JP2006254525A - Synchronous control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To eliminate a constraint that the rotational speed ratio of a motor and an output roll should be a positive integer, to use a pulley and a belt for coupling the motor and the output roll, and to reduce an installation cost, in the synchronous control of a rotary press or the like. <P>SOLUTION: A speed detecting rotary encoder 6d is arranged at the motor 6a, a position detecting rotary encoder 7d is arranged at the output roll 7a, and detection signals outputted by the rotary encoders 6d, 7d are inputted to a synchronous control device 4. The synchronous control device 4 drive-controls the motor 6a on the basis of the detection signals, and a rotational speed setting signal and a rotational position setting signal outputted by a rotational position speed setting unit 3. By this, the synchronous control is possible even if a speed reduction ratio or a speed increasing ratio is an arbitrary positive actual number. Also even if the motor and the output roll 7a are coupled by the pulley and the belt, the accurate synchronous control is possible by using a belt compensator and a belt compensation pattern generator. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention is a rotary printing machine, a printing secondary processing apparatus such as a pattern perforator (sewing hole processing machine) and a gluing apparatus, and a precision conveying apparatus, in which an electric motor is operated at an arbitrary speed reduction ratio or speed increasing ratio, and a rotational speed. And a synchronous control system for controlling the rotational position with ultra-high accuracy.

A rotary printing press is capable of printing a large amount of newspapers and advertisements at high speed and is widely used today. The rotary printing press has various uses and types, and the rotary printing press is driven by an electric motor, and various driving methods of the rotary printing press by the electric motor have been conventionally devised. FIG. 15 is a diagram illustrating an example of a conventional rotary printing press, which includes a “first printing unit”, a “second printing unit”, and a “one folding unit”. In the figure, the drive system is mainly shown without the inking device and the water treatment device.
First, the first printing unit will be described with reference to FIG.
Reference numerals 1, 2, 4, and 5 denote a main power source, a switch, a synchronous control device, and a driving device, respectively. The main power source 1 supplies power to the synchronous control device 4 and the driving device 5 through a switch 2. Supply. Reference numerals 6a, 6b, and 6c denote an electric motor, a gear device, and a rotary encoder, respectively. The electric motor 6a is driven by the synchronous control device 4 and the driving device 5, and the rotary encoder 6c attached to the electric motor 6a has a rotational position and a rotational speed. Is fed back to the synchronous control device 4.

Reference numerals 7b, 71, 72, and 73 denote a gear device, a line shaft, a transmission device, and a sub shaft, respectively. The gear device 7b is combined with the gear device 6b to reduce or increase the speed of the electric motor, thereby increasing the line shaft. 71 is driven, and printing units 74a to 74d described later are driven by the transmission device 72 and the sub shaft 73, respectively.
Reference numerals 81, 82, and 83 denote a paper feeding unit, printing paper, and infeed roll, 74 a to 74 d denote printing units, 75 denotes a plate cylinder, and 76 denotes a blanket cylinder, which are fed from the paper feeding unit 81. The printed paper 82 is supplied to the printing units 74a, 74b, 74c, and 74d through an infeed roll 83. In each of the printing units 74a to 74d, the plate cylinder 75 on which the printing plate is mounted is supplied with ink by an inking device such as an ink roll (not shown) so that the printing plate pattern and characters of the plate cylinder 75 are transferred to the blanket cylinder 76. The image is transferred and printed on the printing paper 82 by the blanket cylinder.
Here, the printing units 74a to 74d exemplify the case of four color printing. For example, the printing unit 74a prints yellow, 74b prints magenta, 74c prints cyan, and 74d prints black.
Reference numerals 84 and 85 denote an outfeed roll and a drag roll, respectively. The outfeed roll 84 and the drag roll 85 guide the printed printing paper 82 to a folding machine 91 described later.

  In FIG. 15, the gear units 6b and 7b reduce the rotational speed of the electric motor 6a with, for example, a reduction ratio 1 / N (N is a positive integer), and the line shaft 71, the sub shaft 73, The rotational speeds of the plate cylinder 75 and the blanket cylinder 76 are the same. For ease of explanation, a specific example is shown. When the rotational speed of the electric motor 6a is 1400 rpm, the gear unit 6b and 7b reduces the reduction ratio by 1/2, and the line shaft 71, the sub shaft 73, The rotational speed of the plate cylinder 75 and the blanket cylinder 76 is 700 rpm.

Although the first printing unit has been described above, the second printing unit is also composed of the same apparatus as the first printing unit from the main power source 1 to the drag roll 85, and the description thereof is omitted.
Next, the folding part of FIG. 15 will be described. The main power source 1, the switch 2, the synchronous control device 4, the drive device 5, the electric motor 6a, the gear device 6b, the rotary encoder 6c, and the gear device 7b of the folding unit are the same as those having the same reference numerals in the first printing unit. It has a function and its explanation is omitted. Reference numeral 91 denotes a folding machine, which superimposes and cuts and folds the printing papers fed from the first printing unit and the second printing unit.
Reference numerals 3 and 31 denote a rotational position speed setting device and a communication line, respectively. The rotational position speed setting device 3 sends a rotational position setting signal and a rotational speed setting signal via the communication line 31 to the first printing unit, Are sent to the synchronization control device 4 for the printing unit and the folding unit. As a result, the first printing unit, the second printing unit, and the folding machine 91 synchronize with the rotational speed and the rotational position with high accuracy, and the printing paper 82 is printed on a page-by-page basis and cut by the folding machine 91. And will be folded.
Here, when performing synchronized control and cutting the printed material for each page, the reduction ratio 1 / N according to the gear units 6b and 7b in FIG. 15 is conventional, 1/2 or 1/4, and N is positive. It was necessary to be an integer of (see, for example, Patent Document 1).

Next, the synchronous control used in the conventional rotary printing press of FIG. 15 is modeled and shown in FIG.
In FIG. 16, 1, 2, 3, 31, 6a, 6b, 6c, and 7b have the same functions as those given the same reference numerals in FIG. 15, and their descriptions are omitted. And a drive device.
Reference numeral 7a denotes an output roll, which is a model of a printing roll such as the plate cylinder 75 and the blanket cylinder 76 shown in FIG. 15. The output roll 7a is also referred to as a printing roll 7a in the following description. The printing roll 7a prints one page every rotation.
Then, by setting the reduction ratio by the gear units 6b and 7b in FIG. 16 to 1 / N (N is a positive integer), in synchronization with the rotational speed and rotational position output from the rotational position speed setter 3 While driving the electric motor 6a, the printing roll 7a is also driven in synchronization with the rotational position speed setting device 3.

  In FIG. 16, reference numerals 4a, 4b, and 4c denote a rotation speed setting signal detector, a rotation speed feedback signal detector, and an adder / subtracter, respectively. The rotational speed setting signal detector 4a receives a signal from the rotational position speed setting device 3 via the communication line 31 and detects the rotational speed setting signal a1. The rotational speed feedback signal detector 4b detects the rotational speed feedback signal a2 of the electric motor 6a from the signal output from the rotary encoder 6c. The adder / subtractor 4c adds and subtracts the rotational speed setting signal a1 and the rotational speed feedback signal a2 to generate a rotational speed deviation ΔS.

