JP2008125183A - Synchronous control apparatus, synchronous starting method in shaft-less rotary printing press - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To rapidly activate a rotary printing press from a stopping state to be quickly shifted to synchronous control by eliminating generation of the vibration of the machine upon starting, gear noise, breakage and slack of a continuous form sheet. <P>SOLUTION: In the synchronous control system of the rotary printing press, a virtual rotation command generator 0101 is installed to a centralized control unit 01, and a phase command detector 0601 and phase FB detectors 0602, 0603 are installed to the synchronous drive apparatus of the printing press and a folding machine. Further, a rotation compensator for suppressing the influences of periodic load variation is installed to the folding machine. The printing press is, at first, smoothly operated at a slow moving speed, the output of the phase FB detector 0603 of the folding machine is preset to the virtual rotation command generator 0101 during stabilized slow moving operation, and then, the phase control of each printing press and the folding machine is turned on. Thereby, the folding machine is shifted to the synchronous control without needing original point aligning operation and each printing press is shifted to the synchronous control after smoothly carrying out the original point aligning operation with an original point aligning gain Gz. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

TECHNICAL FIELD The present invention relates to a synchronous control device that makes a rotational phase between a plurality of electric motors coincide with each other with high accuracy in a newspaper by a sectional drive or a commercial shaftless rotary printing press.
This synchronous control device is composed of a virtual rotation command generation device and a synchronous drive device of each printing press or folding machine of a shaftless rotary printing press. It is intended to reduce the amount of waste paper and shorten the operation time by raising the production speed smoothly without causing slack.
In the present invention, the virtual rotation command generation device and the synchronous drive device are configured based on a common design to realize a synchronous control device in a shaftless rotary printing press.

In recent years, a sectional drive has been devised in which a plurality of electric motors are electronically coupled with each other with a rotational phase and a rotational speed with high accuracy and synchronized with each other. As an industrial application of this, for example, in a printing apparatus, a shaftless rotary printing machine in which a line shaft for connecting a printing machine, a folding machine and various rolls is removed has been put into practical use in Japan since the 1990s.
In this shaftless rotary printing press, electric motors that drive yellow, cyan, magenta, black, and other printing machines, driving rolls such as infeed, outfeed, and drag, or respective electric motors that drive folding machines are mutually connected. High-speed color printing is realized by high-precision synchronous control that matches the rotation phase and rotation speed. And this shaftless rotary press is compared with the conventional press with shaft,
(1) Installation is easy.
(2) A free printing press can be operated.
(3) Workability is improved.
(4) Waste paper is reduced.
(5) Maintenance becomes easy.
It has advantageous features such as.

  About such a shaftless rotary printing press, for example, when printing newspapers, it is a method that simultaneously prints on a plurality of continuous sheets of paper, overlays, cuts, and folds. Is being printed. For this reason, not only during printing, but especially when starting printing, multiple sheets of paper are not broken or slackened, starting smoothly and increasing the production speed to reduce lost paper and operating time. There is a need to constantly measure the shortening.

Here, many inventions and devices have been made for the shaftless rotary printing press. For example, in Patent Document 1, in order to put a shaftless rotary printing press into practical use, a data bus 3, a driving bus 5, and a control bus 8 are incorporated in the rotary printing press, and the position reference of the printing station group (2a to e) is folded. The invention received from (12) is disclosed.
If cited from Patent Document 1, the prior art is described in paragraph [0008] as follows.
“Nevertheless, the basic method of individual drive has not become widespread. The reason is that the control of individual drive units and the networking of master devices are complicated, which makes them susceptible to obstacles and flexibility in configuration. It is that sex is limited. "
The problems to be solved by the invention are as follows if quoted from paragraph [0009].
“The object of the present invention is therefore to provide a directly driven rotary printing press which has the above-mentioned advantages, avoids the disadvantages of being complicated, subject to obstacles and lacking the flexibility of the master device with a special configuration. It is to provide. "

For this purpose, the invention of Patent Document 1 implements the following invention by incorporating a data bus 3, a drive bus 5, and a control bus 8 in a rotary printing press system.
“The printing station group (2a to d) is assigned to one of the folding devices (12), and the printing station group (2a to d) receives a reference value of the position from the folding device (12). A rotary press characterized by receiving. "

Next, FIG. 3 of Patent Document 1 is cited in FIG.
FIG. 33 is a diagram showing the arrangement of the printing station group in the folding apparatus according to the invention of Patent Document 1, wherein 11a to 11f are paper rolls, 2a to 2e are k printing station groups, 12 is a folding apparatus, and 13 is a folding machine. The folding device driving unit is used. In FIG. 33, continuous paper is supplied from six paper rolls, printed, and then collected in the folding device 12. Prior to the printing operation, these continuous sheets are passed from the respective paper rolls to the folding device 12.
And in the said patent document 1, the said printing station group (2a-e) receives the reference value of those positions from the said folding device (12), starts a driving | operation, and performs printing. Therefore, the reference folding device (12) does not need to be accelerated or decelerated for origin adjustment or phase control, and a plurality of continuous paper sheets suppress abnormal tension or slack before the folding device (12). It can be easily or routinely recognized by those skilled in the art.
As described above, Patent Document 1 discloses an invention that is an important path for shifting from the presence of a shaft to a shaftless machine in a rotary printing press. On the other hand, with the progress of subsequent years, advances in microprocessors, communication technologies, and control technologies have made it possible to realize controls and functions that could not be achieved in the past.

In recent years, a newspaper rotary press has been able to complete printing in a short time by increasing the printing speed in order to report the latest social incidents and economic conditions, and to realize vivid color printing. There is always a need for further improvements in print quality. When a position reference value (hereinafter referred to as a phase command) is received from the folding device (12), specifically, the phase command is received from a rotary encoder built in the folding device drive unit (13). .
When an incremental encoder is used as the rotary encoder, FIG. 34 shows an output signal of the incremental encoder, and the accuracy of the output signal will be described next.

FIGS. 34- (a), (b), and (c) illustrate an A-phase signal, a B-phase signal, and a Z-phase signal that are output when the incremental encoder rotates in the forward rotation direction, respectively.
The A-phase signal and the B-phase signal are rectangular waves (also referred to as pulses in the present invention) that are output according to the rotation of the incremental encoder. For example, the A-phase signal and the B-phase signal are each 19200 ppr (pulses per rotation). A square wave with a phase difference of 90 degrees so that the rotation direction can be identified. In FIG. 34- (a), one period of the rectangular wave of the A-phase signal and the B-phase signal is T, and in this one period, the low period and the high period are 0.5T. The Z-phase signal is a signal that is output every time the incremental encoder rotates once. The phase of the incremental encoder, that is, the phase command, is provided with a phase counter on the synchronous drive side, the A phase signal and the B phase signal are counted by the phase counter, and the phase counter is rotated every rotation by the Z phase signal. Obtained by clearing.

The incremental encoder is provided with optical slits at equal intervals on a built-in disk, and the slits are detected by an optical element to output the A-phase signal and the B-phase signal. Therefore, it is inevitable that a manufacturing error may occur. For example, as shown in FIG. 34- (a), the high period of the A-phase signal is expressed by the following equation (1), where e is the error.
0.5T ± e (1) If an example of the error e is shown, for example, (0.15T) with respect to the period T as shown in the following expression (2).
e = 0.15T (2) Therefore, when the incremental encoder is built in the folding device drive unit (13) to obtain a phase command from this, the A phase signal and the B phase signal are expressed by the above equation (2). There is a shake.
Here, not only the phase command but also the speed command is indispensable for the synchronous control, and the speed command is obtained by calculating the change of the phase command per unit time. However, the error of the speed command occurs due to the influence of the error shown in the equation (2), and the change in the phase command per unit time is smaller as the printing speed is lower. The error of the speed command becomes large. According to the inventor's verification, the influence of the fluctuation of the speed command is extremely great for improving the printing quality, that is, for improving the accuracy of the synchronous control.

Further, when the printing speed is increased, the mechanical vibration generated from the electric motor is increased, and the incremental encoder is also affected by the vibration, so that the error in the A phase signal and the B phase signal exceeds the error according to the equation (2). As a result, a fluctuation occurs and a larger error occurs in the phase command and the speed command.
In order to further improve the printing accuracy, means for eliminating the error of the equation (2) and the influence of mechanical vibration are necessary, and one of the objects of the present invention is to overcome this. .

Further, FIG. 35 shows an example of the folding apparatus cited from Non-Patent Document 1, and the description of the function is also described as follows, cited from pages 32 and 33 of Non-Patent Document 1.
“The web is guided between the first cylinder (saw blade cylinder) and the second cylinder (needle cylinder), and the cutter (saw blade) set on the first cylinder is used as the saw blade receiver on the second cylinder. Press to cut the web.
The second cylinder has a needle that goes in and out by a cam, and pierces and conveys the leading end of the cut web. Next, parallel folding is performed by the folding blade of the second cylinder and the holding plate of the third cylinder (the holding cylinder), and then the signature is discharged by the paper discharge conveyor. "
In other words, since the folding device has a folding mechanism and a mechanism for cutting, periodic load fluctuations occur every rotation. Especially in the low speed region, the electric motor that drives the folding device rotates a lot due to the load fluctuations. Unevenness occurs. When the phase command and the speed command are obtained from the rotary encoder of the folding device that generates the load fluctuation as described above, not only the printing station group (2a to e) follows the rotation unevenness but also the continuous paper is loosened. If it gets caught in a roll or it becomes an extreme tension and breaks, it will cause a significant obstacle to printing. The main object of the present invention is to overcome these problems.

Also, the folding device has different load characteristics during low-speed operation such as start-up and slow-motion operation and during normal operation, and machine vibration and severe gear noise occur during slow-motion operation with the gain of normal printing operation. This is a problem that occurs not only in the folding device but also in the printing press.
Thus, when starting the operation of the shaftless rotary press, there are problems of countermeasures against periodic load fluctuations for each rotation of the folding device, and elimination of vibration and gear noise of the folding device and the printing press. In the description of the present invention, the folding device is also called a folding machine.

On the other hand, Patent Document 2 discloses an invention of an apparatus that electronically generates velocity and phase signals. The gist of the invention of Patent Document 2 is simply described in “Prior Art” and “Problems to be Solved by the Invention”. First, the following is cited from “Prior Art”.
“Conventionally, when performing speed control of multiple motors, one of these is used as the master unit, and the rotation speed of the other motors (hereinafter referred to as slave units) Operation is performed by controlling the deviation from the rotational speed. "
Next, the following is cited from the “problem to be solved by the invention”.
“However, in such a configuration, there is a shift of the mechanical rotation axis of the master unit, and the reference value caused by this error is transmitted as it is to the slave unit. Since there is a delay in signal transmission with the motor, it becomes difficult to perform highly accurate synchronous control, which is not preferable when operating a plurality of motors. The purpose of the present invention is to provide a speed and position signal generator that solves these drawbacks and is free from signal transmission delays regardless of mechanical errors. Is. "

And the said patent document 2 invents the means to solve the above, The summary is as follows.
1. An A-phase pulse signal PA and a B-phase pulse signal PB are generated from the frequency dividing circuit 3.
2. A Z-phase pulse signal PZ is generated from a Z-phase generation circuit 5 that receives the A-phase pulse signal PA and the B-phase pulse signal PB.
3. The Z-phase generation circuit 5 receives the tooth number setting value P and the Z-phase position setting value Z.
As a result, electronically stable A-phase pulse signal PA, B-phase pulse signal PB, and Z-phase pulse signal PZ are generated with extremely high accuracy.
Here, in recent years, in a rotary printing press, further improvement of functions is required depending on the needs of customers. For this reason, it is necessary to perform accurate position control when changing plates or starting operation. The A-phase signal output from the generator, the B-phase signal and the Z-phase signal are required to have a predetermined phase relationship, but the patent document 2 does not describe a rotary printing press, Further, it does not seem to describe the matter that defines the phase relationship between the A-phase pulse signal PA, the B-phase pulse signal PB, and the Z-phase pulse signal PZ. Further, there is no description about the combination with the rotation phase of the folding device when starting operation.

Besides, means for electronically generating the A phase signal, the B phase signal, and the Z phase signal is disclosed in Patent Document 3, which is different from a rotary printing press and relates to a motor simulator. However, the summary is as follows.
1. An output signal A phase and an output signal B phase are generated from the phase operation means H incorporating the counter 22.
2. An output signal Z-phase is generated from the Z-phase output means Z incorporating the counter 32.
That is, in Patent Document 3, the output signal A phase, the output signal B phase, and the output signal Z phase are generated by using different counters. It has not been. The Z-phase output means Z is further quoted below from the “Example”.
“The comparison circuit 34 compares the set data (encoder resolution −1) with the counter value, and if the value is the same and the direction control is UP and a pulse is input, the counter 32 is cleared, When the counter 32 is 0 and the direction control is DOWN and a pulse is input, the set data is loaded into the counter 32.
Further, if a signal that becomes Hi is output only when the value of the counter 32 is an arbitrary value (for example, 0), the output corresponds to the output signal Z phase of the conventional encoder. "

FIG. 36 shows a conventional example in which the speed and position signal generator and the incremental encoder according to Patent Document 2 and Patent Document 3 are used in a newspaper shaftless rotary printing press. Next, FIG. 36 will be described. .
In FIG. 36, 01 is a centralized control device incorporating the speed and position signal generator and other control, operation and monitoring functions, and 02 is a communication line, which is a phase speed signal output from the speed and position signal generator. Are sent from a synchronous drive unit 06a to 06e, which will be described later, and an open field bus such as PROFIBUS is provided to exchange signals and data between the centralized control unit 01 and the synchronous drive unit.
FIG. 36 shows a case where four continuous colors are printed on two continuous sheets, for example, yellow, cyan, magenta, and black, and black ink is printed on the other two continuous sheets. The description will be made from a color printing machine having a subscript “a” added to 03 to 14, and 03a, 04a, and 05a are a paper feeding device, continuous paper, and infeed, respectively, and the continuous paper 04a is fed from the paper feeding device 03a. The ink is supplied to the printing press through the infeed 05a.

  Next, 06a, 07a, 08a, and 10a constitute, for example, a yellow printing machine, which is a synchronous drive device, an electric motor, a rotary encoder, and a printing machine, respectively. The synchronous drive device 06a is connected to the central control device 01 from the central control device 01. It is operated and controlled by the transmission means of the communication line 02. The synchronous driving device 06a drives the electric motor 07a with the rotary encoder 08a to drive the printing press 10a synchronously. Reference numerals 11a, 12a, and 13a are printing machines such as cyan, magenta, and black, respectively, and are driven in synchronism with the printing machine 10a to perform color printing on the continuous paper 04a. Next, 14a is an outfeed, and the printed continuous paper 04a is guided to the outfeed 14a and sent out to a folding machine described later.

  Next, a device indicated by b from 03b to 14b and a device indicated by c from 03c to 14c are printing machines that perform black-and-white printing, respectively, from the paper feeding device 03a to the outfeed 14a. It has the same function as the device of the same number attached with a, and its description is omitted. An apparatus with subscripts d and e indicates a second color printing machine, and 03d, 04d, and 05d are a sheet feeding device, continuous paper, and infeed, respectively. The continuous paper 04d is the continuous paper 04a. In the same manner as described above, the paper is supplied from the paper feeding device 03d to the printing machine via the infeed 05d. 10d, 11d, 12d, and 13d are printing machines such as yellow, cyan, magenta, and black, respectively. In the printing machines 10d to 13d, the front surface and the back surface of the continuous paper 04d are driven by separate electric motors. This will be described with respect to the printing press 10d. Reference numerals 06d, 07d, and 08d denote a synchronous driving device, an electric motor, and a rotary encoder that perform printing on the front surface. Reference numerals 06e, 07e, and 08e denote synchronous driving devices that perform printing on the back surface. A motor, and a rotary encoder.

