JP2001125647A - Synchronous driving control method and device for plural motors - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a synchronous driving control method for plural motors which simplifies an operation mode, shortens the time of a start-up up to an operation speed, and improves productivity. SOLUTION: This synchronous driving control method for plural motors which are driven synchronously while the motors are put in phase with one another is characterized by that the motors are placed in slow-acting operation under speed-synchronized control before the motors are started to operate at a specific constant speed and other motors are brought under position control on the basis of position data when one of the motors is at a stop during acceleration before afterward normal operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for controlling the synchronous driving of a plurality of motors for synchronously driving a plurality of motors.

[0002]

2. Description of the Related Art Conventionally, there has been known a technique which has a plurality of motors and synchronizes the mutual phases of machine axes which are rotationally driven by the motors. The device shown in FIG. 4 is one of them. The schematic function will be described with reference to FIG. 4 using a rotary press as an example. First, the printing presses 1, 2, and 3 and the machine shaft 1e of the folder 4
The origins of 2e, 3e, and 4e are aligned.

That is, as shown in FIG. 5, the origin is adjusted in the following procedure. (1) When the printing operation is started, first, each of the printing presses 1, 2,.
3 and the motors 11, 12, 13, and 14 of the folder 4 are operated at low speed. That is, from the central control device 70 to each control device 6
A constant low speed signal is output to 1, 62, 63, 64, and in each of the controllers 61, 62, 63, 64, the motors 11, 12, 13, 14 rotate at a constant low speed based on this speed command. Control to do.

(2) Proximity switches 21, 22, 23,
24 and the rotary encoders 31, 32, 33, and 34, the printing machine 1, 2, 3, and the machine shaft 1 of the folder 4.
When the origins of e, 2e, 3e, and 4e are detected, the printing press 1,
2, 3, and the control devices 61, 62, 63, 6 of the folder 4
4, the motors 11, 12, and 1 are advanced or delayed so that the phase of each of the mechanical axes 1 e, 2 e, 3 e, and 4 e becomes a predetermined phase (register position) with respect to the reference phase.
Acceleration and deceleration of 3 and 14.

That is, the phase of a reference pulse (made by an oscillator) output from the general control device 70 is changed with respect to the machine axes 1e, 2e, 3e,
The motors 11, 12, 13, and 13 rotating at a low speed such that the phase of the motor 4 e becomes a predetermined phase (register position).
14 is temporarily accelerated / decelerated. And all the printing presses 1,
When it is confirmed that the folders 2 and 3 and the folder 4 are operating synchronously at the register position, the overall control
The speed command values output to 1, 62, 63, and 64 are increased, and the motors 11, 12, 13, and 14 are accelerated to a predetermined printing speed.

Further, as shown in FIG. 6, the origin can be adjusted not only during the constant speed operation but also during the slow acceleration of the motors 11, 12, 13, and 14. That is, the origin is adjusted in the following procedure. (1) When the printing operation is started, first, each of the printing presses 1, 2,.
3, and the motors 11, 12, 13, and 14 of the folder 4 are accelerated at a gentle acceleration rate. That is, the overall control device 7
0, a speed command for accelerating at a gentle acceleration rate is output to each of the control devices 61, 62, 63, 64, and each of the control devices 6
In steps 1, 62, 63, and 64, the motors 11, 12, 13, and 14 are controlled to accelerate at a slow acceleration rate based on the command.

(2) Proximity switches 21, 22, 23, 2
4 and rotary encoders 31, 32, 33, 34, the machine axes 1e,
When the origins of 2e, 3e, and 4e are detected, the motors 11, 12, 13, and 14 are accelerated or decelerated so as to advance or delay the phases of these mechanical axes in the same manner as in the low-speed operation.

(3) After confirming that all of the printing presses 1, 2, 3 and the folding machine 4 are operating synchronously at the register position, the overall control unit 70 sends the control units 61, 62, 6
The acceleration rate of the speed command value output to 3, 64 is increased,
The motors 11, 12, 13, 14 according to this acceleration rate
To a predetermined printing speed. As described above, the conventional synchronous control device operates and does not need to stop the rotary press during the period of origin adjustment.

