EP3504062B1 - Verfahren zur regelung des antriebs einer maschine - Google Patents

Verfahren zur regelung des antriebs einer maschine Download PDF

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Publication number
EP3504062B1
EP3504062B1 EP16760006.3A EP16760006A EP3504062B1 EP 3504062 B1 EP3504062 B1 EP 3504062B1 EP 16760006 A EP16760006 A EP 16760006A EP 3504062 B1 EP3504062 B1 EP 3504062B1
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EP
European Patent Office
Prior art keywords
roll element
roll
roller
speed
printing
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Application number
EP16760006.3A
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German (de)
English (en)
French (fr)
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EP3504062A1 (de
Inventor
Joachim Weissbacher
Robert KICKINGER
Albert TRESENS
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B&R Industrial Automation GmbH
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B&R Industrial Automation GmbH
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Publication of EP3504062A1 publication Critical patent/EP3504062A1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F33/00—Indicating, counting, warning, control or safety devices
    • B41F33/16—Programming systems for automatic control of sequence of operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F33/00—Indicating, counting, warning, control or safety devices
    • D—TEXTILES; PAPER
    • D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21G—CALENDERS; ACCESSORIES FOR PAPER-MAKING MACHINES
    • D21G1/00—Calenders; Smoothing apparatus
    • D21G1/0006—Driving arrangements
    • D—TEXTILES; PAPER
    • D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21G—CALENDERS; ACCESSORIES FOR PAPER-MAKING MACHINES
    • D21G1/00—Calenders; Smoothing apparatus
    • D21G1/0073—Accessories for calenders
    • D21G1/008—Vibration-preventing or -eliminating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2200/00—Printing processes
    • B41P2200/10—Relief printing
    • B41P2200/12—Flexographic printing

Definitions

  • the present invention relates to a method for controlling the drive of a machine with at least one first rolling element, which rolls on a surface at least in partial intervals of a rotation cycle under the action of a contact force with elastic deformation on a counter surface.
  • a body which is referred to in the following in a non-restrictive manner as a roller element, is elastically deformed when it rolls on a counter surface. This elastic deformation changes the effective radius of the roller element. When two roller elements roll against each other, both radii change and thus, together with the roller speed, the line speed of a product that is transported through the pair of rollers.
  • roller elements generally refer to machine elements that rotate about a fixed or moving axis.
  • the roller elements can be essentially cylindrical, or can be designed as profile rollers.
  • the speed of the roll surface is set by specifying a target speed for the rolls. Since the effective radii under the action of a contact force are not known a priori, there is a torque exchange between the rollers due to the elastic deformation. This means that one roller exerts an accelerating torque on the other roller, while the other roller exerts a braking torque on the former.
  • periodic movement disturbances occur in practice.
  • examples of such disorders are e.g. a printing plate which is mounted on one of the rollers and does not enclose the entire circumference of the roller, as well as the printing motif which is stamped on this printing plate.
  • Processes of the type mentioned at the outset are used, for example, in rotary printing processes with elastic printing forms, such as the flexographic printing process.
  • Numerous problems can arise in everyday printing technology, the handling and solution of which require a good training and extensive experience from the operator of the printing press.
  • the appearance of horizontal stripes in the printed image is such an undesirable phenomenon in flexographic printing and these horizontal stripes are among the well-known problems in everyday printing life.
  • the gap in the area of the surface of the form cylinder not covered by the printing form can cause vibrations in the printing block, which have a negative effect on the printed image. These vibrations occur when the printing form comes into contact with the anilox roller or the impression cylinder or releases this contact again.
  • DE 10 2012 013532 A1 discloses a method in which full contact is made in the printing nip between printing form and printing material. Due to the extremely low relief depth on the entire surface, very small tolerances must be observed, which can prove difficult in practice.
  • DE 69400403 T2 discloses a printing method in which an instantaneous intensity or a motor torque of a drive motor is measured and the rotational speeds of printing cylinders are adjusted so that when a rubber element is passed between a first and a second cylinder on the one hand and between a first and a third cylinder on the other hand, a minimal change in the instantaneous intensity or the motor element is effected.
  • EP 1 759 839 A2 discloses a printing press with a forme cylinder, a rubber cylinder rolling on the forme cylinder and a dampening roller rolling on the forme cylinder.
  • the synchronism of the forme cylinder and blanket cylinder is ensured by a control device, the position or angular position of the forme cylinder and blanket cylinder being monitored with appropriate sensors.