Reference numerals 4d, 4e, 4f, and 4g denote a rotational position setting signal detector, a rotational position feedback signal detector, an adder / subtractor, and a rotational position deviation amplifier, respectively. The rotational position setting signal detector 4d receives the signal from the rotational position speed setter 3 and detects the rotational position setting signal b1. The rotational position feedback signal detector 4e detects the rotational position feedback signal b2 of the electric motor 6a from the signal output from the rotary encoder 6c.
The rotational position deviation ΔP obtained by adding / subtracting the rotational position setting signal b1 and the rotational position feedback signal b2 by the adder / subtractor 4f is input to the rotational position deviation amplifier 4g. Control is performed to multiply the proportional gain G to generate a corrected rotational position deviation GΔP.
4h and 4j are an adder and an operational amplifier, respectively. The adder 4h adds the rotational speed deviation ΔS and the corrected rotational position deviation GΔP, and inputs the output to the operational amplifier 4j. The operational amplifier 4j generates a torque command to control the driving device 5, and the electric motor 6a is driven. That is, the electric motor 6a is driven by speed control by using the rotational speed deviation ΔS, the electric motor 6a is driven by position control by using the corrected rotational position deviation GΔP, and the electric motor 6a is rotated by rotational speed. In addition, the rotational position is also driven by synchronous control following the command output by the rotational position speed setting device 3.

FIG. 17 is a diagram for explaining the operation during the synchronous control of the conventional synchronous control device 4 of FIG. 16 together with the transition of time with a graph, FIG. 17 (a) explains the speed control, and the Y axis shows the rotational speed. In the figure, a1 indicates the rotational speed setting signal, a2 indicates the rotational speed feedback signal, and the rotational speed setting signal a1 and the rotational speed feedback signal a2 are very equal during synchronous control.
FIGS. 17B, 17C, and 17D illustrate the position control operation with time, and the Y axis indicates the rotational position. FIG. 17B shows a temporal transition of the rotation position setting signal b1 for instructing the rotation position of the printing roll 7a in FIG. 16, and Pmax in the figure is the maximum rotation position in one rotation of the printing roll 7a. Yes, with the passage of time, the rotational position setting signal b1 increases from zero, and when it reaches Pmax, it makes one revolution and returns to zero, and this operation is repeated in sequence.

FIG. 17 (c) shows the rotational positions of the electric motor 6a and the printing roll 7a of FIG. 16, and b2 indicated by a solid line in the figure is the rotational position feedback signal b2 of the electric motor 6a output by the position feedback signal detector 4e. Shows the time transition. Moreover, c0 shown with the dotted line in a figure shows the time transition of the rotation position of the said printing roll 7a. The rotational position c0 is not a signal detected in FIG. 16, but is added for the sake of explanation.
Also, in FIG. 17C, for ease of explanation, the case where the reduction ratio by the gear device 6b and the gear device 7b of FIG. If the maximum rotation position in one rotation of 7a is Pmax, the maximum rotation position in one rotation of the electric motor 6a is Pmax divided by 2 (Pmax / 2). Therefore, the cycle of the rotational position c0 of the printing roll 7a is twice the cycle of the rotational position feedback signal b2 of the electric motor 6a.
FIG. 17D simultaneously represents FIGS. 17B and 17C, and the rotational position feedback signal of the electric motor 6a is added to the rotational position setting signal b1 for instructing the rotational position of the printing roll 7a by position control. As b2 follows, the rotational position c0 of the printing roll 7a also follows.
As described above, conventionally, the electric motor 6a is synchronized with the rotational position speed setting device 3 by setting the reduction ratio of the gear devices 6b and 7b in FIG. 16 to 1 / N (N is a positive integer). And the printing roll 7a is also driven in synchronization with the position / speed setting device 3.

In the reduction ratio 1 / N, N is a positive integer. In the above example, when N is 2, the maximum rotational position in one rotation is Pmax, and the rotational position setting signal b1 is different from (Pmax / 2). The means for performing the synchronous control of the position feedback signal b2 is clarified in Patent Document 1 as a conventional example.
In the device described in Patent Document 1, a master overcounter OVCm and a slave overcounter OVCs are defined, and at the start of the origin alignment mode 2, the means described in FIGS. The counter OVCm and the slave overcounter OVCs are initialized, and the master overcounter OVCm and the slave overcounter OVCs are updated by means described in FIG.

When performing synchronous control as described above, in the conventional means, there is a restriction that N is a positive integer in the reduction ratio 1 / N, and, as shown in the example of FIG. The rotational position deviation ΔP is detected from a detected amount different from Pmax in the rotational position setting signal b1 for instructing the rotational position of the printing roll 7a, and (Pmax / 2) in the rotational position feedback signal b2 of the electric motor 6a. For this reason, for example, the one described in Patent Document 1 is extremely difficult, such as providing the main machine overcounter OVCm and the slave machine overcounter OVCs as described above.
JP 2001-309681

As shown in FIGS. 15 and 16, in recent years, a synchronous control device capable of performing synchronous control of a plurality of electric motors with extremely high accuracy has been put into practical use. As described above, the electric motor 6a is decelerated to reduce the electric motor 6a. When the printing roll 7a is driven, there is a restriction that N is a positive integer at a reduction ratio 1 / N.
The present invention has been made in view of the above circumstances, and realizes synchronous control even when the reduction ratio or speed increase ratio of the electric motor 6a and the printing roll 7a is not a positive integer but a positive real number. Furthermore, even if the coupling between the electric motor 6a and the printing roll 7a is not dependent on the gear device but is dependent on the belt, a synchronous control system that can compensate for belt slippage is provided. It aims to be realized.