[0009]

However, such a conventional apparatus has the following problems. That is,
During phase adjustment, it is necessary to operate the rotary press at a low speed and constant speed or to perform gentle acceleration.After the phase adjustment is completed, it is necessary to switch to increase the machine acceleration to the normal operation acceleration. is there. Therefore, the operation mode becomes complicated accordingly, which may cause a fluctuation factor of the web tension, and the reduction in productivity during the period of the phase adjustment and switching to the normal operation speed is inevitable. .

Further, even if the folding machine is operated at a low speed, the printing paper is pulled abnormally when the folding machine is accelerated, depending on the origin position of the folding machine because the phase of the folding machine is adjusted during operation. In such a case, the needle hole may be broken and waste paper may accumulate in the folder. Conversely, when the speed is reduced, a paper jam may occur.

When performing position synchronization during low-speed operation,
The rotation speed of the printing cylinder changes unexpectedly, especially for the operator who is cleaning the plate cylinder, because the printing cylinder is automatically corrected and rotated at the start of operation, and the rotation speed of the printing cylinder is dangerous. In addition, since a rotary encoder that outputs a pulse signal according to the rotation of the machine axis, that is, an incremental encoder, is used, when a power failure occurs, the count value becomes zero and the current position may be unknown. . Further, when noise is mixed into the rotary encoder or a line from the rotary encoder, the noise is also counted as a position pulse signal, and thus becomes a position error as it is.
Further, a proximity switch or the like serving as a position reference is required for each printing press and folding machine.

[0012] The present invention has been made in view of the above problems, and there is no need to switch to increase the machine acceleration to the normal operation acceleration after the phase adjustment is completed. It is an object of the present invention to provide a synchronous drive control method and apparatus for a plurality of motors, in which the time required for raising is reduced and the productivity is improved. Another object of the present invention is to provide a rotary press with a folding machine and a printing machine,
During the operation of the folder motor, the phase of the folder itself is not adjusted,
Accordingly, it is an object of the present invention to provide a synchronous drive control method and apparatus for a plurality of motors, which reduce the damage of a printing sheet by a folding machine. Another object of the present invention is to eliminate the use of an incremental encoder that outputs a pulse signal according to the rotation of the machine shaft.Therefore, when a power failure occurs, the count value becomes zero and the current position becomes unknown. Without becoming
It is still another object of the present invention to provide a synchronous drive control method and apparatus for a plurality of motors that do not require a proximity switch or the like serving as a position reference.

[0013]

According to a first aspect of the present invention, there is provided a synchronous drive control method for a plurality of motors which performs a synchronous drive operation by synchronizing the phases of the plurality of motors. During the speed operation, first, the plurality of motors are speed-synchronously controlled to perform a slow operation, and then during acceleration to the normal operation, the position data of one of the plurality of motors at the time of stop is accelerated. The position of another motor is controlled with reference to

Further, a master station for controlling the motor is provided for each of the plurality of motors, and virtual master axis data is calculated for one of the plurality of motors based on the stop position data of the one motor, and the virtual master axis is calculated. It is also an effective means of the present invention to transmit data to another master station to control the position of the other motor.

According to this technique, the present invention relates to a method for controlling the speed of one of the plurality of motors during a stop operation during one of the plurality of motors during an acceleration to a normal operation after the plurality of motors are controlled to perform a synchronous operation. Position control of another motor is performed based on the position data. Therefore, the position control of the one motor serving as the reference is not performed, and the position control of the other motor is performed during acceleration to the normal operation. Unnecessary
In addition, since the speed is not switched to the normal speed after the position synchronization, the time to reach the normal operation speed is shortened, and the productivity is improved.

The present invention is applied to a rotary press having a folding machine and a printing press. The printing press is driven by a command signal based on the virtual master axis data to perform speed synchronization control during slow-running operation. Performing, after the start of printing acceleration, it is possible to switch to the position synchronization control and perform the phase matching operation, and before starting the rotary press operation, detect the current phase of the folding machine motor and use the data as a reference, By generating the virtual master axis data and configuring the folding machine motor not to perform the phase matching operation at the time of starting the operation of the rotary press, a great effect is provided in the rotary press.