Next, 06f, 07f, 08f, and 15f are a synchronous drive device, an electric motor, a rotary encoder, and a folding machine, respectively, and the printed continuous sheets 04a to 04d are collected in the folding machine 15f to be folded and cut. Is done. The synchronous drive device 06f is operated and controlled by the transmission means of the communication line 02 from the centralized control device 01, and the synchronous drive device 06f uses the electric motor 07f with the rotary encoder 08f to change the folding machine 15f. To drive.
In recent years, the printing time has been shortened by increasing the printing speed. However, in the case of a daily newspaper printing press, the number of continuous sheets is larger than that shown in FIG. The number increases, and special means are required so that the continuous paper does not become loose or excessively stretched until printing is started from the stopped state and the production speed is increased, and further, no breakage occurs.

In the description so far, the speed and position signal generator on the command side refers to the devices that generate the A-phase signal, the B-phase signal, and the Z-phase signal, which are rectangular waves of Patent Document 2 and Patent Document 3. The background art has been described with reference to the incremental encoder that outputs the A-phase signal, the B-phase signal, and the Z-phase signal, which are rectangular waves according to FIG.
In addition to this, for example, the command side disclosed in Patent Document 4 the phase command value and the speed command value in the data communication instead of the so-called PG (Pulse Generator) master method based on the A phase signal, B phase signal, and Z phase signal. In other words, an invention of a so-called communication master system for transmitting to a slave station is disclosed.
In addition, Patent Document 5 discloses an invention that uses a hybrid encoder in addition to an absolute encoder as a feedback-side rotary encoder in place of an incremental encoder. Here, the hybrid encoder is an encoder that outputs a coarse phase per rotation as an absolute phase and outputs an incremental signal composed of a SIN wave and a COS wave having a phase difference of 90 degrees. Then, only when the power is turned on, the synchronous drive side reads the absolute phase and initializes the rotational phase, and thereafter updates the rotational phase from the SIN wave and COS wave incremental signals.
The shaftless newspaper rotary printing press and the shaftless commercial rotary printing press shown in FIG. 36 are realized even if the setting side uses the communication master method and the feedback side uses the hybrid encoder combination. The contents described in FIG. 33 to FIG. 36 also apply when the communication master method and the hybrid encoder are used.

By the way, although the thing of the said patent document 1 received the phase command of the said printing station group (2a-e) from the said folding apparatus (12), it is similarly a folding apparatus (Hereafter, it is also called a folding machine. Patent Document 6 discloses a device that receives position reference data from the above.
The one disclosed in Patent Document 6 uses an absolute encoder as an encoder, and the acceleration of the rotary printing press during the normal constant speed operation is used as a reference for the position data when the motor of the folding machine is stopped. Position control is performed.
Japanese Patent No. 3363203 Japanese Patent No. 2938844 JP-A-3-273316 JP 2005-245129 A JP 2006-194766 A Japanese Patent No. 3546159 Izumi Kazuhito, Introduction to New Printing Machinery, First Edition, Publisher: Japan Society of Printing Society, 32, 33

The problems described in the background art described above will be collectively described below with reference to FIG.
(1) As described above, when the printing station group receives the reference value of the position from the folding device and starts operation to perform printing, the folding device serving as a reference is used for origin adjustment and phase control. There is no need to increase / decrease the speed, and abnormal tension and loosening of a plurality of continuous sheets in front of the folding device are suppressed.
In the apparatus shown in FIG. 36, when the method in which each of the synchronous drive devices 06a to 06e receives the phase command using the rotary encoder 08f of the folding machine 15f as a reference as described above, the rotary according to the equation (2) is applied. There is an error inherent in the encoder, which causes a problem that an error occurs mainly in the speed command in addition to the phase command and the synchronization control accuracy of the printing press is impaired.

(2) Similarly, when the rotary encoder 08f of the folding machine 15f is used as a reference, the vibration of the electric motor 07f propagates to the rotary encoder 08f, and a large error occurs due to the phase command or speed command, so that the synchronization control accuracy of the printing press is improved. Significantly damaged.
In other words, when using the PG master method that uses the output of the rotary encoder of the folding machine as a reference as it is, the output of the rotary encoder of the folding machine is used as it is as a reference, so that the vibration of the motor propagates to the rotary encoder as described above. This affects the PG master. For this reason, there has been a problem that the fluctuation exceeding the error in the equation (2) occurs, and the improvement of the accuracy of the synchronization control is impaired.
(3) Since the folding machine 15f has a folding mechanism and a mechanism for cutting, there is a periodic load fluctuation every rotation. Especially in the low speed region, the electric motor that drives the folding machine has a great amount of every rotation due to the load fluctuation. Causes uneven rotation.
For this reason, the continuous papers 04a to 04d collected in the folding machine 15f generate abnormal tension or slack, and further, they become extremely tension and break or are loosened and caught in a roll. Is generated.

(4) Furthermore, even if there is a load fluctuation of the folding machine 15f, if the rotary encoder of the folding machine 15f is used as a reference, the printing machine also generates rotation unevenness and the synchronization control accuracy is significantly impaired.
In particular, as described in Japanese Patent Application Laid-Open No. 2004-228620, the position of the motor of the printing cylinder is controlled based on the position data at the time when the motor of the folding machine is stopped during acceleration to the normal constant speed operation of the rotary printing press. In this case, it is considered that the load fluctuation accumulates during the acceleration and the synchronous control is impaired.
(5) The shaftless rotary press has different load states during low-speed operation such as slow-motion operation and normal operation, and mechanical vibration and severe gear noise occur during slow-motion operation with the gain of normal printing operation. This is a problem to be solved which occurs to some extent in common with printing presses and folding machines, to varying degrees.
The present invention has been made in view of these problems, and the object of the present invention is to solve the above-described problems and smoothly shift to a printing operation after the rotary printing press starts operation from a stopped state. An object of the present invention is to provide a synchronous control device that can reduce the operation time without impairing continuous paper.

In the present invention, the above problem is solved as follows.
(1) Consists of a centralized control device with a built-in virtual rotation command generator, a synchronous drive device, and a shaftless rotary printing press. The centralized control device outputs a phase speed command signal, and the synchronous drive device and shaftless Supervises and controls a rotary printing press.
The shaftless rotary printing press is composed of a plurality of printing presses and folding machines, and each of the plurality of printing presses and folding machines has an electric motor with a rotary encoder and a phase speed command signal output from the centralized control device. And a synchronous drive device with a built-in feedback detection device that detects a phase feedback signal from the output of the rotary encoder, and the synchronous drive device includes the phase command detection device and the feedback detection device. Based on the output, the speed and phase of the motor are controlled to follow the command of the virtual rotation command generator.
The rotary encoder outputs an A phase signal, a B phase signal, and a Z phase signal to the synchronous drive device according to the rotation of the electric motor, and both the A phase signal and the B phase signal are proportional to the rotational speed of the electric motor. It is a frequency signal, and has a relationship of leading or lagging by a predetermined phase depending on the rotation direction, and the Z-phase signal becomes an active level every time the motor rotates once.
The virtual rotation command generation device includes a reversible binary counter that can be cleared, a rotation phase generator that inputs a rotation direction signal and a frequency signal corresponding to a speed setting, and outputs a rotation phase signal; and an A phase and a B phase signal The A phase B phase generator for generating the Z phase generator and the Z phase generator for generating the Z phase signal are built in, and the reversible binary counter of the rotary phase generator is cleared by the Z phase signal output from the folding machine. The phase is initialized as zero.
The A-phase B-phase generator and the Z-phase generator are frequency signals proportional to the speed command from the rotational phase signal and are advanced by a predetermined phase or delayed by the rotational direction. Each time a signal and a phase command are rotated once, a Z-phase signal that becomes an active level is generated at the same time, and the virtual rotation command generator generates the phase command and speed command as the A-phase signal, B-phase signal, and Z-phase signal. Is sent to the synchronous drive device.

(2) The Z-phase generator of the virtual rotation command generator of (1) above receives the rotation phase output from the rotation phase generator and compares it with the Z-phase generation level 1, and the rotation phase is zero or more. When the Z phase generation level is 1 or less, the Z phase signal is set to an active level, and the Z phase signal having an arbitrary pulse width determined by the Z phase generation level 1 is generated.
(3) In the above (1) and (2), when the rotational phase generator has a phase resolution of a multiple of 4 and the virtual rotation command generator continuously outputs the rotation command, the A The phase signal, the B phase signal, and the Z phase signal always maintain the same phase relationship.
(4) In the above (1), the Z phase generator inputs the rotation phase output from the rotation phase generator and compares it with the Z phase generation level 1 and the Z phase generation level 2, and the rotation phase is the Z phase. When the generation level is 1 or less, or when the rotation phase is Z phase generation level 2 or more, the Z-phase signal is set to the active level.
As a result, the Z-phase signal is a Z-phase signal having a pulse width equal to the normal rotation direction and the reverse rotation direction centered on zero as the rotation phase, and is determined by the Z-phase generation level 1 and the Z-phase generation level 2 A Z-phase signal having an arbitrary pulse width is generated.
(5) In the above (1), the rotation phase generator of the virtual rotation command generation device counts up the maximum rotation phase to Pmax when the rotation direction is normal rotation, and then the pulse of the frequency signal input next When the rotation direction is reverse, the negative maximum rotation phase counts down to (−Pmax) and then becomes zero at the next input frequency signal pulse. The rotation phase generator The rotation phase output in response to forward rotation or reverse rotation changes from the minimum rotation phase (−Pmax) to the maximum rotation phase Pmax.
(6) In the above (5), the Z phase generator inputs the rotation phase output from the rotation phase generator, and the Z phase generation level 1, the Z phase generation level 2, the Z phase generation level 3, and the Z phase Compared with generation level 4, the Z phase generation level 1 is a positive number, the Z phase generation level 3 is a negative number obtained by inverting the polarity of the Z phase generation level 1, and the Z phase generation level 2 is a positive number. The Z phase generation level 4 is a negative number obtained by reversing the polarity of the Z phase generation level 2 and the rotation phase is equal to or lower than the Z phase generation level 1 and equal to or higher than the Z phase generation level 3, or the rotation phase is equal to Z. When the phase generation level is 2 or more, or when the rotation phase is less than or equal to the Z phase generation level 4, the Z phase signal is set to the active level, whereby the Z phase signal is centered on the rotation phase of zero. Z phase generation level 2, Z phase generation level 3, Generating a Z-phase signal of an arbitrary pulse width determined by the fine the Z phase generation level 4.
(7) In the above (1), the phase command detection device of the synchronous drive device outputs the rotation command including the phase A signal, the phase B signal, and the phase Z signal as the phase command and the speed command to the virtual rotation command. A rotation phase detector that receives a phase command and detects the phase command by counting up when the A-phase signal and B-phase signal are forward rotation and counting down when the rotation is reverse, and the A-phase signal or B-phase signal. When a Z-phase signal having a pulse width wider than one cycle is input and the Z-phase signal is at an active level, the extracted Z-phase signal is converted to an active level when the A-phase signal and the B-phase signal advance more than a plurality of pulses. A Z-phase receiver with a narrow pulse width is provided, and the Z-phase signal output from the Z-phase receiver is input to the rotation phase detector. When the phase command is forward rotation, it is cleared and when it is reverse rotation Is preset
(8) In the above (1) to (7), a rotation compensator to which the phase feedback signal output from the feedback detector is input is incorporated in the synchronous driving device of the folding machine.
The rotation compensator outputs a rotation compensation signal for suppressing periodic load fluctuations caused by the folding mechanism and the cutting mechanism generated every rotation of the folding machine, and the rotation compensation signal outputs the rotation compensation signal to the electric motor of the folding machine. The drive signal is compensated to suppress the influence of the periodic load fluctuation.
(9) In the above (1) to (8), a means for detecting a phase deviation between the phase command output from the phase command detection device and the feedback detection device and the feedback phase in the synchronous drive device of the folding machine, and the phase deviation Is provided, and the proportional gain of the phase deviation calculator is changed so as to increase as the speed command increases.
(10) In the above (1) to (9), a means for detecting a phase deviation between the phase command output from the phase command detection device and the feedback detection device and the feedback phase in the synchronous drive device of the printing press, and the phase deviation Is provided, and the proportional gain of the phase deviation calculator is set to the origin adjustment gain until the phase deviation converges within a predetermined value that enables printing. The origin adjustment gain is smaller than the synchronization control gain when performing the synchronization control based on the phase deviation.

(11) Consists of a centralized control device incorporating a virtual rotation command generation device, a synchronous drive device, and a shaftless rotary printing press composed of a plurality of printing machines and folding machines, each of the plurality of printing machines and folding machines individually A synchronous drive device incorporating a phase command detection device and an electric motor with a rotary encoder are provided and driven by these, and the rotary encoder outputs an A phase signal, a B phase signal, and a Z phase signal according to the rotation of the electric motor. Output to the synchronous drive device, the A phase signal and the B phase signal are both frequency signals proportional to the rotation speed of the electric motor, and have a relationship of advance or delay by a predetermined phase depending on the rotation direction, and the Z phase The signal becomes an active level every time the motor rotates once, and the virtual rotation command generation device is composed of a reversible binary counter that can be cleared, Rotation phase generator that inputs rotation direction signal and frequency signal corresponding to degree setting and outputs rotation phase signal, A phase B phase generator that generates A phase and B phase signals, and Z that generates Z phase signal In the synchronous start-up method of the synchronous control device that incorporates the phase generator and sends the A-phase signal, the B-phase signal, and the Z-phase signal as the phase command and the speed command to the synchronous drive device as follows, The folding machine shifts to synchronous control without performing origin adjustment.
The shaftless rotary printing press performs a gradual operation by speed control before starting a production operation, and uses the Z-phase signal output from the rotary encoder of the folding machine as the external clear signal to clear the virtual rotation command generator. The rotational phase output from the rotational phase generator is initialized to zero when the Z-phase signal becomes an active level, and the rotational phase is stabilized when the slow operation by the speed control of the folding machine becomes stable. After the generator rotation phase is initialized to zero, the phase control is immediately turned on when the shaftless rotary printing press immediately starts production operation.
(12) In the above (11), the synchronous drive device of the folding machine incorporates a phase feedback detection device for detecting the rotational phase of the rotary encoder of the folding machine, and the rotational phase generator of the virtual rotation command generating device is the reversible A preset input for presetting the counter and a phase data input for setting the value of the reversible counter to a set value are provided.
Then, the folding machine shifts to the synchronous control without performing the origin adjustment as follows.
Before the shaftless rotary printing press starts production operation, it performs a slow operation by speed control, inputs the rotational phase obtained from the phase feedback detector of the folding machine to the phase data input, and the preset input to the When the command from the central control device is input and the slow operation by the speed control of the folding machine becomes stable, the rotation phase of the folding machine input to the phase data input with the preset input as the active level is set as the rotation phase. After presetting the rotational phase output by the generator, the phase control is turned on immediately when the shaftless rotary printing press starts production operation, and the folding machine shifts to the synchronous control without performing the origin adjustment.

In the present invention, the following effects can be obtained.
(1) A reversible binary counter of a rotation phase generator that outputs a rotation phase signal provided in the virtual rotation command generator is incorporated into the centralized control device by a virtual rotation command generator, and the Z phase signal output from the folding machine. After clearing and initializing the rotation phase to zero, the A phase signal, the B phase signal, and the Z phase signal output from the virtual rotation command generator are sent to the synchronous drive device as a phase command and a speed command, Since the speed control is performed, the printing operation can be started promptly without the continuous paper being broken or slackened when the operation of the shaftless rotary printing press is started.
In addition, since the phase and speed control is performed using the phase A signal, the phase B signal, and the phase Z signal generated by the virtual rotation command generator as the phase command and the speed command, the error shown in the equation (2) can be reduced. It is possible to avoid the problem that the improvement of the accuracy of the synchronous control is impaired due to the influence and the problem that the vibration of the electric motor propagates to the rotary encoder, which causes an error.
(2) Before the shaftless rotary printing press starts production operation, perform the slow motion operation by speed control, and when the slow motion operation by the speed control of the folding machine becomes stable, clear the Z-phase signal output by the folding machine After clearing the virtual rotation command generator as a signal and initializing the rotation phase of the rotation phase generator to zero, preset the rotation phase of the folding machine in the virtual rotation command generator and turn on phase control. Thus, it is possible to shift to synchronous control and start a printing operation without performing origin adjustment.
(3) By providing a rotation compensator and suppressing periodic load fluctuations that occur every rotation of the folding machine, the load fluctuations inherent in the folding machine can be eliminated, and each printing machine can smoothly adjust the origin. It can be carried out.
(4) The phase gain in the low speed region is changed by changing the proportional gain of the phase deviation calculator provided in the synchronous drive device of the folding machine so as to increase in accordance with the increase in the speed command output from the speed command detector. Gear noise and machine vibration during control can be eliminated.
(5) The proportional gain of the phase deviation calculator provided in the synchronous drive device of the printing press is set to an origin adjustment gain smaller than the gain at the time of synchronous control until the phase deviation converges within a predetermined value that enables printing. By setting, it is possible to smoothly shift to synchronous control.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 illustrates the overall configuration of the present invention, FIGS. 2 to 8 show Example 1, FIGS. 9 to 12 show Example 2, FIGS. 13 to 17 show Example 3, and FIGS. 22 shows a fourth embodiment, FIG. 23 shows a fifth embodiment, FIGS. 24 to 26 show a sixth embodiment, FIGS. 27 and 28 show a seventh embodiment, and FIG. 29 shows a fifth to seventh embodiment. 30 to 32 will explain the eighth embodiment.