In the present invention, the above problem is solved as follows.
(1) The invention of claim 1 of the present invention drives and controls an output roll, an electric motor that drives the output roll, a rotational position speed setting device that sets the rotational speed and rotational position of the output roll, and the electric motor. The synchronous control device includes a synchronous drive device, and the synchronous control device receives a rotational speed setting signal and a rotational position setting signal output from the rotational position speed setting device, and a rotational speed signal and a rotational position of the output roll. A synchronous control system that drives and controls the electric motor so that the signal coincides with the rotational speed setting signal and the rotational position setting signal and performs synchronous control of the output roll with high accuracy is configured as follows.
The rotation shaft of the electric motor is coupled with an output roll rotation shaft by a gear device, a speed detection rotary encoder is attached to the motor, and a signal corresponding to the rotation speed of the motor output from the speed detection rotary encoder The feedback signal is input to the synchronous control device. Further, a position detection rotary encoder is attached to the output roll, and a signal corresponding to the rotation position of the output roll output from the position detection rotary encoder is input to the synchronous control device as a rotation position feedback signal.
The synchronous control device includes means for obtaining a rotational speed setting signal of the electric motor from a reduction ratio or speed increasing ratio depending on the gear device provided between the electric motor and an output roll, and the rotational speed setting signal; Means for obtaining a rotational speed deviation which is a difference between the rotational speed setting signal of the electric motor and the rotational speed feedback signal, and for obtaining a rotational position deviation which is a difference between the rotational position setting signal and the rotational position feedback signal; Means for obtaining a drive control signal for the electric motor based on the deviation and the rotational position deviation are provided.
(2) The invention of claim 2 of the present invention comprises an output roll, an electric motor for driving the output roll, a rotational position speed setting device for setting the rotational speed and rotational position of the output roll, as in claim 1. The synchronous control device configured to drive and control the electric motor, and the synchronous drive device, the rotational speed setting signal and the rotational position setting signal output from the rotational position speed setter are input to the synchronous control device, and the output roll A synchronous control system that drives and controls the motor so that the rotational speed signal and the rotational position signal coincide with the rotational speed setting signal and the rotational position setting signal and performs synchronous control of the output roll with high accuracy is configured as follows. .
A pulley is attached to each of the rotating shaft of the electric motor and the rotating shaft of the output roll, the pulley of the electric motor and the output roll are coupled by a belt, and a speed detecting rotary encoder is attached to the electric motor, and the speed detecting rotary encoder A signal corresponding to the rotation speed of the electric motor output by is input to the synchronous control device as a rotation speed feedback signal.
Further, a position detection rotary encoder is attached to the output roll, and a signal corresponding to the rotation position of the output roll output from the position detection rotary encoder is input to the synchronous control device as a rotation position feedback signal.
In the synchronous control device, means for obtaining a rotational speed setting signal of the electric motor from a reduction ratio or speed increasing ratio depending on the belt and pulley provided between the electric motor and an output roll and the rotational speed setting signal; Means for obtaining a rotational speed deviation which is a difference between the rotational speed setting signal of the electric motor and the rotational speed feedback signal, and for obtaining a rotational position deviation which is a difference between the rotational position setting signal and the rotational position feedback signal; Means for generating a first slip cancellation signal obtained by delaying the position deviation, and means for calculating the first slip cancellation signal and the rotational position deviation to generate a new rotational position deviation. Means for obtaining a drive signal for the electric motor based on the rotational speed deviation and the new rotational position deviation are provided.
(3) The invention according to claim 3 of the present invention is the gear device provided between the motor and the output roll, or the gear device provided between the motor and the output roll in the invention of claim 1 or claim 2. The speed reduction ratio or speed increasing ratio depending on the belt and pulley is a reciprocal of a positive integer or a positive real number.
(4) According to the invention of claim 4 of the present invention, in the invention of claim 2 or claim 3, the synchronous control device is provided with a belt compensation pattern generator that receives the rotational speed setting signal of the electric motor, A belt compensation pattern generator outputs a second slip cancellation signal having a predetermined pattern value corresponding to the rotation speed setting signal, the second slip cancellation signal, and the first slip A cancellation signal is calculated to generate a third slip cancellation signal, and the third slip cancellation signal and the rotational position deviation are calculated to generate a new rotational position deviation.
(5) According to a fifth aspect of the present invention, in the second, third, or fourth aspect of the present invention, the synchronous control device is configured such that the belt slipping or the like based on the correction amount obtained from the new rotational position deviation A belt slip indicator is provided to indicate the elongation as a numerical value.
(6) In the invention of claim 6 of the present invention, in the invention of claim 5, the belt slip indicator converts the correction amount into a numerical value having a unit of length, and lengthens slipping and extension of the belt. Displayed in units.
(7) According to the seventh aspect of the present invention, in the second, third, fourth, fifth or sixth aspect of the invention, the correction amount obtained from the new rotational position deviation is compared with a slip reference value. And a monitoring indicator lamp that operates according to the output of the comparator and displays that the belt slip or extension is excessive.

According to the present invention, the following effects can be obtained.
(1) While detecting the rotational speed of the electric motor, detecting the rotational position of the output roll, obtaining the rotational speed setting signal of the electric motor from the rotational speed ratio of the electric motor and the output roll and the rotational speed setting signal of the output roll, Based on the rotational speed deviation between the rotational speed setting signal and the rotational speed feedback signal corresponding to the rotational speed of the motor, and the rotational position deviation between the rotational position setting signal of the output roll and the rotational position feedback signal corresponding to the rotational position of the output roll. Since the electric motor is driven and controlled, synchronous control can be performed with high accuracy even when the rotation speed ratio with the output roll such as a printing roll is not only a positive integer but also a positive real number.
For this reason, the freedom degree of the combination of the rotational speed of an output roll and the speed of an electric motor can be expanded.
(2) Since a slip cancellation signal is generated to correct the slip and extension of the belt, even if the coupling between the electric motor and the output roll is a slip or extension belt, synchronization control can be performed with high accuracy. It becomes possible. For this reason, the installation can be facilitated and the installation cost can be significantly reduced as compared with the coupling by the gear device.
(3) When the coupling between the motor and the output roll is a belt, the slip and extension of the belt are clearly detected and displayed numerically, or the indicator lamp is turned on when the slip and extension of the belt exceed the reference value. This makes it easy to maintain and replace the belt.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows an embodiment relating to claim 1, FIG. 3 and FIG. 6 are claims 2 and 3, FIG. 10 is claim 4, FIG. 12 is an embodiment related to claims 5, 6, and 7. Is described.

FIG. 1 is a diagram for explaining the configuration of Embodiment 1 of the present invention, and shows a model of the rotary printing press. FIG. 2 is a diagram for explaining the operation of the first embodiment.
In FIG. 1, 1 and 2 respectively supply main power and a switch to supply power to a driving device 5 to be described later, and 3, 31, and 4 are a rotational position speed setting device, a communication line, and a synchronous control device, respectively. The rotational position speed setting device 3 transmits a rotational position setting signal and a rotational speed setting signal to the synchronous control device 4 via the communication line 31. Here, the rotational position setting signal and the rotational speed setting signal are for instructing the rotational position and rotational speed of the printing roll 7a described later.
Reference numerals 5, 6a, 6b, and 6d denote a driving device, an electric motor, a gear device, and a speed detecting rotary encoder, respectively. The electric motor 6a is driven by the driving device 5 and is a printing roll 7a to be described later via the gear device 6b. The speed detecting rotary encoder 6d outputs a rotational speed feedback signal of the electric motor 6a to the synchronous control device 4.
Reference numerals 7a, 7b, and 7d denote a printing roll, a gear device, and a position detecting rotary encoder, respectively. The gear device 7b is combined with the gear device 6b to drive the printing roll 7a at an arbitrary reduction ratio or speed increasing ratio. Then, the position detecting rotary encoder 7d outputs a rotation position feedback signal of the printing roll 7a to the synchronous control device 4. In order to facilitate the explanation, if a specific example is shown, if the rotational speed of the electric motor 6a is 1600 rpm and the rotational speed of the printing roll 7a is 600 rpm, then the reduction ratio (1 / r) is the following ( It becomes as 1 type | formula and 2 type | formula.
Reduction ratio = 1 / r (r is a positive real number) (1) Expression Reduction ratio = 1 / r = 1 / (1600/600) = 1 / (8/3) = 1 / 2.666667
In this way, in the present invention, the printing roll follows the rotational position speed setting device 3 even if the speed reduction ratio or speed increasing ratio depends on not only a positive integer but also a positive real number. 7a synchronization control is enabled.

Next, the internal configuration of the synchronous control device 4 will be described with reference to FIG.
Reference numerals 4a, 4b, and 4c denote a rotational speed setting signal detector, a rotational speed feedback signal detector, and an adder / subtracter, respectively.
The rotational speed setting signal detector 4a receives a signal from the rotational position speed setting device 3 via the communication line 31 and receives a rotational speed setting signal a3 (for the printing roll 7a) as shown in the following equation (3). The rotation speed setting signal a3 is not shown). Further, the rotational speed setting signal a4 for the electric motor 6a is calculated and output by dividing the rotational speed setting signal a3 by the reduction ratio (1 / r) shown in the equation (1).
[Output of rotation speed setting signal detector 4a] = [Rotation speed setting signal a4 for motor 6a] = [Rotation speed setting signal a3 for printing roll 7a] / (1 / r)
= [Rotational speed setting signal a3 for the printing roll 7a] × r (3) The rotational speed feedback signal detector 4b receives the rotational speed feedback signal a2 of the electric motor 6a from the signal output from the speed detecting rotary encoder 6d. Then, the adder / subtractor 4c adds / subtracts the rotational speed setting signal a4 and the rotational speed feedback signal a2 to generate a rotational speed deviation ΔS.