  • the surfaces of the dampening roller and the forme cylinder roll on each other at different surface speeds.
  • a torque builds up with each revolution, which "breaks down” when the dampening roller rolls over the clamping channel of the forme cylinder, which leads to a disturbed print image due to the asynchrony of the forme cylinder and blanket cylinder.
  • DE 10107135 A1 discloses a vibration damping method in a web printing press. Deviations in position of the forme cylinder are determined with sensors and compensated for with a non-linear control, in particular a sliding mode control.
  • a speed correction method which automatically compensates for deformation-related deviations in the circumferential speed of the first roller element by adapting the setpoint for the speed of the first roller element
  • a retrospective method which deviations in the speed constancy of the first roller element within a revolution cycle by applying a control variable , in particular an actual speed or an actual position of the roller element, automatically compensates for the correction signal determined in one or more previous rotation cycle or cycles, combined.
  • the inventor found that neither the use of a speed correction method alone nor the use of a retrospective method to increase the speed constancy alone could solve the quality problems. Only through the combined use of these two processes was it possible to achieve an increase in quality that was not to be expected due to the disappointing results that were achieved with the individual processes alone.
  • the method according to the invention has the advantage that it can also be easily implemented in existing machines.
  • the term “being in contact” means a roller element with a counter surface or roller pairs with one another not only in direct contact but also in contact with an intermediate one Product, in particular a printing material, which is passed between a pair of rollers during printing, for example. Furthermore, the term “being in contact” does not necessarily mean that the roller element touches the counter surface during the entire rotation time.
  • roll on an opposing surface with elastic deformation is understood in the context of the present invention in such a way that the surfaces of the elements rolling against each other lie essentially without sliding, at least in the contact area.
  • contact area in connection with the present invention denotes the area in which a pair of rollers (or a roller element and a counter surface) touch, possibly with the interposition of a product or printing material.
  • the contact area can be represented in a cross section as a "contact point".
  • Surface or relative speeds, for example, are generally related to a calculated point of contact, where it is clear to the person skilled in the art that real, elastically deformable rollers are contact surfaces.
  • area of contact and "point of contact” can therefore generally be used synonymously.
  • the term “revolution cycle” refers to the period of time in which the characteristic peaks in the controlled variable are typically repeated cyclically, the revolution cycle in particular being able to correspond to the period of the first roller element or another roller element.
  • the speed (or a value derived from the speed, such as the peripheral speed) of the roller element can be used as the control variable.
  • the speed is generally derived from an angle of rotation signal generated by a rotary encoder on the drive motor or on the roller element.
  • the retrospective method for increasing the speed constancy compensates for peaks in the deviation of the controlled variable that occur regularly at certain points in the rotation cycle by the correction signal.
  • the correction signal can also be derived from a variable influenced by the controlled variable.
  • the correction signal In order to compensate for the dead time of the control loop (i.e. the time shift between the controller output and the actual cross current on the drive motor), the correction signal must be "reset” by this dead time in order to synchronize the correction with the value peaks to be corrected.
  • the invention is based on the knowledge that differences in the effective circumferential speeds - due to the elastic deformation which leads to changes in the effective roller diameters which are extremely difficult to predict beforehand - of roller pairs represent a cause of quality errors, for example of transverse stripes in a printed image.
  • quality errors can also occur if a roller element generally rolls on a counter surface.
  • the time profile of a value characteristic of a drive torque of the roller arrangement can be determined in at least one of the partial intervals, a parameter for an increase in this value in the partial interval can be derived therefrom and the reference variable of the peripheral speed of the first roller element as a function be adjusted by this parameter to minimize the increase.
  • the course of the drive torque for the roller element or the course of a variable proportional to the drive torque such as, for example and without limitation, the drive current or the drive power in the selected subinterval can be evaluated.
  • the value characteristic of the drive torque can be a force applied by the at least one roller element to the counter surface.
  • the characteristic value for a drive torque of the roller arrangement can be a parameter representative of a speed error of the roller element and / or a drag error between the roller element and the counter surface, such as, for example and without limitation, an average or effective torque, an average slope of a torque, an average force effect (torques evaluated with the roller radius) on the counter surface or on another roller element or a sum of force effects of roller pairs on each other. Based on this, the peripheral speed is adjusted so that the representative parameter is minimized in this subinterval.
  • the derived parameter can furthermore be a value averaged in a partial interval or it can be an optionally smoothed increase in the drive torque in the partial interval.