In order to facilitate the description of the present invention, the overall configuration of the present invention is first described with reference to FIG. In FIG. 1, 01, 0101, 02a, and 02b are a centralized control device, a virtual rotation command generating device, a phase speed command signal, and a communication line, respectively, and the virtual rotation command generating device 0101 is built in the centralized control device 01. The phase speed command signal 02a is output to a phase command detection device 0601 described later by an A phase signal A1, a B phase signal B1, and a Z phase signal Z1, and the communication line 02b outputs a phase FB (feedback) of a folder described later. ) Information related to the rotation phase is transmitted from the detection device 0603 to the virtual rotation command generation device 0101.
Next, 10a, 10b, and 15f are the first printing machine, the second printing machine, and the folding machine, respectively, in the rotary printing machine, and 06a, 0601, 0602, 07a, and 08a are the synchronous driving of the printing machine, respectively. An apparatus, a phase command detection device, a phase FB detection device, an electric motor of a printing press, and a rotary encoder of the printing press, and these constitute the first printing press 10a in the rotary printing press. The synchronous drive device 06a of the printing press includes the phase command detection device 0601 and the phase FB detection device 0602, and the phase command detection device 0601 includes the A phase signal A1, the B phase signal B1, and the Z phase signal Z1. The phase FB detection device 0602 detects phase feedback from the A phase signal A2, the B phase signal B2, and the Z phase signal Z2 output from the rotary encoder 08a, and the motor 07a of the printing press The rotary encoder 08a is attached.
Based on the outputs of the phase command detection device 0601 and the phase FB detection device 0602, the synchronous drive devices 06a to 06f follow the commands of the virtual rotation command generation device 0101 based on the speed and phase of the motors 07a to 07f. Control.

Here, the rotary encoder 08a is an incremental encoder, and outputs the A-phase signal A2, the B-phase signal B2, and the Z-phase signal Z2 having the waveforms shown in FIG. In the following description, the A-phase signal A2 and the B-phase signal B2 respectively generate Q pulses per rotation as shown in the following equation (3). In the apparatus according to the present invention, the A-phase signal A2 and the B-phase signal are generated. Assume that the rise and fall of the signal B2 are detected, and the resolution of the phase per rotation is four times the Q pulse as shown in the following equation (4).
Number of pulses per rotation of A-phase (or B-phase) signal = Qppr (3) Formula Resolution per phase = 4 Q pulses (4) Formula According to the formula (4), the rotational phase of the rotary encoder 08a is It becomes the range of 0 to (4Q-1) as the following (5) Formula.
The range of the rotational phase is 0 to (4Q-1) (5) Next, 06b, 07b, and 08b have the same functions as those with the same number and the subscript a, and the description thereof is omitted. These constitute the second printing press 10b.

Reference numerals 06f, 07f, and 08f denote a folding machine synchronous drive device, an electric motor, and a rotary encoder, which constitute a folding machine 15f. The synchronous drive device 06f incorporates a folding machine phase FB detection device 0603, and the folding machine phase FB detection device 0603, like the phase FB detection device 0602, transmits information relating to the rotation phase of the folding machine in the communication. It is sent to the virtual rotation command generator 0101 via the line 02b. The rotary encoder 08f outputs the A-phase signal A3, the B-phase signal B3, and the Z-phase signal Z3 to the phase FB detection device 0603 of the folding machine. The clear input 0110 will be described later with reference to FIG. 2, and the extracted Z-phase signal Zm will be described later with reference to FIG.
In FIG. 1, the present invention relates to the virtual rotation command generation device 0101, the phase command detection device 0601, the phase FB detection device 0602 of the printing press, and the phase FB detection device 0603 of the folding machine. These devices are closely related to each other in function and configuration, and the present invention has been carried out. The embodiments will be described in order below.

FIG. 2 is a diagram for explaining the first embodiment of the present invention, and FIGS. 3 to 8 further explain the operation, supplement and details of the first embodiment of FIG.
First, FIG. 2 shows a first embodiment of the virtual rotation command generator 0101 of FIG. 1, in which 0102, 0103, 0104, and 0105 are a transmitter, a speed setter, a speed set signal, and It is a rotation direction signal. The transmitter 0102 outputs a fixed reference frequency signal such as 60 MHz, for example, and the speed setting unit 0103 is set with the rotation direction and the rotation speed of the motors 07a, 07b, 07f of FIG. The rotation direction signal 0105, which is “0” for forward rotation and “1” for reverse rotation, and the absolute value of the set rotation speed are output as the speed setting signal 0104.
The speed setting signal 0104 is a signal having numerical data of a single word or double word length, and the flow of such numerical data is represented by a bold line as shown, while the rotation direction signal 0105 is 1 bit. The signals that become “1” and “0” are represented by thin lines as shown in the figure, and are similarly distinguished in the following drawings.
Reference numerals 0106, 0107, and 0108 denote a rate multi, a frequency signal, and a NOT gate, respectively. The rate multi 0106 receives the reference frequency output from the transmitter 0102 and the speed setting signal 0104, and outputs the frequency signal 0107 having a frequency proportional to the value of the speed setting signal 0104. The NOT gate 0108 inverts the frequency signal 0107 to generate a timing signal described later.

  Next, reference numerals 0109, 0110, 0111, 0112, 0117, and 0122 in FIG. 2 denote a rotational phase generator, a clear input, a maximum phase coefficient register, a reverse preset circuit, a forward clear circuit, and an OR gate, respectively. The rotational phase generator 0109 is a reversible binary counter that can be cleared and preset. The rotational direction signal 0105 and the frequency signal 0107 are input to the F / R input and the CLK input, respectively. Alternatively, the frequency signal 0107 is up-counted or down-counted in response to the reverse rotation to generate an n-bit rotational phase P and output from the p0 to pn-1 outputs. The rotational phase P output from the rotational phase generator 0109 transitions from 0 to a maximum rotational phase in the range of Pmax.

Here, the maximum phase coefficient register 0111 outputs the maximum rotation phase Pmax, and the forward rotation clear circuit 0117 inputs the maximum rotation phase Pmax and the rotation phase P. When the forward rotation clear circuit 0117 is in the forward rotation, after the rotational phase P coincides with the maximum rotational phase Pmax, the next time the frequency signal 0107 is input, the OR gate 0122 is used to transmit the The CLR input of the rotational phase generator 0109 is made active (eg, “1”) to clear the rotational phase generator 0109 and set the rotational phase P to zero.
The reverse rotation preset circuit 0112 receives the rotation phase P, and after the rotation phase P becomes zero at the time of reverse rotation, the next time the frequency signal 0107 is input, the rotation phase generator 0109 The PRE input is active (for example, “1”). At this time, the maximum rotation phase Pmax is input from the LOD input of the rotation phase generator 0109, and the rotation phase P is preset to the maximum rotation phase Pmax.
The forward rotation clear circuit 0117 includes a comparator 0118, a D flip-flop 0119, a NOT gate 0120, and an AND gate 0121. The reverse rotation preset circuit 0112 includes a zero phase coefficient register 0113, a comparator 0114, a D flip-flop 0115, The forward clear circuit 0117 and the reverse preset circuit 0112 will be supplementarily described with reference to FIGS.

Next, 0123 and 0127 in FIG. 2 are an A-phase B-phase generator and a Z-phase generator, respectively, and the A-phase B-phase generator 0123 is constituted by an XOR gate 0124 and D flip-flops 0125 and 0126. The Z-phase generator 0127 includes a Z-phase width coefficient register 0128, a comparator 0129, and a D flip-flop 0130.
First, the A phase B phase generator 0123 generates an A phase signal A1 and a B phase signal B1 having a phase difference of 90 degrees from the lower two bits p0 and p1 of the rotational phase P output from the rotational phase generator 0109. To do. That is, the bit p1 is stabilized by the D flip-flop 0125 to be the A-phase signal A1, and the bits p0 and p1 are processed by the XOR gate 0124 and then stabilized by the D flip-flop 0126 to be the B-phase signal B1. The bit p0 is the LSB of the rotational phase P, and the bit p1 is the second bit from the least significant bit.
Here, the D flip-flops 0125 and 0126 receive the reference frequency signal output from the transmitter 0102 as a clock input, the rotational phase generator 0109 performs a counting operation, and the bits p1 and p0 transition to a stable value. Are latched and output, but this can be done normally and is not relevant to the present invention. It should be noted that generation of a B phase signal having a phase difference of 90 degrees by the XOR gate 0124 can also be normally performed.

Next, the Z-phase generator 0127 generates a Z-phase signal Z1 having an arbitrary pulse width. Explaining this, the Z-phase width coefficient register 0128 holds a constant C of the Z-phase generation level 1 that defines the Z-phase width, and the comparator 0129 inputs the C of the Z-phase generation level 1 and the rotational phase P. Then, as shown in the following equations (6) and (7), 1 is output when the rotational phase P is C or less of the Z phase generation level 1, and 0 is output otherwise.
When C is the rotational phase P ≦ Z phase generation level 1, 1 (6)-
When C of the Z phase generation level 1 <rotational phase P, 0 (7)-
The output of the comparator 0129 is stabilized by a reference frequency signal output from the D flip-flop 0130 and the transmitter 0102 to become a Z-phase signal Z1. Here, the D flip-flop 0130 can also be normally implemented in the same manner as the D flip-flops 0125 and 0126, and is not related to the present invention. The Z-phase signal Z1 is sent to a phase command detection device 0601, which will be described later, but even if noise enters the Z-phase signal Z1, it must be eliminated. Here, the pulse width of the Z-phase signal Z1 can be arbitrarily increased by the set value of C at the Z-phase generation level 1, and the Z-phase signal Z1 can be sufficiently increased by the phase command detection device 0601 described later. It is possible to obtain a reliable Z-phase signal by filtering the delay time.

Next, the clear input 0110 in FIG. 2 clears the rotational phase generator 0109 via the OR gate 0122 and sets the rotational phase P to zero. As a result, a Z-phase signal Z1 is generated from the Z-phase generator 0127. The clear input 0110 is a signal input from the outside and is connected to the phase FB detection device 0603 of the folding machine through the communication line 02b of FIG. 1 as an example. Then, the folder phase FB detection device 0603 activates the clear input 0110 via the communication line 02b with the Z-phase signal Z3 output from the rotary encoder 08f of the folder (logic "1" in FIG. 2). ), The rotational phase generator 0109 is cleared and a Z-phase signal Z1 is generated from the Z-phase generator 0127.
This function is used only once when the rotary encoder 08f of the folding machine outputs the Z-phase signal Z3 when the operation is started or during the slow-motion operation by the speed control before starting the acceleration to the production speed. The Z phase signal Z1 generated by the virtual rotation command generator 0101 is made to coincide with the Z phase signal Z3 of the rotary encoder 08f of the folding machine. As a result, the rotation phase P generated by the virtual rotation command generation device 0101 at the instant of time coincides with the rotation phase by the rotary encoder 08f of the folding machine at zero.

  Immediately thereafter, each printing press and folding machine turn on the phase control according to the command output by the virtual rotation command generating device 0101, so that each printing machine performs origin adjustment, but the folding machine 15f does the virtual rotation. Since the rotational phase is already in alignment with the command generator 0101, there is no need to perform origin alignment. That is, the folding machine 15f starts smoothly without unnecessary acceleration / deceleration, and a plurality of continuous sheets entering the folding machine start printing without causing slack or abnormal tension.

The virtual rotation command generation device 0101 in the first embodiment shown in FIG. 2 described above is an electronically extremely stable and accurate A phase signal A1, B phase signal B1, no error as shown in the equation (2). And a Z-phase signal Z1.
Next, the operation, supplementary explanation, and detailed explanation of the first embodiment shown in FIG.
Although not explicitly shown in FIG. 2, in the virtual rotation command generation device 0101 of the present invention, the resolution of the rotation phase P output from the rotation phase generator 0109 is a multiple of 4. This will be described with reference to FIG. 2 taking as an example the case where the resolution of the rotational phase P is not a multiple of 4 in FIG. 3 and as an example when it is a multiple of 4 in FIG. 3, the resolution of one rotation is 150 in FIG. 3 and 160 in FIG. 4 as an example, and the rotation direction is assumed to be normal rotation.

  First, FIG. 3 explains the operation of the rotational phase generator 0109 of the first embodiment, and explains when the resolution of one revolution is different from a multiple of 4, for example, 150. At this time, the rotational phase P is 0. To 149 (149 is 95h in hexadecimal notation. In the present invention, the value in hexadecimal notation is indicated by adding 'h' at the end, and other values in binary notation are indicated by adding 'b' at the end. Transition in the range of FIG. 3A shows a temporal transition of the lower 4 bits from p3 to p0 in binary numbers, and FIG. 3B shows the temporal transition of the values from p3 to p0. Transitions are shown in decimal numbers, and FIGS. 3C and 3D show temporal transitions of the A phase signal A1 and the B phase signal B1 generated by the A phase B phase generator 0123. FIG. FIG. 3E shows changes in all digits of the rotational phase P in hexadecimal when the rotational phase P transitions from the maximum phase to the minimum phase zero.

At time T2 in FIG. 3, the rotational phase P changes from the maximum rotational phase 95h to the minimum rotational phase zero, and therefore the rotational phase P shown in FIG. 3- (e) is 93h, 94h, 95h. After the transition, transition to 0, 1, and 2. Correspondingly, since FIGS. 3A and 3B show the lower 4 bits of the rotational phase P, they change in binary and decimal as shown in the figure. If attention is paid to FIG. 3- (b), it changes regularly in the order of 0, 1, 2, 3, 0 around time T1 and around time T3, but 3, 0, 1, 0 before and after time T2. , 1 and 2 are changing irregularly.
Next, since the A-phase signal A1 in FIG. 3- (c) is obtained by processing the p1 bit of the rotational phase P in FIG. 2, p1 in FIG. 3- (a) is “1”. Corresponding to the change to “0”, the A-phase signal A1 in FIG. 3- (c) also becomes “1” and “0”. Further, the B-phase signal B1 in FIG. 3D is obtained by processing the p0 and p1 bits of the rotational phase P in FIG. 2 by the XOR gate 0124. ) As shown below.

  That is, when the resolution of one rotation is not a multiple of 4, for example 150, at time T2 when the rotational phase P transitions from 95h to zero, the A-phase signal A1 shown in FIGS. Changes in the B-phase signal B1 are irregular and cannot be put into practical use. Therefore, in the virtual rotation command generation device 0101 of the present invention, the resolution of the rotation phase P output from the rotation phase generator 0109 is set to a multiple of 4, and this case is shown in FIG. The explanation will be made with reference to FIG.