Reference numerals 4d, 4e, 4f, and 4g denote a rotational position setting signal detector, a rotational position feedback signal detector, an adder / subtractor, and a rotational position deviation amplifier, respectively.
The rotational position setting signal detector 4d receives the signal from the rotational position speed setting device 3 and detects the rotational position setting signal c1 for the printing roll 7a, and the rotational position feedback signal detector 4e is the position detecting rotary encoder. The rotational position feedback signal c2 of the printing roll 7a is detected from the signal output by 7d.
The adder / subtractor 4f adds and subtracts the rotational position setting signal c1 and the rotational position feedback signal c2 to output a rotational position deviation ΔP, and the rotational position deviation ΔP is input to the rotational position deviation amplifier 4g. The rotational position deviation amplifier 4g performs P control and multiplies the rotational position deviation ΔP by the proportional gain G to generate a corrected rotational position deviation GΔP.

In FIG. 1, 4h, 4j, 4k, and 4m are an adder, an operational amplifier, a microprocessor, and an on / off amplifier, respectively.
The corrected rotational position deviation GΔP is input to the input a of the on / off amplifier 4m, and the value zero is input to the input b. The on / off amplifier 4m is turned on / off by the microprocessor 4k. When it is off, zero is output from the input b of the on / off amplifier 4m to the output c, and when it is on, the corrected rotational position deviation GΔP of the input a is Output to output c.
The microprocessor 4k monitors the rotational speed setting signal a4 output from the rotational speed setting signal detector 4a. For example, when the rotational speed setting signal a4 reaches the production speed (the rotational speed of the output roll is the set speed or When it reaches the vicinity), the on / off amplifier 4m is turned on.
The output of the on / off amplifier 4m is added to the rotational speed deviation ΔS by the adder 4h and then input to the operational amplifier 4j. The operational amplifier 4j generates a torque command to control the driving device 5. Then, the electric motor 6a is driven.

In further explanation, when the on / off amplifier 4m is off, the output of the adder 4h is only the rotational speed deviation ΔS, and the electric motor 6a is driven by speed control. When the on / off amplifier 4m is on, the output of the adder 4h is the sum of the rotational speed deviation ΔS and the corrected rotational position deviation GΔP. In addition to speed control, position control is executed, and the electric motor 6a performs synchronous control of the rotational position precisely following the command output from the rotational position speed setting device 3.
Here, in the present invention, the time when the speed control and the position control are performed simultaneously is called synchronous control.

FIG. 2 is a diagram for explaining the operation when the on / off amplifier 4m is turned on in FIG. 1 and the synchronous control device 4 is performing the synchronous control, and the rotational speed and rotational position are shown by graphs with time. 2A is a diagram for explaining the speed control, the Y axis shows the rotational speed, FIGS. 2B and 2C are diagrams for explaining the position control, and the Y axis shows the rotational position. 2a represents the rotational speed setting signal a4 for the electric motor 6a, and a2 represents the rotational speed feedback signal a2 from the electric motor 6a. In the figure, it is shown that the rotational speed setting signal a4 and the rotational speed feedback signal a2 are very coincident during the synchronous control.
FIG. 2B shows a temporal transition of the rotational position setting signal c1 for the printing roll 7a output from the rotational position setting signal detector 4d when the printing roll 7a rotates at a constant speed. Pmax is the maximum rotation position in one rotation of the printing roll 7a. As shown in the figure, the rotational position setting signal c1 increases with time, and is cleared to zero every rotation.

In FIG. 2C, c2 indicated by a solid line indicates a temporal transition of the rotational position feedback signal c2 of the printing roll 7a, and b3 indicated by a dotted line in the drawing indicates a temporal transition of the rotational position of the electric motor 6a.
The rotational position signal b3 of the electric motor 6a is not a signal detected in FIG. 1 but is added for explanation.
Further, the maximum rotation position in one rotation of the printing roll 7a, in other words, the maximum value of the rotation position feedback signal c2 is Pmax as in FIG. 2B, and the maximum rotation position in one rotation of the electric motor 6a, in other words, Then, the maximum value of the rotational position signal b3 is, for example, a value obtained by multiplying Pmax by (3/8) at the speed reduction ratio shown in the specific example of the equation (2).

2 (b) and FIG. 2 (c), when the printing roll 7a is driven by decelerating or accelerating the electric motor 6a at any ratio, the rotational position setting signal c1 and the rotational position The maximum value of the feedback signal c2 is both Pmax and can always be the same, and the corrected rotational position deviation GΔP can be easily calculated.
When the on / off amplifier 4m is turned on in FIG. 1, the rotational position feedback signal in FIG. 2 (c) is added to the rotational position setting signal c1 by the position / speed setting device 3 in FIG. 2 (b). c2 follows by position control.
In FIG. 16, the rotational position feedback signal is detected from the signal output from the rotary encoder 6c of the electric motor 6a. However, in the present invention, the rotational position signal of the electric motor 6a is not used for position control but attached to the printing roll 7a. The rotational position feedback signal c2 of the printing roll 7a is detected from the signal output by the position detection rotary encoder 7d.
For this reason, even if the reduction ratio or the speed increase ratio of the electric motor 6a and the printing roll 7a is not only a positive integer but also a positive real number, the printing roll 7a can be driven by synchronous control.

FIG. 3 is a diagram for explaining the configuration of the second embodiment of the present invention, and FIGS. 4 and 5 are diagrams for explaining the operation of the second embodiment of FIG. Hereinafter, description will be made sequentially from FIG.
In FIG. 3, the same reference numerals as those in FIG. 1 have the same functions and the description thereof is omitted, and reference numerals 6e, 6f, and 7e denote a pulley, a belt, and a pulley, respectively. The pulley 6e is attached to the electric motor 6a, the pulley 7e is attached to the printing roll 7a, and the two pulleys 6e and 7e are connected by the belt 6f. The belt 6f may be a V belt, a flat belt, or a toothed belt.
The reduction ratio or speed increase ratio between the electric motor 6a and the printing roll 7a by the pulleys 6e and 7e and the belt 6f may be a reciprocal of a positive integer, a positive integer, or a positive real number. Alternatively, the printing roll 7a can be controlled synchronously following the rotational speed and rotational position output by the position / speed setting device 3. As in the case of FIG. 1, the reduction ratio is expressed by the equation (1). Further, although the gear is used in FIG. 1, the belt is used as described above in the second embodiment, which facilitates the installation of the printing roll 7a and the electric motor 6a and the installation cost is low. It can be.

In FIG. 3, the rotational speed setting signal detector 4a detects the rotational speed setting signal a3 (not shown) for the printing roll 7a from the signal transmitted by the rotational position speed setter 3.
If the reduction ratio is (1 / r) in the equation (1), the rotation speed setting signal detector 4a calculates and outputs the rotation speed setting signal a4 for the electric motor 6a shown in the equation (3).
Here, when the on / off amplifier 4m is off, the output of the adder 4h is only the rotational speed deviation ΔS, the electric motor 6a is driven by speed control, and the rotational speed feedback signal a2 is the rotational speed setting signal. Control is made equal to a4.
On the other hand, the printing roll 7a is connected to the electric motor 6a by the pulley 6e, the pulley 7e, and the belt 6f. The printing roll 7a is connected to the printing roller 7a by the extension of the belt 6f and the slip between the belt and the pulleys 6e and 7e. The roll 7a rotates slower than a predetermined rotation speed. That is, if the rotation speed feedback signal of the printing roll 7a is a5, the following equation (4) is obtained.
[Rotational speed feedback signal a5 of the printing roll 7a] <[Rotational speed setting signal a3 for the printing roll 7a] (4) The rotational speed feedback signal a5 is detected by the position detecting rotary encoder 7d in FIG. However, in the present invention, it is not a detected signal but a signal for explanation.