  • the subinterval can include one or more complete revolutions of one of the roller elements.
  • a peripheral speed of the first roller element can be adjusted by changing the default value for the speed of this roller element.
  • a peripheral speed of the first roller element can be adjusted by changing the default value for the diameter of this roller element.
  • the deviation (e.g. in percent) of the default value from the actual diameter can be evaluated as a characteristic value, for example to avoid quality problems, that announce itself by a change in this value, to recognize early.
  • a peripheral speed of the first roller element can be adjusted by changing the default value for the feed of this roller element.
  • the value for the diameter which is relevant for the relative speed between two roller elements, also changes due to elastic deformation.
  • the ink absorption from an anilox roller to a forme cylinder and the pressure from the forme cylinder on the printing material can be advantageously influenced at the same time.
  • a shooting method can advantageously be used to determine the default value for the speed of rotation of a roller element, the default value for the diameter of the roller element or the default value for the infeed of the roller element.
  • the shooting process is an iterative process that can run automatically and in which, based on a starting value, e.g. for the specified value of the speed of the roller element, the associated target parameter is determined from the resulting torque curve in the sub-interval mentioned. The starting value is then slightly changed and the resulting deviation is determined.
  • the optimal operating point is set automatically by successive linear inter- and extrapolations. The iterations are stopped when the desired operating point has been reached with sufficient accuracy and therefore convergence has been achieved.
  • the retrospective method can advantageously be a self-learning method for controlling cyclical processes, in particular a repetitive control method.
  • self-learning methods for controlling cyclical processes are generally methods in which faults (for example setpoint deviations or errors) are determined and stored in at least one first cycle, measures for suppressing these faults being determined on the basis of the faults determined , and wherein these measures are used in at least one further cycle in order to suppress corresponding disturbances in this further cycle.
  • the permanently repetitive application of this methodology suppresses self-learning in the best possible way.
  • the repetitive control process is a well-known process which is described, for example, in the technical article " Repetitive control for systems with uncertain period-time ", Maart Steinbuch, Automatica 38 (2002) 2103-2109 , is described.
  • the repetitive control method can be used to determine the occurrence of (then also periodic) To minimize disturbances.
  • the process is self-learning due to the permanent repeated application per se and is therefore very easy to use. In the application at hand, it can advantageously be used to increase the speed constant, which is achieved, for example, by a self-learning additive current application.
  • the retrospective method can use a speed error, possibly scaled with a speed controller gain, and / or a periodic following error occurring at the point of contact between the work roll and the counter-pressure cylinder, whereby a switchover between different variants of determining a feedback signal can be provided, with several alternatives Provide operating modes.
  • the feedback can be a signal determined by a motor encoder, representative of the controlled variable, or a signal determined by a load encoder representative of the controlled variable.
  • the feedback signal can also be generated by a virtual load transmitter which, for example, determines an estimated value for the controlled variable on the basis of the drive current and the motor torque.
  • the retrospective method can advantageously go through an initiation phase over at least one rotation cycle, preferably over at least two rotation cycles.
  • a revolution cycle can in particular correspond to one revolution of the first roller element (or also another roller element if this defines the revolution cycle), so that in many application areas it is not necessary to determine the cycle from a signal.
  • an internal memory is initiated over the first revolution cycle.
  • the process is activated continuously or step-by-step by means of a loop-in control, so that the interference suppression is fully active after two cycles (or two rotations).
  • the counter surface can be formed by the surface of a second roller element, the first roller element and the second roller element rolling against one another and the drive of the second roller element being regulated analogously to the first roller element.
  • the retrospective method for increasing the speed constancy can advantageously use a periodic following error occurring at the point of contact between the first roller element and the second roller element as a controlled variable.
  • the first roller element in which the machine is a printing press, can be a forme cylinder, an impression cylinder and a Roll the anilox roller on the forme cylinder, and an elastic printing form is applied to the forme cylinder, which is in contact with the anilox roller and / or the impression cylinder during at least a partial interval of the rotation of the forme cylinder. This enables horizontal stripes to be prevented reliably in the printed image.
  • the present disclosure thus also relates to a method for controlling a printing press with a plurality of roller elements, namely at least one forme cylinder, an anilox roller and an impression cylinder, an elastic printing forme being applied to the forme cylinder, which during at least a partial interval of the rotation of the forme cylinder with the anilox roller and / or is in contact with the impression cylinder, the course of a value characteristic of the drive torque of at least one of the roller elements being determined in the partial interval, a parameter being derived therefrom and the peripheral speed of at least one of the roller elements being adapted as a function of this parameter.