FIG. 4 illustrates the case where the resolution of one rotation of the rotational phase generator 0109 of the first embodiment is a multiple of 4, for example, 160. At this time, the rotational phase P ranges from 0 to 159 (159 is 16). Transition in the range of 9Fh in decimal). 4- (a) to (e) represent the same signals as in FIGS. 3- (a) to (e), and at time T2 in FIG. 4, the rotation phase P is minimum rotation from the maximum rotation phase 9Fh. It is assumed that the phase changes to zero. Therefore, the rotational phase P shown in FIG. 4E transitions to 9Dh, 9Eh, and 9Fh, and then transitions to 0, 1, and 2. Correspondingly, since FIGS. 4A and 4B show the lower 4 bits of the rotational phase P, they change in binary and decimal as shown in the figure. When attention is paid to FIG. 4- (b), before and after the time T1, and before and after the time T3, the order changes regularly in the order of 0, 1, 2, 3, and 0. And are changing regularly.
Next, since the A-phase signal A1 is obtained by processing the p1 bit of the rotational phase P in FIG. 2, as shown in FIG. 4- (c) corresponding to p1 in FIG. 4- (a). Become. Further, the B-phase signal B1 is obtained by processing the p0 and p1 bits of the rotational phase P in FIG. 2 by the XOR gate 0124, and is as shown in FIG. 4- (d). The A-phase signal A1 and the B-phase signal B1 change regularly when the maximum rotation phase 9Fh changes to the minimum rotation phase zero.

As described above, in the present invention, the resolution of the rotation phase P output from the rotation phase generator 0109 built in the virtual rotation command generation device 0101 is a multiple of 4, for example, 600, 1200, 2400, or 76800. . As a result, not only can the A-phase signal A1 and the B-phase signal B1 constantly and regularly change from the only rotational phase generator 0109 be obtained, but also the Z-phase signal Z1 described from FIG. Obtainable.
In the following description, the resolution of the multiple of 4 related to the present invention is expressed by the following equation (8).
Resolution of multiples of 4 = 4R (8) Formula-
At this time, the maximum rotation phase Pmax of the rotation phase P is expressed by the following equation (9).
Pmax = 4R-1 (9) Formula-

FIG. 5 further explains the operation of the Z-phase generator 0127 of FIG. 2, and FIG. 5 will be described with reference to FIG. FIG. 5- (a) shows a temporal transition of the rotational direction signal 0105, FIG. 5- (c) shows a temporal transition of the rotational phase P output from the rotational phase generator 0109, and FIG. , (G), and (h) show the A-phase signal A1, the B-phase signal B1, and the Z-phase signal Z1 output from the virtual rotation command generation device 0101, respectively.
First, the rotation direction signal 0105 shown in FIG. 5- (a) indicates a state in which normal rotation is performed until time T1, reverse rotation from time T2 to T3, and normal rotation again after time T4. Further, the frequency signal 0107 not shown in FIG. 5 is stopped during the period from time T1 to T2 and from time T3 to T4. Here, the frequency signal 0107 has a constant frequency during both forward rotation and reverse rotation.

Next, FIG. 5C shows a count-up operation because the rotational phase P is normal rotation until time T1, and a count-down operation because it is reverse from time T2 to T3, and again after time T4. A mode of counting up due to normal rotation is shown. The rotation phase P is counted up at the time of normal rotation, and becomes zero after reaching the maximum rotation phase Pmax of the equation (9) at time T6, for example, and continues counting up. Further, at the time of reverse rotation, it counts down, for example, reaches zero at time T10, and then reaches the maximum rotation phase Pmax of the equation (9) and continues the countdown.
The comparator 0129 of the Z-phase generator 0127 compares the rotational phase P with the C of the Z-phase generation level 1 indicated by the dotted line as shown in the equations (6) and (7), and FIG. A Z-phase signal Z1, which will be described later in-(h), is set to "1", for example, from time T6 to T7 and from time T12 to T13.

  Next, FIGS. 5- (f) and (g) schematically show the A-phase signal A1 and the B-phase signal B1 output from the A-phase / B-phase generator 0123, respectively. 4 and FIG. FIG. 5- (h) shows the Z-phase signal Z1 output from the Z-phase generator 0127. The Z-phase signal Z1 is expressed by the equations (6) and (7) regardless of whether the rotation is forward or reverse. Is generated. Thus, in the present invention, the A-phase signal A1, the B-phase signal B1, and the Z-phase signal Z1 are obtained from the output of the only rotational phase generator 0109 during normal rotation and reverse rotation, and the Z-phase The pulse width of the Z-phase signal Z1 can be arbitrarily increased by the set value of C at the generation level 1.

Next, FIG. 6 explains the operation of the forward rotation clear circuit 0117 and will be described with reference to FIG. The normal clear circuit 0117 includes a comparator 0118, a D flip-flop 0119, a NOT gate 0120, and an AND gate 0121. 6 (a), 6 (b), and 6 (c) show temporal transitions of the values of the rotation direction signal 0105, the frequency signal 0107, and the rotation phase P, respectively. j) shows temporal transitions of the output of the D flip-flop 0119 and the output of the AND gate 0121, and FIGS. 6- (f) and (g) show temporal transitions of the A-phase signal A1 and the B-phase signal B1. Show.
6A shows a case where the rotation direction signal 0105 is “0” and the rotation direction is normal rotation, and FIG. 6B shows that the frequency signal 0107 corresponds to the setting of the speed setting unit 0103. The aspect which is a signal of a frequency is shown. FIG. 6C shows a state in which the rotational phase generator 0109 receives and counts the frequency signal 0107 and sequentially counts up the rotational phase P. That is, the rotational phase P counts up from (Pmax-1) to Pmax, and then transitions to 0, 1, and 2.
Here, in FIG. 6, time T1 is the time when the rotational phase P becomes the maximum rotational phase Pmax, time T2 is the time when the frequency signal 0107 becomes “0” after the time T1, and time T3 is the time It is a time when the frequency signal 0107 becomes “1” again after time T1.

The forward rotation clear circuit 0117 receives the Pmax output from the maximum phase coefficient register 0111 and the rotational phase P, and the comparator 0118 built in the forward rotation clear circuit 0117 has the following equation (10) and ( The operation of equation 11) is performed.
When rotational phase P <maximum rotational phase Pmax, 0 (10)-
When the maximum rotational phase Pmax ≦ the rotational phase P 1
As a result, the output of the comparator 0118 becomes “1” at time T1 when the rotational phase P in FIG. 6C becomes Pmax, and then the output of the D flip-flop 0119 shown in FIG. Becomes “1” at time T2. Subsequently, the output of the AND gate 0121 shown in FIG. 6- (j) becomes “1” at time T3, and “1” is input to the CLR input of the rotational phase generator 0109 to clear the rotational phase P. To do. In this way, the rotational phase generator 0109 is cleared to zero every (Pmax + 1) pulses.
The A-phase signal A1 and the B-phase signal B1 shown in FIGS. 6 (f) and 6 (g) are irregular before and after time T3 when the rotational phase P transitions from the maximum rotational phase Pmax to zero. No operation continues normally. In this manner, the forward rotation clear circuit 0117 performs the operation described with reference to FIG. 6 so that the rotational phase generator 0109 continuously operates in the forward rotation direction.

On the other hand, the reverse preset circuit 0112 is used for reverse rotation and performs an operation similar to that of the forward clear circuit 0117. FIG. 7 further explains the operation of the reverse preset circuit 0112, and refers to FIG. While explaining. The reverse preset circuit 0112 includes a zero phase coefficient register 0113, a comparator 0114, a D flip-flop 0115, and an AND gate 0116. 7- (a), (b), (c), (f), and (g) represent temporal transitions of the same signals as those given the same reference numerals in FIG. 6, and FIG. ) And (j) show temporal transitions of the output of the D flip-flop 0115 and the output of the AND gate 0116, respectively.
7A shows the case where the rotation direction signal 0105 is “1” and the rotation direction is reverse, and FIG. 7B shows the frequency where the frequency signal 0107 corresponds to the setting of the speed setter 0103. The aspect which is a signal of is shown. FIG. 7- (c) shows a state in which the rotational phase generator 0109 receives and counts the frequency signal 0107, and the rotational phase P sequentially counts down. That is, the rotational phase P counts down to 2, 1, 0 and then transitions to Pmax, (Pmax-1), and (Pmax-2).
Here, in FIG. 7, time T1 is the time when the rotational phase P becomes the minimum rotational phase 0, time T2 is the time when the frequency signal 0107 becomes “0” after the time T1, and time T3 is the time It is a time when the frequency signal 0107 becomes “1” again after time T1.

The reverse preset circuit 0112 inputs the rotational phase P, and the comparator 0114 built in the reverse preset circuit 0112 determines the rotational phase P and the minimum rotational phase 0 output from the zero phase coefficient register 0113. In comparison, the following operations (12) and (13) are performed.
When rotational phase P ≦ minimum rotational phase 0 1 1 (12)
When minimum rotation phase 0 <rotation phase P, 0 (13)
As a result, the output of the comparator 0114 becomes “1” at time T1 when the rotational phase P of FIG. 7- (c) becomes the minimum rotational phase 0, and then the D flip-flop shown in FIG. 7- (i). The output of 0115 becomes “1” at time T2. Subsequently, the output of the AND gate 0116 shown in FIG. 7- (j) becomes “1” at time T3 and is input to the PRE input of the rotational phase generator 0109. Here, when “1” is input to the PRE input, the rotational phase generator 0109 presets the maximum rotational phase Pmax input from the LOD input to the rotational phase P, and the above FIG. 7- (c). At time T3. Thus, the rotational phase generator 0109 is preset to Pmax every (Pmax + 1) pulses.
The A-phase signal A1 and the B-phase signal B1 shown in FIGS. 7- (f) and (g) are irregular before and after the time T3 when the rotational phase P changes from zero to the maximum rotational phase Pmax. Continue to work reliably without any problems. In this manner, the reverse preset circuit 0112 performs the operation described with reference to FIG. 7 so that the rotational phase generator 0109 continuously continues the operation in the reverse direction.

  Here, it is a conventional practice to cause the rotational phase P to transition from the maximum rotational phase Pmax to zero during forward rotation and to cause the rotational phase P to transition from zero to the maximum rotational phase Pmax during reverse rotation. It can be done. However, the virtual rotation command generation device 0101 must always perform the A-phase signal A1, the B-phase signal B1, regardless of whether the rotation is normal rotation, reverse rotation, or forward rotation and reverse rotation alternately. In order to clearly describe the embodiment of the present invention, it is necessary to implement special means for continuously and regularly generating the Z-phase signal Z1, and the forward clearing function is included as a function accompanying the present invention. Note that circuit 0117 and reverse preset circuit 0112 are illustrated.

The operation of the Z-phase generator 0127 incorporated in the virtual rotation command generator 0101 of the present invention will be described with reference to FIG. 5. The rotation phase P is set to the maximum rotation phase by the forward rotation clear circuit 0117 and the reverse rotation preset circuit 0112. The regular transition between Pmax and the minimum rotational phase 0 has been described with reference to FIGS. Next, the Z-phase generator 0127 will be described in detail with reference to FIG.
FIGS. 8- (a), (b), and (c) show temporal transitions of the values of the rotation direction signal 0105, the frequency signal 0107, and the rotation phase P, respectively, and FIG. 8- (d) shows the rotation phase. The temporal transition of the values of p3 to p0 of the lower 4 bits of P is shown in binary, FIG. 8- (e) shows the temporal transition of the values of p3 to p0 in decimal, and FIG. 8- (f) (G) shows the A phase signal A1 and the B phase signal B1 generated by the A phase B phase generator 0123, and FIG. 8- (h) shows the Z phase signal Z1 generated by the Z phase generator 0127. Indicates temporal transition.

First, the rotation direction signal 0105 shown in FIG. 8- (a) shows a state of normal rotation until time T8 and thereafter reverse rotation, and FIG. 8- (b) shows that the frequency signal 0107 is the speed setter. A mode of a signal having a frequency corresponding to the setting of 0103 is shown, and is temporarily stopped around time T8 when the rotation direction changes.
Next, in FIG. 8- (c), since the rotation phase P is normal rotation until time T8, the count-up operation is performed, and after reaching the maximum rotation phase Pmax at time T6, it is cleared to zero and continues counting up. . Since the rotation phase P is reversed after time T8, the countdown operation is performed, and after reaching the minimum rotation phase of zero, it is preset to the maximum rotation phase Pmax at time T10 and continues to count down.
Then, the Z-phase generator 0127 compares the rotational phase P with C at the Z-phase generation level 1 indicated by a dotted line according to the equations (6) and (7). The Z-phase signal Z1, which will be described later, is set to “1”, for example, between time T6 and T7 and between time T9 and T10. Here, in FIG. 8C, C of the Z phase generation level 1 is exemplified as “4” in order to more specifically show the operation.

  Next, FIGS. 8- (d) to (g) show the same signals as those shown in FIGS. 4- (a) to (d). Further, in FIG. 8, when the reverse rotation is performed in addition to the forward rotation of FIG. 4, the temporal transitions of the lower 4 bits p3 to p0 of the rotation phase P and the A phase signal A1 and the B phase signal B1 are performed. Is shown. First, the values of the lower 4 bits p3 to p0 of the rotation phase P shown in FIGS. 8D and 8E are 3, 0, 1, 2, 3 in the forward direction until time T8. After the transition time T8, a predetermined transition is performed in the reverse direction with 3, 2, 1, 0, 3 in the reverse direction. Since the signals shown in FIGS. 8- (f) and (g) are generated from the signals p1 and p0 shown in FIG. 8- (d), the signals transition regularly. That is, the time T8 when the rotation direction changes before and after the time T6 when the rotation phase P changes from Pmax to 0 at the time of forward rotation, and the time T10 when the rotation phase P changes from 0 to Pmax at the time of the reverse rotation. Even before and after, the A-phase signal A1 and the B-phase signal B1 correctly transition in a predetermined phase relationship.

  Then, as described above, the Z-phase signal Z1 shown in FIG. 8- (h) becomes “1” from time T6 to T7 and from time T9 to T10. Further, when comparing the phase relationship between the Z-phase signal Z1 and the A-phase signal A1 and the B-phase signal B1 in FIGS. 8 (f) and 8 (g), the time T6 at the time of forward rotation is the time T10 at the time of reverse rotation. In addition, time T7 at the time of forward rotation corresponds to T9 at the time of reverse rotation. Thus, the virtual rotation command generator 0101 according to the present invention generates the A-phase signal A1, the B-phase signal B1, and the Z-phase signal Z1 in a predetermined phase relationship regardless of whether the rotation is normal or reverse. To do.

The virtual rotation command generation device 0101 according to the first embodiment based on FIGS. 1 to 8 described above can be summarized as follows.
(1) First, the A-phase signal A1, the B-phase signal B1, and the Z-phase signal Z1 are obtained from the output of the only rotational phase generator 0109. This eliminates the need to install multiple sets of counters and allows a simpler hardware configuration.
(2) As a second feature, in the virtual rotation command generation device 0101, the resolution of the rotational phase P output from the built-in rotational phase generator 0109 is a multiple of four. As a result, the A phase signal A1, the B phase signal B1, and the B phase signal B1, which always change continuously and regularly, regardless of whether the forward rotation and the reverse rotation are alternated from the rotational phase generator 0109. And the Z-phase signal Z1 can be obtained.
(3) As a third feature associated with the above-mentioned items (1) and (2), the phase relationship of the Z-phase signal Z1 is fixed with respect to the A-phase signal A1 and the B-phase signal B1. In this synchronous drive device, it is possible to always generate an accurate rotational phase command.
(4) As a fourth feature, it is realized that the pulse width of the Z-phase signal Z1 is arbitrarily widened. As a result, when the Z-phase signal Z1 is received in the subsequent synchronous drive device, the Z-phase signal Z1 Even when noise has entered, it is possible to reliably eliminate this and detect a correct Z-phase signal to obtain an accurate rotation command.
(5) By providing the clear input 0110 as the fifth feature, the virtual rotation command generating device 0101 is generated when the Z-phase signal Z3 of the rotary encoder 08f of the folding machine becomes active (“1”). The Z-phase signal Z1 to be activated is set to be active (“1”). This makes it possible to match the rotation phases of the folder and the virtual rotation command generator 0101 described later.
(6) Since the virtual rotation command generation device 0101 according to the present invention having the above-described features is manufactured electronically, there is no error according to the equation (1), and there is no physical vibration. A highly accurate rotational phase is generated.