Next, the synchronization control of FIG. 3 will be described with reference to FIGS.
FIG. 4 is a diagram for explaining the operation of the synchronization control device 4 when the on / off amplifier 4m is turned off in FIG. 3, and FIG. 5 shows the operation of the synchronization control device 4 when the on / off amplifier 4m is turned on. It is a figure explaining. Hereinafter, description will be made sequentially from FIG.
In FIG. 4A, the Y-axis is the rotational position, and the temporal transitions of the rotational position setting signal c1 and the rotational position feedback signal c2 for the printing roll 7a in FIG. 3 are represented by the solid line c1 and the dotted line c2 in the figure, respectively. It shows with.
Since the rotational speed feedback signal a5 of the printing roll 7a is smaller than the rotational speed setting signal a3 for the printing roll 7a as shown in the equation (4), the rotational position feedback signal c2 of the rotational position feedback signal c2 as shown in FIG. The cycle of one rotation is longer than the cycle of the rotational position setting signal c1.
The rotational position deviation ΔP is calculated by the following equation (5) by the adder / subtractor 4f. The rotational position deviations ΔPt1, ΔPt2, and ΔPt3 at times t1, t2, and t3 are increased with time as shown in the equation (6). Get bigger in the direction. In other words, the polarity of the rotational position deviation ΔP is positive when the rotational position setting signal c1 of the rotational position speed setting device 3 is ahead of the rotational position feedback signal c2 of the printing roll 7a.
[Rotational position deviation ΔP] = [Rotational position setting signal c1] − [Rotational position feedback signal c2] (5) (ΔPt1) <(ΔPt2) <(ΔPt3) (6)

FIG. 4 (b) shows the temporal transition of the rotational position deviation ΔP, and the above-mentioned equation (6), in which the rotational position deviation ΔP increases with time, is continuously represented with time. It is.
Thus, when the on / off amplifier 4m is off, the position control is turned off, the electric motor 6a is driven only by speed control, and the printing roll 7a connected to the electric motor 6a by a belt is predetermined depending on the slip of the belt. The rotational position deviation ΔP increases infinitely in the plus direction with time as shown in FIG. 4 (b). The operation of the synchronous control device 4 when the on / off amplifier 4m is turned on will be described with reference to FIG. FIG. 5A shows temporal transitions of the rotational position setting signal c1 and the rotational position feedback signal c2 with respect to the printing roll 7a as indicated by the solid line c1 and the dotted line c2 in FIG.
Then, from time 0 to time t4, the printing roll 7a rotates slower than a predetermined rotational speed due to the slip of the belt, and therefore the rotational position indicated by the rotational position feedback signal c2 is the rotation indicated by the rotational position setting signal c1. It is behind the position. FIG. 5B shows a temporal transition of the rotational position deviation ΔP as in FIG. 4B, and shows that the rotational position deviation ΔP increases from time 0 to time t4.

Here, as explained in FIG. 3, the rotational position deviation ΔP according to the equation (5) is converted into the corrected rotational position deviation GΔP by the rotational position deviation amplifier 4g, and when the on / off amplifier 4m is turned on, The signal is input to the adder 4h via the on / off amplifier 4m.
The adder 4h adds the rotational speed deviation ΔS and the corrected rotational position deviation GΔP and inputs the result to the operational amplifier 4j. The operational amplifier 4j performs PI control. The drive device 5 is driven so as to be established.
ΔS + GΔP≈0 Equation (7) Here, if ΔS + GΔP = 0, Equation (7) can be replaced with Equation (8).
a4-a2 + GΔP = 0
[Rotational speed feedback signal a2] = [Rotational speed setting signal a4] + [Corrected rotational position deviation GΔP] (8) Equation (8) If the above equation (8) is described, even if there is slippage due to the belt 6f, In order to drive the printing roll 7a at a speed that depends on the rotational speed setting signal transmitted by the rotational position speed setting device 3, the motor 6a is driven at a speed increased by a correction amount that depends on the corrected rotational position deviation GΔP. It shows that it should be done.

As described above, before time t4 in FIG. 5A, the phase shift between the rotational position setting signal c1 and the rotational position feedback signal c2 increases with time, and the rotational position as shown in FIG. 4B. The deviation ΔP increases in the positive direction.
The rotational position deviation ΔP is multiplied by a proportional gain G to become the corrected rotational position deviation GΔP, and the electric motor 6a is accelerated by the equation (8) as a belt slip. When the rotational position deviation at time t4 in FIG. 5B is ΔPa4 (GΔPa4 when expressed by the corrected rotational position deviation), belt slip is equivalent to the corrected rotational position deviation GΔPa4, and time t4 Thereafter, the rotational phase deviation becomes a constant value of ΔPa4. The ΔPa4 should be referred to as slip position correction, and the slip position correction ΔPa4 corresponds to the rotational speed setting signal a4.

As described above, when the on / off amplifier 4m in FIG. 3 is off, the rotational position deviation ΔP increases infinitely as time passes as shown in FIG. 4 (b), but the on / off amplifier 4m is on. In this case, as shown in FIG. 5B, the rotational position deviation ΔP becomes a constant value with the slip position correction ΔPa4 after a certain time t4. The equation (8) is as shown in the following equation (9). The corrected rotational position deviation GΔPa4 in the equation (9) represents the amount of slip of the belt, and the corrected rotational position deviation GΔPa4 is quantitative and The belt slip amount can be clearly detected.
[Rotational speed feedback signal a2] = [Rotational speed setting signal a4] + [Corrected rotational position deviation GΔPa4] (9) Then, the printing roll 7a has the rotational position speed after time t4 in FIG. It rotates at a speed equal to the rotational speed setting signal a3 (the rotational speed setting signal a4 for the electric motor 6a) output from the setting device 3 with high accuracy, and the rotational position is set to the rotational position setting signal (the rotational position setting signal c1). ) To be delayed by the slip position correction ΔPa4.

FIG. 6 is a diagram for explaining the configuration of the third embodiment of the present invention, and FIGS. 7, 8 and 9 are diagrams for explaining the operation of the third embodiment of FIG. In FIG. 6, the same reference numerals as those in FIG. 3 have the same functions and descriptions thereof are omitted. Reference numerals 4n, 4p, and 4q denote a belt compensator, an on / off amplifier, and an adder, respectively.
Here, in FIG. 3, the result of addition / subtraction of the rotational position setting signal c1 and the rotational position feedback signal c2 by the adder / subtractor 4f is defined as a rotational position deviation ΔP. In FIG. is there. The adder 4q adds the rotational position deviation ΔX and a slip cancellation signal 1ΔY1 output from the turning-on / off amplifier 4P described later to generate a rotational position deviation ΔP, as shown in the following equation (10). Output to the deviation amplifier 4g and the belt compensator 4n.
[Rotational position deviation ΔP] = [Rotational position deviation ΔX] + [Slip cancellation signal 1ΔY1] (10)

The belt compensator 4n in FIG. 6 receives the rotational position deviation ΔP according to a command from the microprocessor 4k, performs a moving average or delay processing such as sampling, and outputs a slip cancellation signal 1ΔY1. A configuration example of the belt compensator 4n will be described later.
The slip cancellation signal 1ΔY1 is input to the input a of the on / off amplifier 4P and the value zero is input to the input b. The on / off amplifier 4p is turned on / off by the microprocessor 4k. When the on / off amplifier 4p is off, zero is output to the output c from the input b of the on / off amplifier 4p. When the on / off amplifier 4p is on, the slip cancellation signal 1ΔY1 of the input a is output to the output c and input to the adder 4q. Is done. Here, normally, after the on / off amplifier 4m is turned on and the synchronization control device 4 starts synchronous control, the on / off amplifier 4p is turned on.