That is, as a second invention, a control command is generated by calculating virtual master axis data serving as a motor speed control reference from data of the folding machine motor, and the motor of the folding machine is controlled. A folding machine master station, a signal from the folding machine master station, and a printing press master station that controls the motor of the printing press from a position signal of the motor of the printing press. A synchronous drive control device for a plurality of motors, characterized in that the position control of other motors is performed based on the virtual master axis data during acceleration to the normal operation after the slow operation.

According to this technique, the present invention inputs the information on the current position of the folding machine to the folding machine master station before starting the rotary press operation including the slow running operation, and the folding machine master station determines the position. Although the calculation is started as a reference, it is not necessary to adjust the phase of the folding machine motor when the rotary press starts up, so that it is possible to prevent the occurrence of a problem due to the speed difference of the web paper.

In the case of the conventional method in which the phase of the folding machine is adjusted after the rotary press starts, the web paper fed at a constant speed increases the motor of the folding machine for phase adjustment. If the speed is increased, an abnormal pulling force may be generated, eventually breaking the needle hole and accumulating waste paper or breaking the web paper, and conversely, if decelerating, the web paper may become slack and jam. However, such a problem does not occur because the position of the printing press motor is controlled based on the motor position of the folding machine first.

Further, when the rotary operation of the rotary press starts,
First, since all motors are started and operated at the same speed by speed synchronization control, position control for adjusting the phase is not yet performed, so that the machine axis of each printing machine with a different initial position is adjusted for phase adjustment. In addition, it is possible to prevent an operator who cleans the surface of the plate cylinder manually during the slow operation from being confused and leading to an unforeseen accident.

The means of the present invention is also effective to employ a multi-rotation type absolute encoder to detect the rotation of the plurality of motors. According to this technical means, since a multi-rotation type absolute type is adopted, the motor is rotated to detect the origin position of each motor,
It is not necessary to calculate the number of pulses once passed through the proximity sensor, which is the reference position, to determine the phase, and the phase can be determined while the motor is stationary. Therefore, no time is required for finding the origin, and the time required for synchronous control can be reduced.

Also, by using the absolute type rotary encoder, even if the power of the rotary encoder is temporarily reduced, the origin position does not become unknown as in the conventional increment type, and noise is mixed. Even in this case, it is transient, and is not held as a position error as it is in the increment type, that is, as a top-down registration error. Further, the proximity sensor required for detecting the origin position is not required, and the productivity, productivity, stability, safety and reliability are improved.

The printing press motor further includes driver means for varying the acceleration rate and offset speed of the motor of the printing press in response to a command signal based on the virtual master axis data of the folding machine master station. It is an effective means of the present invention to perform the operation during the normal operation acceleration.

According to the technical means, the driver for driving the motor is provided with a function of making the acceleration rate and the offset speed of the motor variable during the synchronous operation.
The optimum motor speed was always obtained, and the time required for synchronous control was reduced. Therefore, it is possible to execute the phase adjustment in a short time even at a rapid acceleration such as a normal operation, and it is possible to complete the synchronous operation during the normal operation at a high acceleration rate, thereby improving productivity. Can be improved. Further, since there is no switching from the synchronous operation to the normal operation, the apparatus is simplified correspondingly, and the web tension fluctuation factor generated at that time is eliminated.

[0025] In addition to providing a plurality of the folding machines,
The folding machine and the corresponding printing press master station that controls the printing press are controlled by a sequencer so that the folding machine can be arbitrarily selected by sequencer control. It is also an effective means of the present invention that the master stations are interconnected by an optical double link so that the virtual master axis data can be transmitted.

According to this technical means, the operation of a plurality of printing presses can be simultaneously controlled by different operation patterns for each folding machine, so that the degree of freedom of the combination of each printing device is increased and the types of printing that can be performed are increased. effective.

[0027]

Embodiments of the present invention will be illustratively described in detail below with reference to the drawings. However, unless otherwise specified, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention, but are merely illustrative examples. It's just

FIG. 1 is an overall configuration diagram of a rotary printing machine provided with a single folding machine provided with a synchronous control device according to an embodiment of the present invention, and FIG. 3 is a function mainly related to phase adjustment of the control device. FIG. A first embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, each of the printing presses 1a, 1b, 1c and the folding machine 1d has a drive motor 2a, 2b, 2c, 2d, an in-feed IF.
a, IFb, IFc motors 2f, 2g, 2h, RTF
Drivers 3a, 3b, 3c, 3 for driving and controlling each motor of DRa motor 2i and drag DRb motor 2j
d, 3f, 3g, 3h, 3i, 3j, absolute type rotary encoders 4a, 4b, 4c, 4d coupled to the respective motors for the printing press and folding machine, the phase corresponding to each printing machine and folding machine individually. It is composed of master stations 5a, 5b, 5c, 5d for performing control such as matching. These are connected by the optical double link 6.