9 is a diagram for explaining a second embodiment of the present invention of the virtual rotation command generating device 0101 shown in FIG. 1, and FIGS. 10 to 12 show the configuration and operation of the second embodiment of FIG. 9 in more detail. Explain.
First, in FIG. 9, the same reference numerals as those in the first embodiment shown in FIG. 2 have the same functions, and the description thereof is omitted. 9 differs from FIG. 2 in that a second Z-phase generator 0127b is installed in FIG. 9 in place of the Z-phase generator 0127 of FIG. 2, and other preset inputs 0131, OR gates 0132, A phase data input 0133 and a selector 0134 are added.

The second Z-phase generator 0127b built in the virtual rotation command generator 0101 in FIG. 9 receives the rotation phase P and the reference frequency signal output from the transmitter 0102, and generates a new Z-phase signal Z1. The configuration and operation of the second Z-phase generator 0127b will be described later with reference to FIG. 10, FIG. 11, and FIG.
Next, the preset input 0131 to the selector 0134 have a function of presetting the rotation phase P output from the rotation phase generator 0109 from the outside of the virtual rotation command generator 0101 to a desired value. The preset input 0131 is a 1-bit preset signal, which is normally “0”, and is set to “1” when performing a preset to be described later. The phase data input 0133 is a preset phase having a data length equal to the rotational phase P. The OR gate 0132 adds the preset signal of the preset input 0131 to the PRE input of the rotational phase generator 0109 in addition to the output of the reverse preset circuit 0112.
The selector 0134 receives the preset input 0131 as a selection signal, inputs the maximum rotation phase Pmax and the phase data input 0133 as numerical data, and selects one of the two to select the rotation phase generator 0109. Send to LOD input. Here, the preset input 0131 is normally “0”, and the selector 0134 selects the maximum rotation phase Pmax.

More specifically, the preset input 0131 and the phase data input 0133 include preset signals from, for example, a microprocessor (hereinafter referred to as MPU) or a digital signal processor (hereinafter referred to as DSP) (not shown) built in the central control device 01. And a preset phase. That is, when performing the preset, the MPU first sets the preset phase to the phase data input 0133, and then sets the preset input 0131, which is normally “0”, to “1”.
Accordingly, the selector 0134 selects the phase data input 0133 and sends it to the LOD input of the rotational phase generator 0109. The PRE input of the rotational phase generator 0109 is “1” via the OR gate 0132. It becomes. Therefore, the preset phase of the phase data input 0133 is preset to the rotational phase P. When the preset is completed, the MPU sets the preset input 0131 to “0” again.

  In this way, the virtual rotation command generator 0101 of FIG. 9 presets the rotation phase P of the rotation phase generator 0109 to a desired value by installing the preset input 0131 and the phase data input 0133. Made it possible. Thus, for example, when a printing operation is started in a shaftless rotary printing press, the rotation phase of the rotary encoder 08f of the folding machine is preset to the rotation phase P of the virtual rotation command generator 0101 during the slow motion operation by speed control. Go to match the rotational phase. If the phase control is immediately turned on thereafter, the folding machine 15f skips the step of aligning the origin and shifts to synchronous control to start printing without causing the continuous paper to break or slack.

Next, FIG. 10 shows an example of the configuration of the second Z-phase generator 0127b shown in FIG. 9. In FIG. 10, 0128 and 0129 denote Z-phase width coefficient registers and comparators having the same reference numerals as those shown in FIG. Has the same function. Reference numeral 0142 denotes a maximum phase coefficient register (Pmax + 1), 0143 denotes an adder / subtracter, 0144 denotes a comparator, 0145 denotes an OR gate, 0146 denotes a reference frequency signal output from the transmitter 0102, and 0147 denotes a D flip-flop. .
First, the comparator 0129 performs the operations of the equations (6) and (7), and the adder / subtracter 0143 subtracts C of the Z-phase generation level 1 from the (Pmax + 1), and is expressed by the following equation (14). Z phase generation level 2 is output.
Z phase generation level 2 = Pmax + 1−C (14) Formula −
The comparator 0144 receives and compares the rotational phase P and the Z-phase generation level 2, and the rotational phase P becomes the Z-phase generation level 2 (Pmax + 1) as shown in the following equations (15) and (16). -C) Output 1 if above, 0 otherwise.
When (Pmax + 1−C) ≦ Rotation phase P of Z phase generation level 2 1 (15) Equation −
When the rotational phase P <Z phase generation level 2 (Pmax + 1−C), 0 (16)-
The output of the comparator 0144 and the output of the comparator 0129 are calculated by the OR gate 0145 and then stabilized by the D flip-flop 0147 and the reference frequency signal 0146 to become the Z-phase signal Z1 according to the second embodiment.

Next, FIG. 11 is a graph illustrating the Z-phase signal Z1 generated by the equations (6), (7), (15), and (16) in FIG. 10, and FIG. 11 will be described with reference to FIG. First, FIGS. 11- (a), (c), (f), and (g) show the same signals as those shown in FIG. 5, and FIG. 11- (h) shows the second Z This is the Z-phase signal Z1 output from the phase generator 0127b.
Now, the rotation direction signal 0105 shown in FIG. 11- (a) shows a state of normal rotation until time T1, reverse rotation from time T2 to T3, and normal rotation again after time T4. Further, the frequency signal 0107 not shown in FIG. 11 is stopped during the period from time T1 to T2 and from time T3 to T4. Here, the frequency signal 0107 has a constant frequency during both forward rotation and reverse rotation. In the shaftless rotary printing press, the virtual rotation command generating device 0101 performs a printing operation by normal rotation, but reverse rotation is an essential function when the printing press is changed.

  Next, FIG. 11- (c) shows a count-up operation because the rotational phase P is forward rotation until time T1, and a count-down operation because it is reverse from time T2 to T3. A mode of counting up is shown. The rotational phase P is counted up at the time of normal rotation, and becomes zero after reaching the maximum rotational phase Pmax in the equation (9) at time T6, for example, and continues counting up. In addition, the countdown is performed at the time of reverse rotation, and, for example, after reaching zero at time T10, the maximum rotation phase Pmax of the equation (9) is reached and the countdown is continued.

Then, the comparator 0129 of the second Z-phase generator 0127b compares the rotation phase P with the C of the Z-phase generation level 1 indicated by the dotted line according to the equations (6) and (7). A Z-phase signal described later with reference to FIG. 11- (h) is set to “1”, for example, from time T6 to T7 and from time T12 to T13. Further, the comparator 0144 compares the rotational phase P with the (Zmax generation level 2) (Pmax + 1−C) indicated by the dotted line as shown in the equations (15) and (16), and FIG. In h), a Z-phase signal Z1, which will be described later, is set to “1”, for example, between time T5 and T6 and between time T13 and T14.
The outputs of the two comparators 0129 and 0144 are ORed by the OR gate 0145, and a Z-phase signal Z1 to be described later with reference to FIG. 11- (h) is, for example, from time T5 to T7, from time T12 to T14. To "1".

Next, FIGS. 11- (f) and (g) schematically show the A-phase signal A1 and the B-phase signal B1 output from the A-phase / B-phase generator 0123, respectively, and details thereof will be described with reference to FIGS. 4 for explanation.
FIG. 11- (h) shows the Z-phase signal Z1 output from the second Z-phase generator 0127b, and the Z-phase signal Z1 is, for example, at time T5 as described above both in forward rotation and reverse rotation. "1" from time T7 to time T12 to time T14. Thus, also in the second embodiment of the present invention, the A phase signal A1, the B phase signal B1, and the Z phase signal Z1 are obtained from the output of the only rotational phase generator 0109, and the C phase generation level 1 C is obtained. With this set value, it is possible to arbitrarily widen the pulse width of the Z-phase signal Z1 with the rotational phase P as the center.

Next, with reference to FIG. 9, the Z-phase generator 0127b will be described in detail with reference to FIG. 12- (a) to (g) have the same functions as those given the same reference numerals in FIG. 8, and FIG. 12 (h) shows the Z-phase signal output from the second Z-phase generator 0127b. Z1.
First, the rotation direction signal 0105 shown in FIG. 12- (a) shows a state of normal rotation until time T8 and thereafter reverse rotation, and FIG. 12- (b) shows that the frequency signal 0107 is the speed setter. A mode of a signal having a frequency corresponding to the setting of 0103 is shown, and is temporarily stopped around time T8 when the rotation direction changes.
Next, in FIG. 12- (c), since the rotational phase P is normal rotation until time T8, the count-up operation is performed, and after reaching the maximum rotational phase Pmax at time T6, it is cleared to zero and continues counting up. Since the rotation phase P is reversed after time T8, the countdown operation is performed, and after reaching the minimum rotation phase of zero, it is preset to the maximum rotation phase Pmax at time T10 and continues to count down.
The Z-phase generator 0127b compares the rotation phase P with the Z-phase generation level 1 and the Z-phase generation level 2 indicated by the dotted lines in the expressions (6), (7), (15), The Z-phase signal Z1, which will be described later with reference to FIG. 12- (h), is set to, for example, “1” from time T5 to T7 and from time T9 to T11. Here, in FIG. 12- (c), C of the Z phase generation level 1 is exemplified as “4” in order to more specifically show the operation.

  Next, FIGS. 12- (d) to (g) show the same signals as those shown in FIGS. 4- (a) to (d). In FIG. 12, in addition to the forward rotation shown in FIG. The values of the lower 4 bits p3 to p0 of the rotation phase P and the temporal transition of the A phase signal A1 and the B phase signal B1 are shown. First, the values of the lower 4 bits p3 to p0 of the rotational phase P shown in FIGS. 12D and 12E are 3, 0, 1, 2, 3 in the forward direction until time T8. After the transition time T8, a predetermined transition is performed in the reverse direction with 3, 2, 1, 0, 3 in the reverse direction. Since the signals shown in FIGS. 12- (f) and (g) are generated from the signals p1 and p0 shown in FIG. 12- (d), the signals transition regularly. That is, the time T8 when the rotation direction changes before and after the time T6 when the rotation phase P changes from Pmax to 0 at the time of forward rotation, and the time T10 when the rotation phase P changes from 0 to Pmax at the time of the reverse rotation. Even before and after, the A-phase signal A1 and the B-phase signal B1 correctly transition in a predetermined phase relationship.

The Z-phase signal Z1 shown in FIG. 12- (h) becomes “1” from time T5 to T7 and from time T9 to T11. Further, if the phase relationship between the Z-phase signal Z1 and the A-phase signal A1 and the B-phase signal B1 in FIGS. 12- (f) and (g) is compared, the time T5 at the forward rotation is the T11 at the reverse rotation. In addition, time T7 at the time of forward rotation corresponds to T9 at the time of reverse rotation. As described above, the virtual rotation command generator 0101 according to the second embodiment of the present invention always performs the A-phase signal A1, the B-phase signal B1, and the Z-phase in a predetermined phase relationship regardless of whether the rotation is normal or reverse. A signal Z1 is generated.
Here, as shown in FIG. 8, the Z-phase generator 0127 of the first embodiment outputs the Z-phase signal Z1 only on one side when the rotational phase P transits between 0 and Pmax. As shown in FIG. 12, the Z-phase generator 0127b has a difference in that the Z-phase signal is output on both sides with a width of plus or minus C with the rotational phase as the center.

FIG. 13 is a diagram for explaining a third embodiment of the present invention of the virtual rotation command generator 0101 shown in FIG. 1, and FIGS. 14 to 17 further explain the operation and configuration of the third embodiment of FIG. FIG.
First, in FIG. 13, the same reference numerals as those in the first embodiment in FIG. 2 have the same functions, and the difference between FIG. 13 and FIG. 2 is replaced with the rotational phase generator 0109 in FIG. In FIG. 13, a second rotational phase generator 0109b is installed, and instead of the reverse preset circuit 0112 in FIG. 2, a reverse clear circuit 0152 is installed in FIG. 13, and the Z phase generator in FIG. In FIG. 13, a third Z-phase generator 0127c is installed in place of 0127, and a polarity inverter 0151 is installed in addition.

In FIG. 13, 0102, 0103, 0104, and 0105 are a transmitter, a speed setter, a speed setting signal, and a rotation direction signal, respectively. The transmitter 0102 outputs a reference frequency signal having a fixed frequency, and the speed In the setting device 0103, the rotation direction and rotation speed of the electric motors 07a to 07f in FIG. 1 are set. For example, the rotation direction signal 0105 is set so that the rotation direction is 0 for normal rotation and 1 for reverse rotation. The absolute value of the rotation speed is output as the speed setting signal 0104.
Next, 0106, 0107, and 0108 are a rate multi, a frequency signal, and a NOT gate, respectively. The rate multi 0106 receives the reference frequency output from the transmitter 0102 and the speed setting signal 0104, and outputs the frequency signal 0107 having a frequency proportional to the value of the speed setting signal 0104. The NOT gate 0108 inverts the frequency signal 0107 to generate clock signals for D flip-flops 0125, 0126, and 0147 described later.

Next, 0109b, 0110, 0111, 0151, 0152, 0117, and 0156 in FIG. 13 are the second rotation phase generator, clear input, maximum phase coefficient register, polarity inverter, clear circuit for reverse rotation, and clear for forward rotation, respectively. A circuit and an OR gate. The second rotation phase generator 0109b is a reversible binary counter with positive and negative polarities that can be cleared, and inputs the rotation direction signal 0105 and the frequency signal 0107 to the F / R input and the CLK input, respectively. Then, the second rotational phase generator 0109b generates an n-bit rotational phase P by up-counting or down-counting the frequency signal 0107 in response to the rotational direction signal 0105 being forward or reverse. Output from p0 to pn-1 output. Then, the rotational phase P output from the second rotational phase generator 0109b transitions within the range from the minimum rotational phase (−Pmax) to the maximum rotational phase Pmax. Here, the rotational phase generator 0109 of FIG. 2 has a PRE input and an LOD input, but the second rotational phase generator 0109b of FIG. 13 does not have these inputs.

  Here, the maximum phase coefficient register 0111 stores the maximum rotation phase Pmax, and the forward rotation clear circuit 0117 receives the rotation phase P and Pmax output from the maximum phase coefficient register 0111. Then, when the forward rotation clear circuit 0117 is in forward rotation, after the rotational phase P coincides with the maximum rotational phase Pmax, the next time the frequency signal 0107 is input, the OR gate 0156 passes through the OR gate 0156. The CLR input of the second rotational phase generator 0109b is made active and the rotational phase P is set to zero. The details of the operation of the forward rotation clear circuit 0117 are the same as those described with reference to FIG.

Further, when the second rotational phase generator 0109b is in reverse rotation, the rotational phase P counts down and transitions from a positive number to zero through a negative number, and the reverse rotation clear circuit 0152 has the maximum rotational phase. The minimum rotation phase (−Pmax) obtained by inverting the sign of Pmax by the polarity inverter 0151 and the rotation phase P are input. The reverse clearing circuit 0152 includes a comparator 0153, a D flip-flop 0154, and an AND gate 0155. The comparator 0153 compares the rotational phase P with the minimum rotational phase (−Pmax) and compares the following (17 ) And (18) are performed.
When the rotational phase P ≦ the minimum rotational phase (−Pmax), 1 (17)-
When minimum rotation phase (-Pmax) <rotation phase P, 0 (18)-
When the rotation phase P reaches zero and reaches the minimum rotation phase (−Pmax) during reverse rotation, the output of the comparator 0153 becomes “1”, and the output is a reference output from the NOT gate 0108 by the D flip-flop 0154. Synchronized to frequency. Thereafter, the CLR input of the second rotational phase generator 0109b is made active via the AND gate 0155 and the OR gate 0156, and the second rotational phase generator 0109b is cleared to make the rotational phase P zero. That is, the third embodiment of FIG. 13 is characterized in that the rotational phase P is cleared at the maximum rotational phase Pmax and the minimum rotational phase (−Pmax) in both forward and reverse rotations.