  • the subinterval evaluated for the calculation is selected in connection with the present invention on the basis of the respective machine.
  • the size of the forme cylinder, the size, shape and position of the printing form and the arrangement of the further roller elements are taken into account.
  • the partial interval can be determined on the basis of an evaluation of the course of characteristic values, such as the drive torque, the measured roller speed, the speed error, the tracking error or other suitable characteristic values, during a test run or when starting up the printing press and can also include one or more complete revolutions .
  • the selected subinterval should be selected in such a way that interference is minimized.
  • the partial interval is therefore selected such that the points of contact between the printing form and the anilox roller and between the printing form and the impression cylinder are free of changes of contact in the partial interval. This enables a stable evaluation of the parameters with minimal interference.
  • a "change of contact” is understood to mean coming into contact and releasing the contact between the printing form and another roller element.
  • the method can be carried out automatically and optionally also regularly during the printing process. This allows an automatic elimination of differences in peripheral speed between contacting roller pairs and the associated print image errors. This enables an automatic process to be created which is controlled independently by the machine software. No manual interaction by the operating personnel is necessary, no additional prepress work is required and no additional printing units are required.
  • the feature of the automatic and optionally also regular execution of the method can also be applied according to the invention to machines that are not printing machines.
  • an identical line speed can be set by adapting the peripheral speed on a machine with several printing units. This feature can also be applied analogously to other machines.
  • Fig. 10 shows an idealized pair of rollers from a first roller element 1 'and a second roller element 2' which roll against each other at a contact point A (based on the cross section shown).
  • the (undeformed) normal radii R 1.0 of the first roller element 1 'and R 2.0 of the second roller element 2' define the standard distance d 0 of the roller axes.
  • Fig. 11 shows schematically the deformation that occurs on the pair of rollers when the two roller elements 1 ', 2' are pressed together with a contact force F> 0 (the deformations are in Fig. 11 shown greatly exaggerated for reasons of recognizability).
  • the two roller elements no longer touch each other in a line (ie in a cross section at a point), but in a contact surface (which is shown in the cross section in Fig. 11 is shown as a line).
  • the radii of the roller elements are also no longer constant, the minimum radii R 1 , R 2 being in the middle of the contact surfaces.
  • the distance between the roller axes d in the deformed state is therefore smaller than the standard distance d 0 . Therefore, the peripheral speed at the contact surface no longer corresponds to the value calculated on the basis of the idealized representation.
  • Analogous considerations also apply if a roller element rolls on a flat counter surface under elastic deformation.
  • the forme cylinder 2 carries a printing form 4 made of a flexible material, on which raised areas according to the known flexographic printing process define the areas to be printed.
  • the anilox roller 1 applies the printing ink to the raised areas of the printing form 4.
  • the printing ink is then applied to the printing material between the forme cylinder 2 and the impression cylinder 3.
  • the printing form 4 can be shorter or longer and the relative arrangement of the roller elements to one another can also differ. Such changes can also lead to a different sequence of touch changes. For example, with a shorter printing form 4 and a corresponding roller arrangement, a time period could occur in which neither the impression cylinder 3 nor the anilox roller 1 is in contact with the printing form 4. On the other hand, it is also possible for the printing form 4 to encompass the entire circumference of the forme cylinder 2, so that no changes in contact occur. The invention can also be used advantageously in such cases.
  • the rotational speeds of the individual roller elements are coordinated with one another based on the respective diameter, so that there are no relative speeds between the roller elements at the points of contact in the theoretical modeling. In practice, however, it has been found that due to the elastic deformation of the roller elements, such relative speeds can occur at the point of contact.
  • the drive torque is higher if both the anilox roller 1 and the impression cylinder 3 are simultaneously in engagement with the forme cylinder, and it is less if the point of contact of one or more roller elements is precisely in the area of the pressure gap 5.
  • Fig. 2 shows a schematic representation of the drive torque to be expected during one revolution of the forme cylinder, based on the times t 0 to t 4 , as shown in FIG Fig. 1 are shown. This theoretical scheme can be used to evaluate actual measurement results. It should be noted that different roller arrangements or different lengths of the printing form 4 would lead to different courses of the drive torque, whereby the person skilled in the art can readily apply the teachings of the present application to such cases.