Among the above master stations, the master station 5d corresponding to the folding machine calculates the position data of the virtual master (hereinafter referred to as "virtual master") axis based on the data of the folding machine in accordance with the rotary press operation command. Function to send the virtual master data (virtual master axis data) to each master station, a motor driver for folding machine, RTF
It has a function of sending a control command signal to the motor driver for dragging, a motor driver for dragging, and a sequence control interface function with a connected sequencer.

On the other hand, the master station 5 corresponding to each printing press
(A to c) are functions for transferring virtual master data transmitted from the master station 5d of the folder via the optical double link 6, transmitting a control command signal to the motor driver for the printing press, and being connected. It has a sequence control interface function with the sequencer.

The above-mentioned printing machine driver and folding machine driver respectively include a control command signal from a corresponding master station and absolute type rotary encoders 4 (a to 4) connected to the machine axes of the printing machine and folding machine. The control for accelerating and decelerating the motor speed is performed by comparing the signals from d).
At this time, the acceleration rate and offset speed of the motor can be set in advance by each driver.

Each of the in-feed drivers 3f, 3f
g, 3h, the drag driver 3j, and the RTF driver 3i are speed control command signals from the corresponding master stations and an incremental rotary encoder (not shown) connected to the in-feed, drag, and RTF machine axes. ), And performs control to adjust the motor speed to the command value.

Next, an outline of a control program of the present apparatus configured as described above will be described with reference to FIG. In FIG.
The vertical axis represents the machine speed, the horizontal axis represents time t, and the control line of the motor connected to L1 in which the slow operation is performed, L2 in the acceleration region, and L3 in the steady operation region is shown from time t1. The drive motors of the printing press, in-feed, drag, and RTF are all virtual masters generated based on the stopped folding machine motor shaft position of the folding machine motor 2d stopped in the position memory of the folding machine master station 5d. Perform based on data. First, while the rotary press is started and the slow-running operation is being performed, the printing press motor controls the speed at a constant speed without adjusting the phase yet.

The position control is switched from the slow-moving operation area L1 in which the printing press motors rotate in synchronism with each other to the position control when entering the normal operation acceleration area L2, and the speed of each printing press motor is changed to the printing speed (synchronous speed). The phase adjustment is started by accelerating or decelerating with respect to. After the positioning is completed, the time of wearing the body is the same as before, but before that, the phase alignment is always completed. Then, the steady operation is performed, but the position control is continuously performed thereafter.

The folding motor controls the start and end positions based on the virtual master data. Infeed, drag,
The RTF motor and the RTF motor perform speed control from start to finish based on the virtual master data. In a printing preparation stage such as maintenance, threading, washing of ink or a blanket, the operation is performed by a separate fixed speed command device, separate from the virtual master.

In the synchronous control device according to the present embodiment, the position control and the speed control are performed as described above. More specifically, the position control and the speed control are performed in the following procedure. (1) Before starting the rotary press operation including the slow rotation operation, information on the current position of the folding machine is input to the virtual master of the master station 5d of the folding machine. The virtual master starts calculation based on the position. As a result, it is not necessary to adjust the phase of the folding machine motor when the rotary press starts up, so that the occurrence of problems due to the speed difference of the web paper is prevented. That is, before starting the rotary press operation, a signal from the absolute rotary encoder 4d indicating the current phase of the folder is input to the virtual master of the folder's master station, and the value of the virtual master of the folder is stored in the virtual master. ,
It is used as a reference for calculation when a rotary press is started up and a printing press or folding machine is operated synchronously.

As in the prior art, when the phase of the folding machine is adjusted after the rotary press is started, the infeed IFa,
IFb, IFc, RTFDRa, and drag DRb control the speed of the web paper fed at a constant speed, and when the folding machine motor speeds up for phase adjustment, an abnormal tensile force is generated. The paper may be broken to accumulate waste paper or the web paper may be broken. Conversely, when decelerating, the web paper may sag, causing a paper jam. In the present embodiment, such a problem does not occur because the position of the printing press motor is controlled based on the motor position of the folder first.