  Next, 0123 in FIG. 13 is an A-phase / B-phase generator, and the A-phase / B-phase generator 0123 includes an XOR gate 0124 and D flip-flops 0125 and 0126, and the second rotational phase generator 0109b is An A-phase signal A1 and a B-phase signal B1 having a phase difference of 90 degrees are generated from the lower two bits p0 and p1 of the rotation phase P to be output. In other words, the bit p1 is stabilized by the D flip-flop 0125 using the reference frequency signal output from the transmitter 0102 as a clock input to obtain an A-phase signal A1. Then, the bits p0 and p1 are processed by the XOR gate 0124 and then stabilized by the D flip-flop 0126 to be a B-phase signal B1. The bit p0 is the LSB of the rotational phase P, and the bit p1 is the second bit from the least significant bit.

Next, the third Z-phase generator 0127c is characterized in that it generates a Z-phase signal Z1 having an arbitrary pulse width. This explanation is in conjunction with the explanation of the operation of the second rotational phase generator 0109b. This will be described later with reference to FIGS.
Further, the clear input 0110 in FIG. 13 clears the second rotational phase generator 0109b via the OR gate 0156 to set the rotational phase P to zero, and from the third Z phase generator 0127c. A Z-phase signal Z1 is generated. The clear input 0110 is a signal input from the outside and is connected to the phase FB detection device 0603 of the folding machine through the communication line 02b of FIG. 1 as an example. The folder phase FB detection device 0603 inputs the Z-phase signal Z3 output from the rotary encoder 08f of the folder into the clear input 0110 via the communication line 02b. When the Z-phase signal Z3 becomes active (logic “1” in FIG. 13), the second rotational phase generator 0109b is cleared and the Z-phase signal Z1 is generated from the third Z-phase generator 0127c. Let me.
This operation is performed once during the slow-motion operation by speed control when the rotary encoder 08f of the folding machine outputs the Z-phase signal Z3, and the Z generated by the virtual rotation command generator 0101 is generated. The phase signal Z1 is matched with the Z-phase signal of the rotary encoder 08f of the folder.

  As a result, the rotation phase P generated by the virtual rotation command generation device 0101 by the instantaneous operation coincides with the rotation phase of the rotary encoder 08f of the folding machine at zero. Do dynamic operation. As soon as the phase control is turned on, each printing press and folding machine are controlled in accordance with a command output from the virtual rotation command generating device 0101. Even if each printing machine performs the origin adjustment, the folding machine 15f does not change the virtual machine. Since the rotation command generator 0101 and the rotation phase are already in alignment, it is not necessary to perform origin alignment. That is, the folding machine 15f starts to operate smoothly without unnecessary acceleration / deceleration, and a plurality of continuous sheets entering the folding machine 15f start printing without causing slack or abnormal tension.

FIG. 14 further explains the operations of the second rotational phase generator 0109b and the third Z phase generator 0127c of FIG. 13, and FIG. 14 will be described with reference to FIG. 14A shows a temporal transition of the rotational direction signal 0105, FIG. 14C shows a temporal transition of the rotational phase P output from the second rotational phase generator 0109b, and FIG. (F), (g), and (h) show the A-phase signal A1, the B-phase signal B1, and the Z-phase signal Z1 output from the virtual rotation command generation device 0101, respectively.
First, the rotation direction signal 0105 shown in FIG. 14- (a) indicates a state in which normal rotation is performed until time T1, reverse rotation from time T2 to T3, and normal rotation again after time T4, between time T1 and T2. Between the times T3 and T4, the frequency signal 0107 not shown in FIG. 14 is in a stopped state. Here, the frequency signal 0107 has a constant frequency during both forward rotation and reverse rotation.

  Next, FIG. 14- (c) shows a count-up operation because the rotation phase P is normal rotation until time T1, and a count-down operation because it is reverse rotation from time T2 to T3. A mode of counting up is shown. The rotational phase P is counted up at the time of normal rotation, and becomes zero after reaching the maximum rotational phase Pmax in the equation (9) at time T6, for example, and continues counting up. In addition, the countdown is performed at the time of reverse rotation, and the countdown is continued even after becoming zero at time T10, for example, and the rotation phase P becomes a negative rotation phase. At time T13, the rotational phase P becomes the minimum rotational phase (-Pmax) obtained by inverting the sign of the maximum rotational phase Pmax, and then cleared to zero and continues counting down again.

Here, the operation of the third Z-phase generator 0127c will be described with reference to FIG. 14C. In the figure, the Z-phase generation level 1 is a value of C, and the Z-phase generation level 2 is the expression (14). The Z phase generation level 3 and the Z phase generation level 4 have the values of the following formulas (19) and (20) obtained by inverting the Z phase generation level 1 and the Z phase generation level 2 respectively. .
Z phase generation level 3 = -C (19) Formula-
Z-phase generation level 4 = − (Pmax + 1−C) (20) Formula −
Then, the third Z-phase generator 0127c compares the rotational phase P with the Z-phase generation level 1 to the Z-phase generation level 4, and the following equations (21), (22), or (23 In the case of equation (1), “1” is output, and “0” is output otherwise.
When Z phase generation level 2 (Pmax + 1−C) ≦ rotation phase P 1
(Z phase generation level -C ≦ rotation phase P) ∩
(Rotation phase P ≦ C of Z phase generation level 1) 1 (22)-
When the rotational phase P ≦ Z phase generation level 4 − (Pmax + 1−C), Equation 1 (23) −
That is, the third Z-phase generator 0127c outputs “1” from the time T5 to T6, for example, when the rotational phase P is equal to or higher than the Z-phase generation level 2 in the equation (21). In the case of the expression (22), when the rotational phase P is not less than the Z phase generation level 3 and not more than the Z phase generation level 1, for example, “1” is output from time T6 to T7 and from time T9 to T11. Show. Further, the expression (23) indicates that “1” is output, for example, from time T12 to T13 when the rotational phase P is lower than the Z-phase generation level 4.

  Next, FIGS. 14- (f) and (g) schematically show the A-phase signal A1 and the B-phase signal B1 output from the A-phase / B-phase generator 0123, respectively, and FIG. 14- (h) 3 shows the Z-phase signal Z1 output from the Z-phase generator 0127c, and the Z-phase signal Z1 is generated as described above both in the forward rotation and in the reverse rotation. That is, the third Z-phase generator 0127c performs the processing of the equations (21) to (23), for example, from time T5 to T7, from T9 to T11, from T12 to T14 in FIG. From T16 to T18, the Z-phase signal Z1 is set to “1”. The width of the Z-phase signal Z1 can be arbitrarily increased by the value of the constant C related to the Z-phase generation level 1 to the Z-phase generation level 4.

  Thus, in the virtual rotation command generator 0101 according to the third embodiment of the present invention, the A-phase signal A1, the B-phase signal B1, and the Z-phase signal Z1 are output from only the output of the second rotation phase generator 0109b. And the pulse width of the Z-phase signal can be arbitrarily increased by the set value of the constant C built in the third Z-phase generator 0127c. Further, the second rotational phase generator 0109b clears the rotational phase P to be generated from the maximum rotational phase Pmax to zero during normal rotation and continues counting up, and counts down during reverse rotation to perform the countdown. The rotation phase P is negative and proceeds to the minimum rotation phase (−Pmax). The minimum rotation phase (−Pmax) is cleared to zero and the countdown is continued. That is, in the first embodiment shown in FIG. 2, when the reverse rotation is performed, the preset rotation speed P is preset after the rotation phase P is zero by the action of the reverse rotation preset circuit 0112. In both cases, the rotation phase P is similar to the maximum rotation phase Pmax or the minimum rotation phase (−Pmax), and becomes similar to zero.

As a result, the virtual rotation command generator 0101 of FIG. 13 does not require the reverse preset circuit 0112 of FIG. 2 and has a simple configuration and can withstand higher speed operation.
That is, the inside of the virtual rotation command generator 0101 in FIG. 2 needs to operate at high speed. Specifically, in order to obtain the A-phase signal A1, the B-phase signal B1, and the Z-phase signal Z1 having the necessary frequencies as the printing speed of the shaftless rotary printing press increases, the transmitter 0102 The reference frequency signal to be output reaches 60 MHz, and further exceeds 70 MHz. Then, following the reference frequency signal, the rotational phase generator 0109, the forward rotation clear circuit 0117, and the reverse rotation preset circuit 0112 in FIG. 2 must also be designed to operate at high speed. Even if the MPU or DSP is developed so much, even if the virtual rotation command generation device 0101 is configured using these, the processing speed is not much higher.
Therefore, the virtual rotation command generation device 0101 is configured by hardware using a logic device such as an FPGA (field programmable gate array) or a PLD (programmable logic device), and speeds up by eliminating arithmetic processing. The circuit configuration of the wear must be basically designed to withstand high-speed operation. Therefore, instead of the reverse preset circuit 0112 that performs a complicated operation in a short time in FIG. 2, a reverse clear circuit 0152 is provided in FIG. 13 of the third embodiment. Then, a similar operation is executed in which the rotational phase P becomes zero after the maximum rotational phase Pmax or the minimum rotational phase (−Pmax) during both forward and reverse rotations. As a result, the circuit configuration is simplified, and the operation speed and reliability are improved.

Here, also in the third embodiment of FIG. 13, the second rotational phase generator 0109b has a resolution that is a multiple of 4 shown in the above equation (8). When the transition from normal rotation to reverse rotation, in FIG. 16, when the transition from reverse rotation to normal rotation, the second rotational phase generator 0109b continuously provides the A phase signal A1, the B phase signal B1, and the Z phase signal. The generation of Z1 and the operation of the third Z-phase generator 0127c will be described.
First, with respect to FIG. 15, FIGS. 15- (a), (b), and (c) show temporal transitions of the values of the rotation direction signal 0105, the frequency signal 0107, and the rotation phase P, respectively. d) shows a temporal transition of the lower 4 bits from p3 to p0 in binary number, and FIG. 15- (e) shows a temporal transition of the value of p3 to p0 in decimal. 15- (f) and 15 (g) show the A-phase signal A1 and B-phase signal B1 generated by the A-phase / B-phase generator 0123, and FIG. 15- (h) shows the third Z-phase generation. The time transition of the Z phase signal Z1 which the device 0127c produces | generates is shown.

The rotation direction signal 0105 shown in FIG. 15- (a) shows a state of normal rotation until time T8, and thereafter reverse rotation, and FIG. 15- (b) shows the frequency signal 0107 and the rotation direction changes. It stops once around time T8.
Next, FIG. 15- (c) counts up because the rotational phase P is normal until time T8, and after reaching the maximum rotational phase Pmax at time T6, it is cleared and becomes zero. continue. Further, since the rotational phase P is reversed after time T8, the countdown operation is performed, and after the rotational phase P becomes zero at time T10, the countdown continues to become a negative rotational phase.

  Then, the third Z-phase generator 0127c compares the rotational phase P with the (Pmax + 1−C) of the Z-phase generation level 2 indicated by the dotted line according to the equation (21). Further, a comparison between the Z phase generation level 1 C and the Z phase generation level 3 (-C) is performed according to the equation (22), and a Z phase signal Z1 shown in FIG. Generate. That is, the Z-phase signal Z1 is “1” from time T5 to T6 according to the equation (21), and is “1” from time T6 to T7 and from time T9 to T11 according to the equation (22). Here, in 15- (c), the value of C is exemplified as “4” in order to more specifically show the operation.

  Next, the values of the lower 4 bits p3 to p0 of the rotation phase P shown in FIGS. 15- (d) and (e) are 3, 0, 1, 2, 3 in the forward direction until time T8. After the transition time T8, a predetermined transition is performed in the reverse direction with 3, 2, 1, 0, 3 in the reverse direction. Since the signals shown in FIGS. 15- (f) and (g) are generated from the signals p1 and p0 shown in FIG. 15- (d), the signals transition regularly. For example, even when the rotation phase P changes from Pmax to 0 at the time of normal rotation, around time T6, and at the time of rotation reverse to around time T10 when the rotation phase P changes from positive to 0 to negative polarity. Even before and after time T8 when the direction changes, the A-phase signal A1 and the B-phase signal B1 correctly transition in a predetermined phase relationship.

  The Z-phase signal Z1 shown in FIG. 15- (h) becomes “1” between time T5 and T7 and between time T9 and T11 as described above. Further, if the phase relationship between the Z-phase signal Z1 and the A-phase signal A1 and the B-phase signal B1 in FIGS. 15- (f) and (g) is compared, the time T5 at the forward rotation is the T11 at the reverse rotation. In addition, time T7 at the time of forward rotation corresponds to T9 at the time of reverse rotation.

  Next, FIG. 16 will be described. FIGS. 16- (a) to (h) represent temporal transitions of the same signals as those in FIGS. 15- (a) to (h). In FIG. , The second rotation phase generator 0109b can continuously generate the A-phase signal A1, the B-phase signal B1, and the Z-phase signal Z1, and the third Z-phase generator 0127c The operation is explained.

First, the rotation direction signal 0105 shown in FIG. 16- (a) shows a state where the rotation is reversed until time T15, and after that, the rotation is forward, and FIG. 16- (b) shows the frequency signal 0107. It stops once before and after time T15 when.
Next, FIG. 16- (c) counts down because the rotational phase P is reverse until time T15, and after reaching the minimum rotational phase (-Pmax) at time T13, it is cleared to zero and counts down. continue. Further, since the rotation phase P becomes normal rotation after the time T15, the count-up operation is performed. After the rotation phase P becomes zero at the time T17, the count-up is continued and the positive rotation phase is obtained. Become.

  The third Z-phase generator 0127c compares the rotational phase P with the Z-phase generation level 1 C indicated by the dotted line and the Z-phase generation level 3 (-C) of the equation (22). And the comparison with the Z-phase generation level 4 of {− (Pmax + 1−C)} is performed according to the equation (23) to generate the Z-phase signal Z1 shown in FIG. To do. That is, the Z-phase signal Z1 is “1” from time T12 to T13 according to the equation (23), and is “1” from time T13 to T14 and from time T16 to T18 according to the equation (22). Here, in FIG. 16C, the value of C is exemplified as “4” in order to more specifically show the operation.

  Next, the values of the lower 4 bits p3 to p0 of the rotation phase P shown in FIGS. 16D and 16E transition to 1, 0, 3, 2, 1 in the reverse direction until time T15. Then, after time T15, a predetermined transition is performed in the forward rotation direction as 1, 2, 3, 0, and 1. Since the signals shown in FIGS. 16- (f) and (g) are generated from the signals p1 and p0 shown in FIG. 16- (d), the signals transition regularly. For example, even around time T13 when the rotational phase P changes from (−Pmax) to 0 during reverse rotation, and around time T17 when the rotational phase P changes from negative polarity to 0 through positive polarity during forward rotation. Even before and after time T15 when the rotation direction changes, the A-phase signal A1 and the B-phase signal B1 correctly transition in a predetermined phase relationship.

  Then, as described above, the Z-phase signal Z1 shown in FIG. 16- (h) becomes “1” from time T12 to T14 and from time T16 to T18. Further, if the phase relationship between the Z-phase signal Z1 and the A-phase signal A1 and B-phase signal B1 in FIGS. 16- (f) and (g) is compared, the time T12 at the time of reverse rotation is T18 at the time of normal rotation. Furthermore, time T14 at the time of reverse rotation corresponds to T16 at the time of forward rotation.

The operation of the third Z-phase generator 0127c of FIG. 13 has been described with reference to FIGS. 14, 15, and 16. Next, FIG. 17 shows a configuration example of the third Z-phase generator 0127c. Show about.
In FIG. 17, 0128 is a Z-phase width coefficient register that outputs C at the Z-phase generation level 1, 0142 is a maximum phase coefficient register that outputs (Pmax + 1), and 0143, 0162, and 0163 are an adder / subtracter and a polarity inverter, respectively. It is. Reference numerals 0129, 0144, 0164, and 0165 denote comparators, 0166 and 0167 denote AND gates and OR gates, 0146 denotes a reference frequency signal output from the oscillator 0102, and 0147 denotes a D flip-flop.