The belt compensator 4n can be realized by using a known moving average or delay processing such as sampling. FIG. 7 shows an example of a configuration based on the moving average.
7, 4n is the belt compensator 4n in FIG. 6, ΔP is the rotational position deviation ΔP, 4n1 is an input of a sampling command from the microprocessor 4k, and ΔY1 is the slip cancellation signal 1ΔY1. It is.
Here, the sampling command 4n1 is a signal in which pulses are periodically transmitted from the microprocessor 4k as indicated by 4n2 in FIG. Reference numerals 4n3, 4n4, and 4n5 denote m selection switches, a ring memory composed of m memories 0 to memory (m-1), and an average calculator.
The rotational position deviation ΔP is input to the m selection switches 4n3, and the m selection switches 4n3 are periodically turned on one by one in response to the sampling command 4n1 from the microprocessor 4k. The rotational position deviation ΔP is sequentially stored with the passage of time in the ring memory 4n4 (which is in the form of a ring returning to the first memory 0 after the mth memory (m−1)). That is, the latest m sampled rotational position deviations ΔP sampled from the memory 0 to the memory (m−1) are stored, and the memory 0 to the memory (m−1) are averaged by the average calculator 4n5. Is calculated and output as a slip cancellation signal 1ΔY1.
Thus, the belt compensator 4n receives the rotational position deviation ΔP and outputs a slip cancellation signal 1ΔY1 obtained by delaying the rotational position deviation ΔP by, for example, a moving average.

Here, the rotational position deviation ΔP determined by the equation (10) in FIG. 6 is equal to the rotational position deviation ΔP in FIG. 3, and the on / off amplifier 4m is turned on and the synchronous control device 4 is turned on. When performing synchronous control, the rotational position deviation ΔP becomes the slip position correction ΔPa4 determined in accordance with the rotational speed setting signal a4 as shown in the following equation (11). [Rotational position deviation ΔP] = [Slip position correction ΔPa4] (11) Expression (11) is the following expression (12) from the above expression (10).
[Rotational position deviation ΔP] = “Sliding position correction ΔPa4] = [Rotational position deviation ΔX] + [Sliding cancellation signal 1ΔY1] (12)

FIG. 8 is a diagram for further explaining the equation (12).
FIG. 8A shows the temporal transitions of the rotational position setting signal c1 and the rotational position feedback signal c2 with respect to the printing roll 7a when the rotational speed setting signal a4 is constant at a certain value. As indicated by a dotted line c2, the on / off amplifier 4m is on and the on / off amplifier 4p is off until time t5, and the on / off amplifiers 4m and 4p are both on after time t5.
As at time t4 in FIG. 5, at time t4 in FIG. 8 (a), the printing roll 7a rotates slower than the set rotational speed due to slippage of the belt, so that the rotational position feedback signal c2 The rotational position shown is delayed from the rotational position indicated by the rotational position setting signal c1.
When the on / off amplifier 4p is turned on at time t5, the slip cancellation signal 1ΔY1 is corrected, the electric motor 6a is finely adjusted to increase speed, and the rotational position feedback signal c2 is the rotational position setting signal c1. At time t6, the rotation positions coincide with each other.

Corresponding to FIG. 8A, FIG. 8B is a diagram showing temporal transitions of the rotational position deviation ΔX and the slip cancellation signal 1ΔY1 by a solid line and a dotted line, respectively.
Until the time t5, the on / off amplifier 4m is on, and the rotational position deviation ΔX becomes equal to the slip position correction ΔPa4 determined from the rotational speed setting signal a4 for the electric motor 6a at the time t4 as described in FIG. .
At time t5, the on / off amplifier 4p is turned on and the belt compensator 4n is caused to function. The belt compensator 4n is equal to the rotational position deviation ΔP (slip position correction ΔPa4 corresponding to the rotational speed setting signal a4). ) As an input, and a slip cancellation signal 1ΔY1 in which the rotational position deviation ΔP is delayed is output.
In this way, the slip cancellation signal 1ΔY1 increases with the passage of time as shown by the dotted line in FIG. 8B and coincides with the slip position correction ΔPa4. On the other hand, the rotation according to the equation (12) The position deviation ΔX decreases and finally becomes zero at time t6, and the rotational position feedback signal c2 coincides with the rotational position setting signal c1.
As described above, the printing roll 7a is driven not only by accurate speed control but also by position control that precisely follows the rotational position setting signal c1 and driven by synchronous control.

That is, in driving the printing roll 7a in FIG. 6, the motor 6a is stably driven by performing speed control based on the rotational speed setting signal a4 and the rotational speed feedback signal a2 output from the speed detecting rotary encoder 6d. Based on that.
As for the position control, the position detecting rotary can be used regardless of whether the speed reduction ratio or speed increasing ratio by the pulleys 6e, 7e and the belt 6f is a positive integer or a positive real number. By providing the encoder 7d on the printing roll 7a, the rotational position feedback signal c2 and the rotational position setting signal c1 have the same maximum rotational position Pmax per rotation, and the rotational position deviation ΔX according to the following equation (13). Position control is performed by making it possible to easily calculate
ΔX = rotational position setting signal c1−rotational position feedback signal c2 (13) Further, even if the belt 6f is used, the slippage and extension of the belt are compensated for by the slip cancellation signal 1ΔY1. The speed of the electric motor 6a is increased and accurate position control is realized.
In this embodiment, the speed control and the position control as described above are performed, and the synchronous control of the printing roll 7a can be performed with high accuracy.

FIG. 9 is a diagram for schematically explaining the relationship between the rotational speed setting signal a4 and the rotational position deviation ΔP in FIG. 6, wherein the X axis indicates the rotational speed setting signal a4 in units of rpm, and the Y axis indicates the The rotational position deviation ΔP is shown in the same unit as the rotational position.
Further explaining this, the Y axis in FIG. 9 is an example when the outer circumference of the printing roll is 1000 mm and the position resolution of one rotation of the position detecting rotary encoder is 115,200, and the rotational position of the Y axis is Deviations ΔP of 200, 400, and 600 are expressed in the same units as the position resolution. When the lengths 200, 400, and 600 of the Y axis are converted into lengths, the following equation (14) is obtained, and 1 to 5 shown on the Y axis in FIG. 9 are also written in units of (mm). It is.
(1000mm / 115,200) × 600 = 5.208mm
(1000 mm / 115,200) × 400 = 3.472 mm
(1000 mm / 115,200) × 200 = 1.736 mm (14) As shown in the equation (11), the rotational position deviation ΔP corresponds to the rotational speed setting signal a4 and the slip position correction ΔPa4. The slip position correction ΔPa4 increases or decreases in accordance with the rotational speed setting signal a4 as shown in FIG. 9A, and varies depending on the type of belt 6f, the tension, and the load. FIG. 9A shows a case where the tension of the belt is gentle and the slip is large as compared with FIG. 9B. And as shown by said (14) Formula, the said slip position correction | amendment (DELTA) Pa4 can be converted into length.
Further, the slip position correction ΔPa4 shown in FIG. 9, that is, the rotational position deviation ΔP, is delayed by the belt compensator 4n of FIG. 6 to become the slip cancellation signal 1ΔY1, and the Y of FIG. The axis also represents the correction amount of the slip cancellation signal 1ΔY1. Here, the belt 6f in FIG. 9 is based on data collected using a V-belt.