(2) When the rotary operation of the rotary press starts,
Each of the motors 2 (a to 2) of each of the printing presses 1 (a to c) shown in FIG.
FIG. 3C shows that the virtual master data generated by the master station of the folding machine is converted into a control signal by each master station 5 (ac) and output to the driver 3 (ac) of each motor. The operation is performed by the speed synchronization control as shown. That is, at this stage, the position control for adjusting the phases is not performed yet.

[0039] This prevents the risk that the correct operation state will be varied due to the phase alignment of the machine axes of the printing presses having different initial positions. For example, in a printing press that is manually operated when the machine stops, the machine axis of each printing press stops at an arbitrary position. That is, the machine axes of each printing press are out of phase. If it is operated synchronously with the position from the start of the slow-running operation, the machine axis of each printing press is attempted to be aligned from that position, so that the state of motor rotation varies for each printing press. In the slow-running operation, the operator may manually clean the surface of the plate cylinder. However, since the operator cannot foresee the rotation unevenness, if the rotation speed changes, the operability is poor and involves danger.

In this embodiment, since the speed synchronization operation is performed during the slow operation, all the motors start and operate at the same speed simultaneously with the start of the slow operation, so that operability and safety are not impaired. . During this time, the motor 2d of the folder 1d
Continues the position synchronization control based on the virtual master data. In addition, the infeed motors 2f, 2g, 2
h, the RTF motor 21 and the drag motor 2j perform speed synchronization control based on the virtual master data at the same time as the slow start of the rotary press.

(3) When the acceleration for the printing operation of the rotary press starts, in the acceleration region L2 of FIG. 3, the motors 2 (ac) of the printing presses 1 (ac) shown in FIG. Folding machine 1d
The position synchronous control is started while accelerating the motor 2d at the acceleration rate of the normal operation as shown in FIG. That is, the master stations 5 (a to c) corresponding to the respective printing presses which have received the virtual master data from the master station 5d of the folding machine convert the data and send the data to the drivers 3a, 3b, 3c of the motors for normal operation. A motor rotation command signal is issued to accelerate at a rate. Further, the master station 5d of the folding machine issues a motor rotation command signal to the driver 3d so as to accelerate at a normal operation rate.

The driver 3 (a to c) of each printing press transmits the absolute rotary encoder 4 (a
-C), the positions of the machine axes of the printing presses 1 (ac) are adjusted so that the phases of the machine axes of the printing presses 1 (ac) become the same as the received rotation command signals, that is, the signals that match the phase of the folding machine. To advance or delay the phase, the motor 2 (a to
c) Accelerate / decelerate. Also, the infeed motors 2f, 2f
g, 2h, RTF motor 21 and drag motor 2j are shown in FIG.
As shown in (1), speed control is performed based on virtual master data regardless of the state of the printing operation of the rotary press.

All printing machines 1 (ac) and folding machine 1
After the motors 2 (a to c) and 2d of d are synchronized, the acceleration is continued as it is, and at the time when the drum set speed is reached, the printing cylinder of the printing press 1 (a to c) is put on (printed state). And continue to accelerate, and operate at a constant speed at a predetermined printing speed (L3).
I do.

In this embodiment, each printing device 1 shown in FIG.
(A to c) and a rotary encoder 4 (ad) coupled to each motor 2 (ad) of the folding machine 1d employs a special multi-rotation type absolute type, so that the origin position of each motor is detected. However, it is not necessary to calculate the phase by rotating the motor like an incremental type and calculating the number of pulses after passing through the proximity sensor which is the reference position once, and obtain the phase while the motor is stationary. Can be done. That is, since the absolute type rotary encoder is used, the rotation of the motor for obtaining the phase of each motor is not required in principle. Therefore, no time is required for finding the origin, and the time required for synchronous control can be reduced.