The third Z-phase generator 0127c receives the rotational phase P, and the adder / subtracter 0143 adds and subtracts the outputs of the maximum phase coefficient register 0142 and the Z-phase width coefficient register 0128 to obtain the Z-phase generation level 2. (Pmax + 1−C) is output. The polarity inverter 0162 inverts the output of the Z-phase width coefficient register 0128 to output Z phase generation level 3 (-C), and the polarity inverter 0163 inverts the output of the adder / subtracter 0143. Then, {− (Pmax + 1−C)} that is the Z phase generation level 4 is output.
Next, the comparator 0144 in FIG. 17 receives the rotation phase P and the (Pmax + 1−C) output from the adder / subtractor 0143 and compares them, and outputs “1” when the condition of the expression (21) is satisfied. To do. The comparator 0164 receives the rotation phase P and (−C) output from the polarity inverter 0162 for comparison, and the comparator 0129 outputs the rotation phase P and the Z-phase width coefficient register 0128. Comparison is performed by inputting C, and the outputs of the comparators 0164 and 0129 are input to the AND gate 0166. The AND gate 0166 outputs “1” when the condition of the expression (22) is satisfied. Further, the comparator 0165 receives the rotation phase P and {− (Pmax + 1−C)} output from the polarity inverter 0163 for comparison, and outputs “1” when the condition of the equation (23) is satisfied. To do.

The outputs of the comparator 0144, the AND gate 0166, and the comparator 0165 are stabilized by the D flip-flop 0147 and the reference frequency signal 0146 through the OR gate 0167, and become the Z-phase signal Z1 according to the third embodiment.
Thus, in the third embodiment of the present invention shown in FIGS. 13 to 17, the virtual rotation command generating device 0101 always has an A-phase signal in a predetermined phase relationship regardless of whether it rotates forward or backward. Similar operation in which A1, B-phase signal B1, and Z-phase signal Z1 are generated, and the rotational phase P becomes zero after the maximum rotational phase Pmax or the minimum rotational phase (−Pmax) during both forward and reverse rotations. As a result, the circuit configuration by hardware was simplified and the operation speed and reliability were improved. Further, the pulse width of the Z-phase signal Z1 can be arbitrarily increased by the value of C output from the Z-phase width coefficient register 0128.

As described above, the virtual rotation command generation measure 0101 has been described with reference to the first, second, and third embodiments of the present invention. Here, in order to construct a synchronous control system for the purpose of driving a shaftless rotary printing press or the like, the virtual rotation command generating device 0101 for outputting a rotation command is prepared as shown in FIG. A phase command detection device 0601 for receiving a rotation command on the drive device side, a phase FB detection device 0602 for a printing press, and a phase FB detection device 0603 for a folding machine are required. The four devices 0101, 0601, 0602, and 0603 are extremely closely related to each other in terms of functions and configurations. Therefore, these four devices are designed so that the functions corresponding to each other are balanced even when a new device is developed for the purpose of building a synchronous control system and improving the capability, or when changing models. There is a need to.
Next, FIG. 18 explains the fourth embodiment of the present invention, and discloses the invention of the phase command detection device 0601 incorporated in the synchronous drive devices 06a, 06b and 06f shown in FIG. 19 and 20 further illustrate the operation of the fourth embodiment shown in FIG. As an application of the fourth embodiment, the embodiment of the phase FB detection device 0603 for the folding machine shown in FIG. 1 will be described with reference to FIG. 21, and the embodiment of the phase FB detection device 0603 for the printing press will be described with reference to FIG. Do.

  First, FIG. 18 will be described with reference to FIG. 1. The phase command detection device 0601 is incorporated in the synchronous drive devices 06a to 06f of the printing press and folding machine shown in FIG. The phase command is detected from the phase velocity command 02a (configured by the A phase signal A1, the B phase signal B1, and the Z phase signal Z1) output from the device 0101. In FIG. 18, 0611, 0612, 0613, and 0614 are an A-phase B-phase receiver, a Z-phase receiver, a rotation direction signal, and a frequency signal, respectively, and the Z-phase receiver 0612 is a feature of the fourth embodiment. It is what constitutes. Reference numerals 0111 and 0120 are a maximum phase coefficient register and a NOT gate, 0615 and 0618 are a rotation phase detector and a phase command, respectively, and 0616 and 0617 are AND gates.

The A-phase / B-phase receiver 0611 receives the A-phase signal A1 and the B-phase signal B1 output from the virtual rotation command generation device 0101 and performs filter processing, electrical insulation, and the like. 3) and a frequency signal 0614 obtained by multiplying the frequency of the A-phase signal by four as shown in the formula (4), and, for example, “0” during forward rotation from the phase relationship between the A-phase signal A1 and the B-phase signal B1 A rotation direction signal 0613 that is “1” during reverse rotation is generated.
The Z-phase receiver 0612, which is the feature of the fourth embodiment, receives the Z-phase signal Z1 output from the virtual rotation command generator 0101 and performs electrical insulation, etc., and receives the frequency signal 0614. The Z-phase signal Zm extracted by eliminating noise intrusion is output. Here, the Z-phase signal Z1 is a signal having a wide pulse width generated by the Z-phase generators 0127, 0127b, and 0127c according to the first, second, or third embodiment of the present invention. Is the Z-phase signal Z1 generated by the second Z-phase generator 0127b of the second embodiment of FIG.

  Next, the rotational phase detector 0615 is a reversible binary counter that has the same function as the rotational phase generator 0109 of FIGS. 2 and 9 and can be cleared and preset. The rotational direction signal 0613 and the frequency signal 0614 is input to the F / R input and the CLK input, respectively. The rotational phase detector 0615 generates an n-bit rotational phase P by counting up or down the frequency signal 0614 in response to the rotational direction signal 0613 corresponding to normal rotation or reverse rotation, and generates p- Output from 1 output and detect phase command 0618. The maximum phase coefficient register 0111 holds the maximum rotation phase Pmax and outputs it to the LOD input of the rotation phase detector 0615.

Next, the NOT gate 0120 inverts and outputs the rotation direction signal 0613, the AND gate 0616 receives the extracted Z-phase signal Zm and the output of the NOT gate 0120, and the AND gate 0617 extracts the extracted signal. The Z-phase signal Zm and the rotation direction signal 0613 are input.
That is, during forward rotation, the AND gate 0616 is selected, and when the extracted Z-phase signal Zm becomes “1”, the clear input of the rotational phase detector 0615 is set to “1” via the AND gate 0616. As a result, the rotational phase P is cleared to zero and then continues to count up. On the other hand, during reverse rotation, the AND gate 0617 is selected, and when the extracted Z-phase signal Zm becomes “1”, the PRE input of the rotational phase detector 0615 is set to “1” via the AND gate 0617. As a result, the rotational phase P is preset to the maximum rotational phase Pmax input from the LOD input, and then continues to count down.
In this way, the rotational phase P detected by the phase command detection device 0601, that is, the phase command 0618 changes in the range from 0 to the maximum rotational phase Pmax.

Here, the Z-phase receiver 0612 receives the Z-phase signal Z1 having a wide pulse width generated by the second Z-phase generator 0127b of FIG. 9, and outputs the Z-phase signal Zm extracted by eliminating noise. However, this will be described with reference to FIG.
FIG. 19A shows a configuration example of the Z-phase receiver 0612. The Z-phase receiver 0612 includes a shift register 0631, an AND gate 0632, a D flip-flop 0633, and an AND gate 0634. Here, the AND gate 0634 outputs “1” when the output of the AND gate 0632 is “1” and the output of the D flip-flop 0633 is “0”. That is, the AND gate 0634 detects a rising edge when the output of the AND gate 0632 becomes “1”.
The shift register 0631 and the AND gate 0632 detect a case where the Z-phase signal Z1 is “1” over a continuous k pulse period of the frequency signal 0614, and the AND gate 0634 detects that the AND gate 0632 is “ Detection of a rising edge that becomes 1 ″. In the following description of FIG. 19- (b) and below, the input of the AND gate 0632 is described as four from Q0 to Q3.

Next, FIGS. 19- (b), (c), and (d) show the A-phase signal A1, the B-phase signal B1, and the Z-phase signal Z1 that are output when the virtual rotation command generator 0101 is rotating forward, respectively. To express. The Z-phase signal Z1 is assumed to be regular “1” from time T3 to T4 as shown in FIG. 19- (d), and the noise shown in FIG.
FIG. 19- (e) shows the frequency signal 0614 output from the A-phase / B-phase receiver 0611, and the rising and falling edges of the A-phase signal A1 and the B-phase signal B1 as shown from time T1 to T2. Detected to be a signal four times the frequency of the A phase signal.

Next, FIGS. 19- (f), (g), (h), and (i) show Q0 to Q3 outputs of the shift register 0631, respectively, and FIGS. 19- (j) and (k) show the AND gates. The outputs of 0632 and D flip-flop 0633 are shown. FIG. 19- (m) shows the output of the AND gate 0634, that is, the extracted Z-phase signal Zm that becomes the output of the Z-phase receiver 0612.
First, the operation of the shift register 0631 will be described. The Z-phase signal Z1 of FIG. 19- (d) is synchronized with the clock marked with “1” of the frequency signal of FIG. It becomes the Q0 signal of 19- (f). Then, the Q0 signal is sequentially shifted by the clocks indicated by “2”, “3”, and “4” of the frequency signal of FIG. 19- (e), from FIG. 19- (g) to (i). Q1, Q2, and Q3 signals. The output of the AND gate 0632 in FIG. 19- (j) becomes “1” from time T11 to T13 when all the Q0 to Q3 outputs of the shift register 0631 become “1”.

Next, FIG. 19- (k) is obtained by shifting the signal of FIG. 19- (j), and these two signals are input to the AND gate 0634 and extracted as shown in FIG. 19- (m). A Z-phase signal Zm is obtained. The pulse width of the extracted Z-phase signal Zm is equal to one period of the frequency signal 0614 in FIG. 19- (e), so that the rotational phase detector 0615 in FIG. Clear and preset accurately within.
Even when the Z-phase signal Zm having a wide pulse width is input, the Z-phase signal extracted at the center position of the Z-phase signal Z1 can be generated by appropriately selecting the number of stages of the shift register 0631. Thus, the Z-phase signal Zm extracted at the same rotational phase position can be obtained during forward rotation and reverse rotation. Here, the number of stages of the shift register 0631 can be set by an MPU (not shown) without changing the hardware so as to correspond to Z-phase signals having various pulse widths.

Also, the noise that has entered the Z-phase signal Z1 of FIG. 19- (d) at time T5 is synchronized with the frequency signal 0614 of FIG. 19- (e) and is converted from FIG. 19- (f) to (i). Are sequentially shifted from Q0 to Q3. However, since Q0 to Q3 do not become “1” at the same time as shown in the figure, the AND gate 0632 removes noise and becomes as shown in FIG. 19- (j), and FIG. 19- (m). Even before and after time T14, the waveform has no noise.
The CK input of the shift register 0631 uses the frequency signal 0614 generated from the A phase signal A1 and the B phase signal B1. Therefore, the lower the rotational speed, the longer the period of the frequency signal 0614 and the higher the function of removing the intruding noise. As the rotational speed increases, the signal automatically added to the CK input of the frequency signal 0614 is adjusted. The Thus, the Z-phase receiver 0612 having the wide pulse width Z-phase signal Z1 has the best noise removal function.

Next, FIGS. 20- (b) to (m) show the same signals as FIGS. 19- (b) to (m), but in FIG. 20, noise enters when the Z-phase signal Z1 is "1". Explain the case. That is, it is assumed that the noise shown in FIG. 20- (d) enters at time T5 between times T3 and T4.
This intruding noise is sequentially shifted from Q0 to Q3 as shown in FIG. 20- (f) to (i) by the clock from “1” to “4” in FIG. 20- (e). Also in this case, Q0 to Q3 do not become “1” at the same time as shown in the figure, so that the AND gate 0632 eliminates noise and becomes as shown in FIG. 19- (j), and FIG. 20- (m) Even before and after time T14, the waveform has no noise.

Although the phase command detection device 0601 has been described with reference to FIGS. 18 to 20, the phase FB detection device 0602 and the folding machine of the printing press shown in FIG. 1 using the hardware of the phase command detection device 0601. The phase FB detection device 0603 can be configured.
FIG. 21 shows a configuration of the phase FB detection device 0603 of the folding machine. In the figure, components having the same reference numerals as those in FIG. 18 have the same functions and will not be described. In FIG. 21, the A-phase signal A3, the B-phase signal B3, and the Z-phase signal Z3 are signals output from the rotary encoder 08f of FIG. 1, and the Z-phase signal is output according to the pulse width of the Z-phase signal Z3. The number of stages of the shift register 0631 built in the receiver 0612 is determined. Also, 0619 is changed to the phase command 0618 in FIG. Then, the extracted Z-phase signal Zm indicated by a dotted line in FIG. 21 is output to the outside and sent to the virtual rotation command generator 0101 in FIG.
Here, FIG. 21 is exemplified as the phase FB detection device 0603 of the folding machine. However, when the extracted Z phase signal Zm indicated by the dotted line is not used, the phase FB detection of the printing machine of FIG. The device 0602 is configured.

FIG. 22 shows another configuration example of the phase FB detection device 0602 of the printing press. The forward rotation clear circuit 0117 and the reverse rotation preset circuit 0112 have the same functions as those shown in FIG. The description is omitted, and 0620 and 0621 are OR gates. Moreover, what attaches | subjects the same code | symbol as the said FIG. 21 has the same function as it, and omits description. In FIG. 22, the A-phase signal A2, the B-phase signal B2, and the Z-phase signal Z2 are signals output from the rotary encoder 08a of FIG. 1, and the Z-phase signal is output according to the pulse width of the Z-phase signal Z2. The number of stages of the shift register 0631 built in the receiver 0612 is determined.
Here, in the normal rotation in FIG. 22, the forward clear circuit 0117 causes the OR gate 0621 to be input when the frequency signal 0614 is input next after the phase FB0619 coincides with the maximum rotation phase Pmax. Then, the CLR input of the rotational phase detector 0615 is made active, the rotational phase detector 0615 is cleared, and the phase FB0619 is set to zero.
In normal rotation, the Z-phase signal Z2 normally clears the rotational phase detector 0615 via the Z-phase receiver 0612, the AND gate 0616, and the OR gate 0621. However, if clearing by the Z-phase signal Z2 is not normally performed, the forward rotation clear circuit 0117 backs up and reliably clears the rotational phase detector 0615.
Further, at the time of reverse rotation, the reverse rotation preset circuit 0112 backs up the Z-phase signal Z2 and reliably presets the rotational phase detector 0615 to the maximum rotational phase Pmax.

To summarize the purpose of the fourth embodiment of the present invention described above, when noise enters the Z-phase signal Z1 of the phase command detection device 0601 of FIG. 18, it is directly input to the CLR input of the rotational phase detector 0615. When used for the PRE input, the rotation phase P is cleared to zero or preset to the maximum rotation phase Pmax, and it becomes impossible to obtain the correct phase command 0618.
In consideration of such noise intrusion, the virtual rotation command generator 0101 side generates the Z-phase signal Z1 having a wide pulse width by using the second Z-phase generator 0127b of the second embodiment of FIG. . Then, the phase command detection device 0601 side of the synchronous drive device extracts the Z-phase signal Zm from which noise is eliminated by the Z-phase receiver 0612 of the fourth embodiment shown in FIG. The purpose is to obtain a stable and accurate phase command 0618 by performing clear or preset. It should be noted that the configuration of FIG. 19- (a) is illustrated to specifically describe the purpose of the fourth embodiment, and it goes without saying that the present invention is not impaired even with other hardware configurations. Yes.

FIG. 23 is a diagram for explaining the configuration of a synchronous control system using the virtual rotation command generator 0101 and the folding machine synchronous drive device 06f according to the fifth embodiment of the present invention. First, referring to FIG. The apparatus which comprises 5 is demonstrated.
In FIG. 23, a central control device 01, a virtual rotation command generation device 0101, a communication line 02b, a folding machine synchronous drive device 06f, a phase command detection device 0601, a folding machine phase FB detection device 0603, an electric motor 07f, and a rotary encoder The function of 08f is the same as that denoted by the same reference numeral in FIG. In order to clarify the explanation, the virtual rotation command generation device 0101 is based on the second embodiment of FIG. 9, and both the phase command detection device 0601 and the phase FB detection device 0603 of the folding machine are the fourth embodiment. It depends on FIG. The functions of the phase command 0618 and the phase FB0619 are the same as those given the same reference numerals in FIGS. 18 and 21 of the fourth embodiment.