FIG. 10 is a diagram illustrating the configuration of the fourth embodiment of the present invention. FIG. 11 illustrates the operation of the fourth embodiment shown in FIG. 10 and will be described with reference to FIG.
In FIG. 10, the same reference numerals as those in FIG. 6 have the same functions, and the description thereof is omitted. 4r and 4s are a belt compensation pattern generator and an adder, respectively.
The belt compensation pattern generator 4r receives the rotational speed setting signal a4, and corresponds to the increase / decrease of the rotational speed setting signal a4, and a slip cancellation signal that is a pattern value approximate to the slip position correction ΔPa4 in FIG. 2ΔY2 is output. As in FIG. 9, the output of the belt compensator 4n is the slip cancellation signal 1ΔY1, and the adder 4s adds the slip cancellation signal 1ΔY1 and the slip cancellation signal 2ΔY2 to obtain the equation (15). As described above, a new slip cancellation signal 3ΔY3 is output.
[Slip Cancellation Signal 3ΔY3] = [Slip Cancellation Signal 1ΔY1] + [Slip Cancellation Signal 2ΔY2] (15) The slip cancellation signal 3ΔY3 is input to the input a of the on / off amplifier 4p, and the on / off amplifier 4p. Is turned on by the microprocessor 4k, the slip cancellation signal 3ΔY3 is output to the output c and input to the adder 4q.

FIG. 11 further explains the equation (15). In FIG. 11, the X axis, the Y axis, the curve (a), and the curve (b) are the same as those in FIG. 11C shows an example of the slip cancellation signal 2ΔY2 output from the belt compensation pattern generator 4r.
That is, according to this embodiment, it is possible to measure that the rotational position deviation ΔP during operation is as shown in FIGS. 11A and 11B with respect to the tension of the belt 6f and the load. FIG. 11 shows the characteristic of the slip cancellation signal 2ΔY2 output from the belt compensation pattern generator 4r by approximating the curve (a) and the curve (b) with respect to the change in the rotational speed setting signal a4. The pattern is as shown in (c).
Accordingly, when the characteristic of the belt 6f is FIG. 11B, for example, FIG. 11B at 1000 rpm is obtained by adding the slip cancellation signal 1ΔY1 to the slip cancellation signal 2ΔY2. .
As described above, the slip cancellation signal 1ΔY1 output from the belt compensator 4n is determined by previously patterning and determining the slip cancellation signal 2ΔY2 corresponding to the change in the rotational speed setting signal a4. By reducing the compensation amount, it is possible to accurately correct the slip position even when the rotational speed setting signal a4 is changing.

FIG. 12 is a diagram illustrating the configuration of the fifth embodiment of the present invention. FIG. 13 further explains the operation of the fifth embodiment of FIG. 12, and will be described with reference to FIG.
In FIG. 12, the same reference numerals as those in FIG. 10 have the same functions and the description thereof is omitted, and 4t, 4u, and 4v are a comparator, an indicator light interface, and a belt monitoring indicator lamp, respectively. 4x is an indicator interface and a belt slip indicator, respectively.
The display interface 4w receives the rotational position deviation ΔP, that is, the slip position correction ΔPa4, and outputs a signal to the belt slip display 4x. Thus, the belt slip indicator 4x always displays the value of the slip position correction ΔPa4, and it is possible to monitor the wearing state of the belt 6f with numerical data without depending on experience or intuition.
Further, in the example of the equation (14), when the outer circumference of the printing roll is 1000 mm and the position resolution of one rotation of the position detecting rotary encoder is 115,200, the slip position correction ΔPa4 is 600. The example converted into 208 mm was shown. Depending on the fact that the indicator interface 4w has the function of converting to such a length, the belt slip indicator 4x displays the amount of slip and extension in units of length, thereby monitoring the wearing state of the belt 6f. Was made simpler.

The comparator 4t compares the slip position correction ΔPa4 input to the terminal 1 with a predetermined slip reference value input to the terminal 2, and displays the display when the slip position correction ΔPa4 exceeds the slip reference value. The belt monitoring indicator lamp 4v is turned on via the lamp interface.
FIG. 13 illustrates the slip reference value. In FIG. 13, the X axis, the Y axis, the curve (a), and the curve (b) are the same as those in FIG. The straight line indicated by e) is the slip reference value input to the terminal 2 of the comparator 4t. That is, in the case of the straight line (d), when the slip position correction ΔPa4 exceeds a fixed value shown in the straight line (d), the belt monitoring indicator lamp 4v is turned on as an alarm.
The straight line (e) in FIG. 13 approximates the curves (a) and (b) indicating the characteristics of the slip position correction ΔPa4 corresponding to the change in the rotational speed setting signal a4, and the straight line (e) is The alarm detection accuracy is improved by inputting the signal to the terminal 2 of the comparator 4t.
By installing such a belt monitoring indicator light 4v and an alarm device, it is possible to easily and constantly monitor the wearing state of the belt 6f.

According to the present invention, even when a gear device is used, synchronous control is possible even if the reduction ratio or speed increase ratio is a positive real number. Similarly, even if a belt is used, the speed reduction ratio or speed increase ratio depends on a positive integer. Whether it is a positive or a real number, synchronous control can be performed by compensating for belt slippage.
The present invention can be used for a printing secondary processing apparatus such as a rotary printing machine and a pattern perforator, and a precision conveying apparatus. FIG. 14 shows a first printing unit when the present invention is applied to a rotary printing machine. The example comprised from a 2nd printing part and a folding part is shown.

In FIG. 14, 1, 2, 3, 31, 4, 5, 6a, 6b, and 7b constituting the rotational position speed setting device and the folding portion have the same functions as those shown in FIG. 6c is a rotary encoder, and 91 is a folding machine.
Then, 4, 5, 6a, 6d, 6e, 6f, 7d, and 7e constituting the first and second printing units have the same functions as those given the same reference numerals in FIG. Reference numerals 71, 72, and 73 respectively drive a printing unit described below by a mechanically connected line shaft, transmission device, and sub shaft, and 74a, 74b, 74c, and 74d are printing units that perform color printing. For example, yellow, magenta, cyan, and black printing units, and 75 and 76 are a plate cylinder and a blanket cylinder.
Reference numerals 81, 82, and 83 denote a paper feeding unit, printing paper, and infeed roll, respectively. The printing paper 82 is supplied from the paper feeding unit 81 through the infeed roll 83 to the printing units 74 a to 74 d, 84. And 85 are an outfeed roll and a drag roll, which guide the printing paper 81 to the folding machine 91.

In the first printing unit and the second printing unit of FIG. 14, the electric motor 6a and the line shaft 71 are coupled by the belt 6f and controlled by using the synchronous control device 4 according to the present invention.
According to the present invention, the speed reduction ratio or speed increase ratio between the electric motor 6a and the line shaft 71 may be a positive real number and can be easily selected, and the electric motor 6a can be easily installed as compared with a gear device. The cost is also low. In addition, since a folding part has a cutting machine and a folding mechanism and a load fluctuation is large, it is set as the example comprised by a gear apparatus. Since the first printing unit, the second printing unit, and the folding unit need to align the pages with each other, cut, and fold, the synchronous control is performed following the rotational position speed setting unit 3 with high accuracy. Is.