In this embodiment, the driver 3 (a to d) for driving the motor is provided with a function of varying the acceleration rate and the offset speed of the motor during the synchronous operation. The motor increase / decrease speed can be obtained, and the time required for the synchronous control can be reduced. For this reason, it is possible to execute the phase adjustment in a short time even at the time of a rapid acceleration such as the normal operation. As a result, the synchronous operation can be completed during the normal operation at a high acceleration rate, and an improvement in productivity can be expected. Further, since there is no switching from the synchronous operation to the normal operation, the apparatus is simplified accordingly, and there is no web tension fluctuation factor occurring at that time.

Also, by using the absolute type rotary encoders 4 (a to d), even if the power supply of the rotary encoder is temporarily down, the origin position does not become unknown as in the conventional increment type. Not
Even if noise is mixed, it is transient and is not held as a position error as it is in the increment type, that is, as a vertical registration error. Furthermore, the proximity sensor required for detecting the origin position is no longer necessary. As described above, the synchronization device according to the present embodiment can improve stability, safety, and reliability in addition to improving productivity.

Next, a second embodiment will be described. FIG.
Indicates the case where the synchronous control device according to the second embodiment is provided, and the number of folding machines is two (or the case where there are two or more folding machines).
1 is an overall configuration diagram of a rotary printing machine. Second folding machine 1n
, The position data of the virtual master is calculated based on the data of the folding machine 1n in the same manner as the master station 5d corresponding to the folding machine 1d shown in the first embodiment (FIG. 1). And sends the virtual master data to each master station.

The virtual master data shown in FIG.
Five master data are used as one communication frame for optical 2
It circulates at a speed such as 8 milliseconds through the double link and sends data that is changing one after another. As the number of connected printing device blocks or folding machines increases, the number of master stations increases, and a data group (communication frame) carrying the same number of master data as the number of master stations circulates as described above. At this time, the master stations 5d, 5n, etc. of the folding machine generate data as described above, but the master stations 5a, 5b, 5c of the other printing machine blocks.
And so on do not generate data, so they circulate as empty data. Drivers under the jurisdiction of each master station, for example, drivers 3C, 3C1 to 3C7, 3h under the jurisdiction of the master station 5c, are determined which folding machine to connect to before the operation of the printing press and instructed by the sequencer. Is done.
That is, each driver 3C is instructed which master data to use, and fetches the instructed data.

Therefore, in the second embodiment, the same operation and effect as those of the above-described first embodiment can be obtained.
There is an effect that the operation of a plurality of sets of printing presses can be controlled simultaneously. That is, in the second embodiment, operation control can be performed with an operation pattern different for each folding machine. This means that, as shown in FIG. 2, in a so-called shaftless printing press in which a motor is provided for each printing color and is not mechanically connected, the degree of freedom of the combination of the printing devices is increased and printing can be performed. This has the effect of increasing the types.

As described in detail above, the present embodiment relates to a printing machine that is driven to rotate by a plurality of motors, and a control device for matching the phases of the plurality of motors, based on the data of the folding machine. Introduce a virtual master that generates control commands and distributes it to each master station. In phase matching operation, the printing machine drives the speed synchronous control during slow operation by the command signal based on the virtual master. It is characterized by switching to position synchronization control after the start of application acceleration.

As a result, it is not necessary to adjust the phase of the folding machine motor at the start of the rotary press. Therefore, the speed of the folding machine motor is increased due to the speed increase for the phase matching on the web paper fed at a constant speed. No pulling force is generated, and the web paper is not broken or jammed.

Then, a multi-rotation type absolute encoder is employed to detect the rotation of the motor, the current phase of the folding machine motor is detected before the operation of the rotary press, and the above-mentioned virtual master is determined based on the data. Data is generated, and when the operation of the rotary press starts, the speed synchronization control is performed, and the folding machine motor does not perform the phase matching operation. Therefore, operability and safety are not impaired.

[0053]

As described above in detail, according to the present invention, one of the plurality of motors is accelerated during the normal operation after the plurality of motors are slow-operated by speed-synchronized control. Since the position control of the other motor is performed based on the position data at the time of stopping one motor, the position control of the one motor serving as the reference is not performed, and the position control of the other motor is performed during acceleration to the normal operation. Therefore, the time required for the reference position control of the motor as in the prior art is unnecessary, and since the speed is not switched to the normal speed after the position synchronization, the time required to reach the normal operation speed is reduced, and the productivity is reduced. Is improved.