  • Fig. 3 shows a diagram of the dynamic behavior of the test arrangement, the top curve showing the following error (difference between the target and actual position in relation to the surface of the forme cylinder), the middle curve showing the speed curve and the bottom curve the drive torque of the forme cylinder, with the times t 0 to t 4 for one revolution as shown in Fig. 1 and 2nd are plotted in the diagram.
  • the nominal position corresponds to the nominal value of the position controller, the actual position was measured with an encoder.
  • a non-constant course of the following error indicates that the peripheral speeds of the roller elements that are in contact do not match.
  • the horizontal stripes result in particular from distorted image points on the printing material, which are perceived as stripes by the human eye when the printed image is viewed macroscopically.
  • the contact force between the respective roller pairs leads to an elastic deformation of the two roller elements (of the entire printing block structure).
  • This elastic deformation in turn leads to changed effective diameters of the respective roller elements, which differ from the diameters set by the machine operator.
  • This difference in speed means that the contact of the roller elements results in an exchange of torque between the roller elements, which is characterized in that the faster rotating roller element drives the slower rotating roller element and vice versa (the slower rotating roller element brakes the faster rotating roller element).
  • the lag errors accumulated up to that point are reduced again and lead to a compensation behavior determined by the disturbance behavior of the drive control loops (aperiodic decay or decay with damped oscillation).
  • a compensation behavior determined by the disturbance behavior of the drive control loops (aperiodic decay or decay with damped oscillation).
  • stripes are caused in the printed image.
  • One consideration on which the invention is based is to prevent the occurrence of transverse stripes in the printed image by recognizing different peripheral speeds in roller pairs and automatically adapting the peripheral speeds of the roller pairs to one another.
  • the torque profiles of the assigned roller drives are evaluated in the contact phase and the roller speeds are adjusted until the peripheral speeds of the roller pairs match and, on average, essentially constant torque profiles result in the contact phase.
  • the peripheral speeds of the roller elements can be adapted, for example, by changing the default value for the roller diameter.
  • the default value for the diameter of the forme cylinder was therefore increased by 0.6% in a first step in order to achieve a correspondingly lower peripheral speed of the forme cylinder.
  • Fig. 5 shows a diagram of the dynamic behavior of the printing press in the test arrangement described above after this adjustment of the default value for the diameter of the forme cylinder by + 0.6%. It can be clearly seen that the drive torque has significantly reduced value peaks (approx. 6 Nm in Fig. 5 compared to approx. 13 Nm in Fig. 4 ) and had a reduced average. Furthermore, the drive torque in the subintervals of the contact phases (intervals t 1 to t 2 and t 3 to t 4 ) showed an average constant course. There were no longer any horizontal stripes in the printed image.
  • the adjustment of the circumferential speeds of the roller pairs can not only be achieved by changing the speed of one of the roller elements involved, but also changing the infeed between the roller pairs in order to influence the desired length of the print motif on the substrate and thereby distortions which can arise in the printed image.
  • a high quality of the printed image can only be achieved by increasing the roll speeds with the help of the repetitive control process by means of an additive current feed.
  • the repetivite control process can basically be carried out in a self-learning manner and is therefore very easy to use.
  • Fig. 8 illustrates the iterative mode of operation of a shooting process with which an optimal default value for the diameter of a roller element can be determined.
  • a starting value D 0 for the diameter a corresponding value k 0 for the increase in the torque is determined (this corresponds, for example, to that in FIG Fig. 4 shown slope between the times t 1 and t 2 ).
  • the starting value D 0 is changed slightly to the value D 1 and the corresponding value k 1 of the increase in the torque is determined.
  • the next default value D2 for the diameter is then determined as the intersection of the line through the points (D 0 , k 0 ) and (D 1 , k 1 ) with the axis of abscissa.
  • the method is continued iteratively until a default value D x is found for which the slope of the torque k x is sufficiently small. In Fig. 8 this is the case for the value D 4 , which only has a very slight slope k 4 .
  • the shooting process can be applied to different default values, whereby it can run automatically at the beginning of each printing process.
  • Fig. 9 shows an exemplary control circuit for drive control of two roller elements 1 'and 2' which roll against each other and are each driven by a drive motor M A , M B.
  • the two drive motors are each controlled by a control circuit, the function of the controller being described below with reference to the first roller element 1 '.
  • the target value w corresponds to the default value for the engine speed, this target value w being based on the dimensions of the undeformed roller elements.
  • This setpoint is corrected on the one hand by an adaptation value a, which was determined in accordance with the speed correction method.