It is a figure which shows Example 1 of this invention. It is a figure explaining the operation | movement of the synchronous control of Example 1 of FIG. It is a figure which shows Example 2 of this invention. FIG. 3 is a diagram for explaining an operation of synchronization control in the second embodiment of FIG. 3; FIG. 2 is a diagram for explaining an operation of synchronization control in the second embodiment of FIG. 3; It is a figure which shows Example 3 of this invention. 7 is a configuration example of a belt compensator 4n illustrated in FIG. FIG. 6 is a diagram for explaining an operation of synchronization control of the third embodiment in FIG. FIG. 6 is a second diagram for explaining the operation of the third embodiment of FIG. 6; It is a figure which shows Example 4 of this invention. It is a figure explaining operation | movement of Example 4 of FIG. It is a figure which shows Example 5 of this invention. It is a figure explaining operation | movement of Example 5 of FIG. It is a figure which shows the example which applied this invention to the rotary printing press. It is a figure which shows the example of the conventional rotary printing press. It is a figure explaining the conventional synchronous control. It is a figure explaining the operation | movement of the conventional synchronous control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main power supply 2 Switch 3 Rotational position speed setting device 31 Communication line 4 Synchronous control device 4a Rotational speed setting signal detector 4b Rotational speed feedback signal detector 4c Adder / subtractor 4d Rotational position setting signal detector 4e Rotational position feedback signal detector 4f adder / subtractor 4g rotational position deviation amplifier 4h adder 4j operational amplifier 4k microprocessor 4m on / off amplifier 4n belt compensator 4n1 sampling command 4n2 sampling command 4n3 selection switch 4n4 ring memory 4n5 average arithmetic unit 4p on / off amplifier 4q adder 4r belt compensation pattern Generator 4s Adder 4t Comparator 4u Indicator light interface 4v Belt monitoring indicator light 4w Indicator interface 4x Belt slip indicator 5 Drive device 6a Motor 6b Gear device 6c Rotary encoder 6d Speed detection Use rotary encoders 6e pulley 6f belt 7a printing roll (or referred to as an output roll)
7b Gear device 7d Position detection rotary encoder 7e Pulley 71 Line shaft 72 Transmission device 73 Sub shaft 74a Printing unit (yellow)
74b Printing unit (magenta)
74c printing unit (cyan)
74d printing unit (black)
75 Plate cylinder 76 Blanket cylinder 81 Paper feed unit 82 Printing paper 83 Infeed roll 84 Outfeed roll 85 Drag roll 91 Folding machine a1 Rotational speed setting signal a2 for electric motor 6a Rotational speed feedback signal a3 for electric motor 6a Rotational speed for printing roll 7a Setting signal (not shown)
a4 Rotational speed setting signal b1 for the electric motor 6a Rotational position setting signal b2 for the electric motor 6a Rotational position feedback signal c1 for the electric motor 6a Rotational position setting signal c2 for the printing roll 7a Rotational position feedback signal G for the printing roll 7a Proportional gain GΔP Corrected rotational position Deviation GΔP
ΔP Rotational position deviation ΔPa4 Slip position correction ΔS Rotational speed deviation ΔX Rotational position deviation ΔY1 Slip cancellation signal 1
ΔY2 Slip cancellation signal 2
ΔY3 Slip cancellation signal 3

Claims (7)

An output roll, an electric motor that drives the output roll, a rotational position speed setting device that sets the rotational speed and rotational position of the output roll, a synchronous control device that drives and controls the electric motor, and a synchronous drive device,
The synchronous control device receives the rotational speed setting signal and rotational position setting signal output from the rotational position speed setter, and the rotational speed signal and rotational position signal of the output roll are the rotational speed setting signal and rotational position setting signal. A synchronous control system for controlling the output roll synchronously by controlling the driving of the electric motor so as to match
The rotating shaft of the electric motor is coupled with an output roll rotating shaft by a gear device, and a speed detection rotary encoder is attached to the electric motor, and a signal corresponding to the rotating speed of the motor output from the speed detecting rotary encoder is rotated. Input to the synchronous control device as a speed feedback signal,
A rotary encoder for position detection is attached to the output roll, and a signal corresponding to the rotational position of the output roll output by the rotary encoder for position detection is input to the synchronous control device as a rotational position feedback signal,
The synchronous control device is configured to obtain a rotation speed setting signal of the electric motor from a reduction ratio or speed increase ratio depending on the gear device provided between the electric motor and an output roll and the rotation speed setting signal;
Means for obtaining a rotational speed deviation which is a difference between the rotational speed setting signal of the electric motor and the rotational speed feedback signal, and for obtaining a rotational position deviation which is a difference between the rotational position setting signal and the rotational position feedback signal;
A synchronous control system comprising means for obtaining a drive control signal for the electric motor based on the rotational speed deviation and the rotational position deviation. An output roll, an electric motor that drives the output roll, a rotational position speed setting device that sets the rotational speed and rotational position of the output roll, a synchronous control device that drives and controls the electric motor, and a synchronous drive device,
The synchronous control device receives the rotational speed setting signal and rotational position setting signal output from the rotational position speed setter, and the rotational speed signal and rotational position signal of the output roll are the rotational speed setting signal and rotational position setting signal. A synchronous control system for controlling the output roll synchronously by controlling the driving of the electric motor so as to match
A pulley is attached to each of the rotating shaft of the electric motor and the rotating shaft of the output roll, and the pulley of the electric motor and the output roll are coupled by a belt,
A speed detection rotary encoder is attached to the electric motor, and a signal corresponding to the rotation speed of the electric motor output from the speed detection rotary encoder is input to the synchronous control device as a rotation speed feedback signal.
A rotary encoder for position detection is attached to the output roll, and a signal corresponding to the rotational position of the output roll output by the rotary encoder for position detection is input to the synchronous control device as a rotational position feedback signal,
The synchronous control device is configured to obtain a rotation speed setting signal of the electric motor from a reduction ratio or speed increase ratio depending on the belt and pulley provided between the electric motor and an output roll, and the rotation speed setting signal;
Means for obtaining a rotational speed deviation which is a difference between the rotational speed setting signal of the electric motor and the rotational speed feedback signal, and for obtaining a rotational position deviation which is a difference between the rotational position setting signal and the rotational position feedback signal;
Means for generating a first slip cancellation signal obtained by performing delay processing on the rotational position deviation, and generating a new rotational position deviation by calculating the first slip cancellation signal and the rotational position deviation. Means to
A synchronous control system comprising means for obtaining a drive signal for the electric motor based on the rotational speed deviation and the new rotational position deviation. The gear ratio provided between the electric motor and the output roll, or the reduction ratio or the speed increasing ratio depending on the belt and pulley provided between the electric motor and the output roll is a reciprocal of a positive integer, or a positive real number. The synchronous control system according to claim 1 or 2, wherein The synchronous control device includes a belt compensation pattern generator that receives a rotational speed setting signal of the electric motor, and the belt compensation pattern generator has a predetermined pattern value corresponding to the rotational speed setting signal. A second slip cancellation signal is output;
The second slip cancellation signal and the first slip cancellation signal are calculated to generate a third slip cancellation signal, and the third slip cancellation signal and the rotational position deviation are calculated. The synchronous control system according to claim 2 or 3, wherein a new rotational position deviation is generated. 5. The synchronous control system according to claim 2, further comprising a belt slip indicator that numerically indicates a slip or extension of the belt based on a correction amount obtained from the new rotational position deviation. 6. The synchronous control system according to claim 5, wherein the belt slip indicator converts the correction amount into a numerical value having a unit of length, and displays the slip or extension of the belt in a unit of length. A comparator that compares the correction amount obtained from the new rotational position deviation with a slip reference value, and a monitor indicator light that operates according to the output of the comparator and displays that the belt slip or extension is excessive. The synchronous control system according to claim 2, wherein the synchronous control system is provided.

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