When the present invention is applied to a rotary press having a folding machine and a printing press, the time required to reach a normal operation speed is reduced, productivity is improved, and when the rotary press starts up, Since there is no need to adjust the phase of the motor, the folding machine motor does not generate abnormal tensile force on the web paper fed at a constant speed due to the speed increase for phase alignment, and the web paper breaks. No paper jams.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a rotary printing machine including only one folding machine, provided with a synchronization control device according to a first embodiment of the present invention.

FIG. 2 is an overall configuration diagram of a rotary printing machine provided with a synchronization control device according to a second embodiment and having two folding machines.

FIG. 3 is an explanatory diagram mainly explaining a function relating to phase matching of a control device;

FIG. 4 is an overall configuration diagram of a rotary printing press provided with a synchronous control device according to a conventional technique.

FIG. 5 is a diagram illustrating origin adjustment during constant speed operation according to the related art.

FIG. 6 is a diagram illustrating origin adjustment during gentle acceleration according to the related art.

[Explanation of symbols]

 1a-1c Printing machine 1d Folding machine 2a-2c Printing machine motor 2d Folding machine motor 5a-5c Printing machine master station 5d Folding machine master station

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2C250 EA43 EA44 EB28 EB50 5H303 AA28 AA30 BB09 BB14 BB20 CC02 DD01 EE03 EE08 FF07 HH05 JJ02 KK15 LL03 MM05 QQ08 5H572 AA06 BB02 BB06 EE01 FF07 GG01 HC07

Claims (9)

[Claims] 1. A method for controlling the synchronous driving of a plurality of motors for performing synchronous driving by matching the phases of the plurality of motors, wherein, after starting the plurality of motors, a constant speed operation is performed at a predetermined speed. A plurality of motors are controlled to perform speed-synchronous control and perform slow operation. During acceleration to reach a normal operation thereafter, position control of another motor is performed based on position data of one of the plurality of motors when the motor is stopped. A synchronous drive control method for a plurality of motors. 2. A master station for controlling a motor is provided for each of the plurality of motors, and virtual master axis data is calculated for one of the plurality of motors based on stop position data of the one motor. 2. The synchronous drive control method for a plurality of motors according to claim 1, wherein data is sent to another master station to control the position of the other motor. 3. A rotary press having a folding machine and a printing machine,
The printing press is driven by a command signal based on the virtual master axis data, performing speed synchronization control during slow operation, and switching to position synchronization control after the start of printing acceleration to perform phase matching operation. 3. The method for controlling synchronous driving of a plurality of motors according to claim 2. 4. A method for detecting a current phase of a folding machine motor before starting the rotary press operation, generating the virtual master axis data based on the detected data, and generating the virtual master axis data at the start of the rotary press operation. 4. The method according to claim 3, wherein the motor does not perform a phase matching operation. 5. A synchronous drive control device for a plurality of motors having a folding machine and a printing machine and performing synchronous driving operation by matching the phases of a plurality of motors used in the folding machine, comprising the steps of: A virtual master axis data serving as a control reference is calculated to generate a control command, and a folding machine master station for controlling the motor of the folding machine; a signal from the folding machine master station; and a position signal of the motor of the printing press. A printing press master station that controls a motor of the printing press, and during acceleration to a normal operation after performing a slow operation by performing speed synchronous control of the plurality of motors, based on the virtual master axis data. And a synchronous drive control device for a plurality of motors, which controls the position of another motor. 6. A printing machine comprising a plurality of folding machines, wherein the folding machine and the corresponding printing press master station for controlling the printing machine are controlled by a sequencer, and the folding machine can be arbitrarily selected by sequencer control. 6. The synchronous drive control device for a plurality of motors according to claim 5, wherein: 7. The synchronous drive control device for a plurality of motors according to claim 5, wherein a multi-rotation type absolute encoder is employed to detect rotation of the plurality of motors. 8. The plurality of folding machine master stations according to claim 5, wherein said folding machine master station and said printing machine master station are interconnected by an optical double link so that said virtual master axis data can be transmitted. Synchronous drive control device for motor. 9. A printing machine comprising: driver means for changing the acceleration rate and offset speed of the motor of the printing press in response to a command signal based on the virtual master axis data of the folding machine master station; The synchronous drive control device for a plurality of motors according to claim 5, wherein the control is performed during normal operation acceleration.