  • the adjustment value is determined by the speed adjustment D, which is described in more detail below.
  • the feedback y M (t) is subtracted from the desired value w corrected with the adaptation value a in order to determine the control deviation e (t), which represents the input value into a speed controller R A.
  • the speed controller R A outputs a control variable u (t).
  • the control variable u (t) is stored by a repetitive controller RC A , which has an internal memory, in the internal memory in at least a first revolution cycle, the repetitive controller RC A being based on the stored values in a subsequent revolution cycle Correction signal k (t) outputs.
  • the correction signal k (t) is combined with the control variable u (t) to form a corrected control variable u k (t).
  • a current controller S A creates a manipulated variable u s (t) based on the corrected control variable u k (t), which controls the drive motor M A , for example in the form of a drive current.
  • the repetitive controller thus uses the speed error scaled with the speed controller gain as an input variable and tries to regulate the speed error to zero during one revolution.
  • This case is shown in the block diagram.
  • the speed setpoint can be specified by a higher-level position controller whose actual value is the integrated value of the feedback y M (t). In this case the use of the following error scaled with the position controller gain can be useful.
  • the RC then tries to keep the following error constant at zero during one revolution.
  • the controlled variable y (t) is the speed of the roller element 1 '.
  • the control loop offers the Fig. 9 three options: The speed can either be measured via a motor encoder MG A provided on the drive motor, or via a load encoder LG A arranged on the roller element 1 '.
  • the feedback y M (t) can be created by a virtual load generator VG A.
  • the virtual load generator creates an estimated value for the controlled variable y (t), which is based on the current or the motor torque (ie the manipulated variable u s (t)), the motor speed and a model of the dynamic behavior between the motor and load sensor.
  • the type of feedback can be selected using a SW A selection switch.
  • the control loop of the second roller element 2 ' has the same elements again and functions in an analogous manner to that described above for the first roller element 1'.
  • the Elements of the control loop which are to be assigned to the second roller element 2 ' are shown in Fig. 9 characterized by a subscript B, the elements assigned to the first roller element 1 ', on the other hand, with a subscript A.
  • the variables or signals of the control loop w, e (t), u (t), u k (t), u s (t), y (t), y M (t), a in Fig. 9 specified only for the control loop of the first roller element 1 '.
  • the control circuit of the second roller element uses analog signals.
  • the two control loops are linked by the above-mentioned speed adjustment D, which evaluates on the basis of the manipulated variable u s (t) (both control loops) or the values obtained from the selected encoder signals in accordance with the previously described speed correction method and the adaptation value a for both roller elements 1 ' , 2 'created.
  • the current setpoint ie the corrected control variable u k (t)
  • the actual current value ie the manipulated variable us ( t )

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  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Multiple Motors (AREA)
  • Rotary Presses (AREA)
EP16760006.3A 2016-08-23 2016-08-23 Verfahren zur regelung des antriebs einer maschine Active EP3504062B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2016/069908 WO2018036619A1 (de) 2016-08-23 2016-08-23 Verfahren zur regelung des antriebs einer maschine

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EP3504062A1 EP3504062A1 (de) 2019-07-03
EP3504062B1 true EP3504062B1 (de) 2020-07-01

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US (1) US11241876B2 (ko)
EP (1) EP3504062B1 (ko)
JP (1) JP6982062B2 (ko)
KR (1) KR20190037344A (ko)
CN (1) CN109641448B (ko)
CA (1) CA3034742A1 (ko)
DK (1) DK3504062T3 (ko)
WO (1) WO2018036619A1 (ko)

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CA3096852C (en) * 2018-05-03 2024-04-16 Paper Converting Machine Company Anti-bounce print deck for flexographic printing press
EP3838595B1 (de) * 2019-12-17 2023-04-26 Heidelberger Druckmaschinen AG Verfahren zum betreiben einer rotationsdruckmaschine

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CN109641448A (zh) 2019-04-16
WO2018036619A1 (de) 2018-03-01
JP6982062B2 (ja) 2021-12-17
EP3504062A1 (de) 2019-07-03
CA3034742A1 (en) 2018-03-01
US20190176463A1 (en) 2019-06-13
KR20190037344A (ko) 2019-04-05
US11241876B2 (en) 2022-02-08
JP2019528196A (ja) 2019-10-10
DK3504062T3 (da) 2020-07-27
CN109641448B (zh) 2021-10-19

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