahren und Vorrichtung zum Erfassen und Korrigieren von Farbabweichungen beim Mehrfarbdruck
DE10309670A1 (de) * 2003-03-06 2004-09-16 Man Roland Druckmaschinen Ag Regelvorrichtung
DE102006050743A1 (de) * 2006-10-27 2008-04-30 Koenig & Bauer Aktiengesellschaft Verfahren zur Voreinstellung von Messtakten eines Inline-Sensors
DE102008035639A1 (de) 2008-07-31 2010-02-04 Robert Bosch Gmbh Verfahren zur Modellierung eines Regelkreises für eine Bearbeitungsmaschine

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19826333A1 (de) * 1997-10-21 1999-04-22 Heidelberger Druckmasch Ag Verfahren zur Passermessung beim Überineinanderdruck mehrerer Teilfarben auf einem Druckerzeugnis
DE19919741A1 (de) * 1999-04-30 2000-11-02 Heidelberger Druckmasch Ag Verfahren zur Registersteuerung beim Übereinanderdruck mehrerer Teilfarben
US20030028266A1 (en) * 2001-06-29 2003-02-06 Robert Jacques Tuning control parameters of vibration reduction and motion control systems for fabrication equipment and robotic systems
DE10318571A1 (de) * 2002-05-16 2003-11-27 Heidelberger Druckmasch Ag Verfahren zum Betreiben einer Register-Verstelleinrichtung in einer Offset-Druckmaschine
DE102005054975A1 (de) * 2005-11-16 2007-05-24 Siemens Ag Registerregelung bei einer Druckmaschine
US20090138102A1 (en) * 2005-12-30 2009-05-28 Per-Erik Moden Method and device for tuning and control
DE102007062454A1 (de) * 2007-12-22 2009-07-02 Robert Bosch Gmbh Verfahren zur Regelung einer Bahnspannung und/oder eines Registers

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2011042115A1 *

Also Published As

Publication number Publication date
WO2011042115A1 (fr) 2011-04-14
DE102009048951A1 (de) 2011-04-14

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