Furthermore, in FIG. 23, 0641, 0642, 0643, 0644, and 0645 are a speed command detector, an interlocking speed command, a selector, a slow motion speed command, and a slow motion speed command after selection. Reference numerals 0646, 0647, and 0648 denote a speed FB detector, a speed FB, and an adder / subtracter, respectively. These constitute a speed control system which becomes a main control loop in the synchronous drive device 06f of the folding machine, and drives the electric motor 07f of the folding machine with high accuracy.
That is, the speed command detector 0641 obtains a change in the phase command per unit time from the phase command 0618 output by the phase command detection device 0601 and calculates and outputs the interlocked speed command 0642. Similarly, the speed FB detector 0646 obtains a change in the phase FB per unit time from the phase FB0619 output from the phase FB detector 0603 of the folding machine, and calculates and outputs the speed FB0647.

When the operation of the electric motor 07f of the folding machine is started, the selector 0643 is off and the slow speed command 0644 (having the slow speed command value Vj) input from the b input is selected from the c output. Is output as a speed command 0645. Then, as described later, when the slow operation of the electric motor 07f of the folding machine is stabilized, the selector 0643 is turned on, and the interlocked speed command 0642 input from the a input is output as the speed command 0645 after selection from the c output. Here, the value of the interlocking speed command 0642 is the slow speed command value Vj before switching.
The speed command 0645 and the speed FB0647 after the selection calculate a speed deviation ΔV by the adder / subtractor 0648, and generate the torque command 0654 by the calculation controller 0653 via the adder / subtractor 0652. The torque command 0654 is input to the driving device 0655 to drive the electric motor 07f of the folding machine. Thus, the electric motor 07f of the folding machine first performs a gradual operation by speed control.

The speed control system serving as the main control loop has been described above. Next, the phase control system will be described. Similarly, in FIG. 23, 0649, 0650, and 0651 are an adder / subtracter, a phase deviation calculator, and a selector, respectively, and the adder / subtracter 0649 calculates a deviation between the phase command 0618 and the phase FB0619 to generate a phase deviation ΔP. . The phase deviation calculator 0650 receives the phase deviation ΔP, corrects it, generates a corrected phase deviation ΔQ, and outputs it to the a input of the selector 0651.
When the phase control is off, the selector 0651 is turned off, the value zero input to the b input is output from the c output, and the adder / subtractor 0652 adds / subtracts the speed deviation ΔV. Further, when the phase control is turned on, the selector 0651 is turned on, and the corrected phase deviation ΔQ inputted to the a input is outputted from the c output. Then, this is added / subtracted with the speed deviation ΔV by the adder / subtractor 0652 to perform phase control. As a result, the electric motor 07f of the folding machine performs synchronous control that accurately follows the command of the virtual rotation command generator 0101.

  Thus, the phase control is turned on and off by the selector 0651. In the present invention, the case where the speed control and the phase control are performed simultaneously is referred to as origin matching control or synchronous control. The origin adjustment control and the synchronization control both perform the phase control in addition to the speed control. In the present invention, if the value at which the phase deviation ΔP can be printed is (± ΔPs), the phase control is in progress. When the phase deviation ΔP is within (+ ΔPs) from (−ΔPs), synchronous control is used, and when the phase deviation ΔP is not within (−ΔPs) (+ ΔPs), it is called origin matching control. Please note that.

  Although the individual functions of the respective apparatuses in the embodiment 5 of FIG. 23 have been described above, when the present invention starts the operation of the shaftless rotary printing press, the continuous paper is printed quickly without breaking and without slacking. Aims to start. Therefore, when starting the operation of the folding machine 15f, it is necessary to install and operate the selectors 0643 and 0651 in the fifth embodiment of FIG. 23. The description of FIG. 23 will be given.

(1) When the electric motor 07f of the folding machine is driven near zero speed such as slow-motion operation, the speed deviation ΔV is added to the adder / subtractor 0652 with a very small value. At this time, when phase control is performed for synchronous control, the corrected phase deviation ΔQ, which is a signal having both positive and negative polarities, is added to the adder / subtractor 0652, and the output of the adder / subtractor 0652 may be negative. Torque is generated to drive the electric motor 07f of the folding machine in reverse.
(2) However, such a situation is not allowed because the reverse rotation is absolutely prohibited in the folding machine. For this reason, in the present invention, when the electric motor 07f of the folding machine is driven near zero speed, that is, when the operation is started, only the speed control is performed without performing the phase control, and the electric motor 07f is surely corrected. It is activated by turning.
(3) In addition to the danger of reverse rotation in the above item (1), when the electric motor 07f is operated by synchronous control, according to the simulation results and experimental results of the present applicant, the phase deviation ΔP is determined by the electric motor 07f. There is an anti-correlation with the speed. That is, the phase deviation ΔP is large when the speed is low, and the phase deviation ΔP is small as the speed increases. Therefore, the phase deviation ΔP is further larger when the speed is near zero. Therefore, if phase control is performed at the start of operation, speed hunting, machine vibration, and gear noise occur. Also for the second reason, in the present invention, when the operation of the electric motor 07f of the folding machine is started, phase control is not performed but only speed control is performed.
(4) As described in the other background arts of the above items (1) to (3), the folding machine 15f has a periodic load fluctuation in one rotation due to the presence of a folding and cutting mechanism. For this reason, even when the electric motor 07f is operated at a slow speed with a low speed by speed control, a large rotation unevenness occurs due to the periodic load fluctuation, and the phase control is performed in this state. When used together, the control becomes more unstable. As a third reason, in the present invention, when the electric motor 07f of the folding machine is driven near zero speed, that is, when the operation is started, phase control is not performed but only speed control is performed.

(5) Next, the driving operation will be described. Before starting the operation in FIG. 23, the selector 0651 is off and zero input from the b input is output to the c output. That is, the phase control is turned off. The selector 0643 is also off, and the slow speed command 0644 input from the b input is output to the c output. In this state, the operation of the electric motor 07f is started. The electric motor 07f periodically fluctuates due to the load fluctuation of the item (4), but continues to operate in accordance with the slow speed command 0644, and during this time, each oil pump, water treatment device, And the operation of the ink supply device is arranged.
(6) When the phase FB detector 0603 of the folding machine detects “1” of the Z-phase signal Z3 of the rotary encoder 08f, the extracted Z-phase signal Zm is set to “1” via the communication line 02b. It is sent to the virtual rotation command generator 0101. (See Figure 21)
(7) The speed setter 0103 of the virtual rotation command generator 0101 is set in advance to the same slow motion speed command value Vj as the slow motion speed command 0644. When the extracted Z phase signal Zm becomes “1”, the rotation phase generator 0109 built in the virtual rotation command generator 0101 clears the rotation phase P to be output to zero. At this time, the rotational phases of the rotational phase generator 0109 and the electric motor 07f (rotary encoder 08f) of the folding machine coincide with each other because they are zero, and phase control is not performed in the subsequent slow-motion operation. The rotational phases are almost the same.

(8) Since the shaftless rotary printing press is ready for the printing operation while performing the slow operation, the selector 0643 is turned on to output the interlocked speed command 0642 of a input to the output c and the speed command 0645 after the selection. And Note that the value of the interlocking speed command 0642 is set equal to the slow speed command value Vj in advance.
(9) After switching the speed command 0645 after the selection in the above item (8), the selector 0651 is immediately turned on, and the phase deviation ΔQ after the correction of the a input is output from the output c to turn on the phase control. And This switching is performed within a few seconds after the rotation phase P generated in the virtual rotation command generator 0101 and the rotation phase of the electric motor 07f of the folding machine are made to coincide with each other in the above item (8). Therefore, when the phase control is turned on, the corrected phase deviation ΔQ is an extremely small value. Therefore, there is no sudden change in torque or speed in the electric motor 07f of the folding machine, and the origin adjustment is performed from the speed control. The operation is skipped and the process immediately shifts to synchronous control.
(10) Since the electric motor 07f of the folding machine is in a synchronous control state, the shaftless rotary printing press performs a printing operation at an increased speed.
As described above, the folding machine 15f of the shaftless rotary printing press is started quickly by using the fifth embodiment and shifts to the printing operation.

FIG. 24 is a diagram for explaining the configuration of a synchronous control system using the virtual rotation command generation device 0101 and the folding machine synchronous drive device 06f according to the sixth embodiment of the present invention. FIGS. 25 and 26 illustrate the operation of the sixth embodiment. FIG. 24 is a diagram illustrating a graph. First, the configuration of the sixth embodiment will be described with reference to FIG.
In FIG. 24, the same reference numerals as those in FIG. 23 have the same functions and the description thereof is omitted, and 0661, 0662, 0663, 0664 and 0665 are a speed comparator, a rotation compensator, a rotation compensation, A selector and an adder / subtracter. These devices are sequentially described for the purpose of eliminating or reducing periodic load fluctuations generated by the folding mechanism and cutting mechanism of the shaftless rotary printing press.

  The speed comparator 0661 incorporates a compensation switching speed Vh (not shown) and inputs a speed command 0645 after selection output from the selector 0643. When the selected speed command 0645 is equal to or less than the compensation switching speed Vh, “1” is output and the selector 0664 is turned on. When the speed command 0645 exceeds the compensation switching speed Vh, “0” is output and The selector 0664 is turned off. Further, the rotation compensator 0662 receives the phase FB0619 output from the phase FB detection device 0603 of the folding machine, and outputs a rotation compensation 0663 that eliminates periodic load fluctuations caused by the folding mechanism and the cutting mechanism. The selector 0664 selects and outputs either the rotation compensation 0663 of the a input or zero of the b input by the speed comparator 0661 and outputs the output of the selector 0664 by the adder / subtractor 0665. Add to command 0654.

  That is, when the selected speed command 0645 is equal to or lower than the compensation switching speed Vh, the speed comparator 0661 outputs “1”, turns on the selector 0664, and sets the rotation compensation 0663 of the a input to c output. The rotation compensation 0663 is added to the torque command 0654 by the adder / subtractor 0665. When the selected speed command 0645 exceeds the compensation switching speed Vh, the speed comparator 0661 outputs “0” to turn off the selector 0664 and set the a input zero to c output. Therefore, the adder / subtractor 0665 outputs the torque command 0654 as it is. Note that when the speed command 0645 after the selection exceeds the compensation switching speed Vh, the rotation compensation is interrupted because the rotational energy increases due to the increase of the speed, and the periodic load caused by the folding mechanism and the cutting mechanism. This is because the influence of fluctuation is reduced until it can be ignored in practice.

  FIG. 25 is a graph for explaining the operation of the rotation compensator 0662. The X axis is time. 25- (a) shows the speed FB0647 output by the speed FB detector 0646 when rotation compensation is not performed, and FIG. 25- (b) shows the phase FB0619 output by the phase FB detector 0603 of the folding machine. Indicates. FIG. 25- (c) shows the rotation compensation 0663 output from the rotation compensator 0662, and FIG. 25- (d) shows the time of the speed FB0647 when the rotation compensation of FIG. 25- (c) is performed. Vh in the figure indicates the compensation switching speed.

  First, in FIG. 25- (a), when rotation compensation is not performed, speed fluctuations occur at times T1 and T2 due to periodic load fluctuations of the folding mechanism and cutting mechanism of the folding machine at the speed FB0647. This speed fluctuation is prominent when the speed is low, such as slow-motion operation. In contrast to FIG. 25- (a), in FIG. 25- (b), it is assumed that there is a load fluctuation at the positions of the phases P1 and P3 of the phase FB0619. If the rotation compensation signal 0663 of τc1 and τc2 is added to the torque command 0654 by the rotation compensator 0662 and the times T1 and T2 in FIG. 25- (c), as shown in FIG. 25- (d). As shown, the fluctuation of the speed FB0647 is reduced.

Next, FIG. 26- (a) shows an example of input / output characteristics of the rotation compensator 0662. The X axis is the phase FB0619 as an input and the Y axis is the rotation compensation 0663 as an output. The input / output characteristics of the rotation compensator 0662 are as follows. As shown in FIG. 26, the compensation amounts are τc1, τc2, and the compensation width is at the positions of the phases P1 and P3 obtained according to FIGS. The pattern is Pw, and the compensation amounts τc1 and τc2 and the compensation width Pw are set to optimum values so that the speed variation becomes small while collecting the data of FIG. 25- (d).
That is, the load fluctuation of the folding machine means that there is a point where the load becomes heavy within one rotation. In FIG. 25- (a), the speed fluctuates at times T1 and T2. This is because in the rotational phases P1 and P3 of the folding machine (b), the load is heavy due to the folding mechanism and the cutting mechanism. Therefore, in this embodiment, the torque command is increased at the points of the rotation phases P1 and P3 of the folding machine where the load becomes heavy, and the rotation compensation is performed.
Thus, by performing torque compensation at the point where the load becomes heavy, the speed fluctuation can be reduced as a result.

FIG. 26- (b) shows a configuration example of the rotation compensator.
The phase feedback signal P is input to the comparators 0662n, 0662m, 0662e, 0662d, and compared with P4, P3, P2, and P1 output from the phase coefficient registers 0662k, 0662j, 0662c, and 0662b, respectively.
Here, the output of the comparator 0662n is 1 when P ≦ P4, the output of the comparator 0662m is 1 when P3 ≦ P, the output of the comparator 0662e is 1 when P ≦ P2, and the comparator 0662d is P1. When ≦ P, the output is 1.
The AND gate 0662p generates an output when both the comparators 0662n and 0662m are 1, and the AND gate 0662f generates an output when both the comparators 0662e and 0662d are 1. The selectors 0662r and 0662h switch to the b side and output 0 when the outputs of the AND gates 0662p and 0662f are 0.
On the other hand, when the outputs of the AND gates 0662p and 0662f are 1, the selectors 0662r and 0662h are switched to the a side, and output the compensation torque signals τC2 and τC1 output from the torque compensation coefficient number registers 0662q and 0662g. The outputs of the selectors 0662r and 0662h are added by an adder 0662s and output as a rotation compensation signal τC.
That is, as shown in FIG. 26- (a), the rotation compensator 0662 outputs the rotation compensation signal τC1 when the phase feedback signal is between P1 and P2, and the phase feedback signal is between P3 and P4. At some time, the rotation compensation signal τC2 is output.

The operation of the rotation compensator 0662 has been described with reference to FIGS. 24 to 26. The specific purpose of installing the rotation compensator 0662 will be described next.
First, the first object is that the continuous paper collected in the folding machine becomes abnormally high in tension or slack when the speed fluctuation is caused as shown in FIG. Further, when the tension is higher, the continuous paper breaks or loosens, and when the continuous paper is sag, a trouble occurs in which the continuous paper is caught in various rolls. Therefore, the rotation compensator 0662 eliminates or reduces the influence of load fluctuation as shown in FIG.

  Next, a second object for installing the rotation compensator 0662 will be described. FIG. 23 is described in the section (7). In FIG. 24, the virtual rotation command is generated by the Z-phase signal of the rotary encoder 08f when the shaftless rotary printing press is activated and the operation is slow. The rotational phase P built in the device 0101 and the phase FB0619 output from the phase FB detection device 0603 of the folding machine are cleared to match the rotational phase. However, when the influence of load fluctuation is large as shown in FIG. 25- (a), the rotation phase P output from the virtual rotation command generator 0101 and the phase FB0619 are shifted, and the phase deviation ΔP becomes a large value with time. . At this time, when the selector 0643 switches the speed command 0645 after selection and subsequently the phase control is turned on by the selector 0651, the phase control is turned on with a large value of the phase deviation ΔP and the electric motor is turned on. The torque and speed of 07f change suddenly. At this time, the continuous paper collected in the folding machine becomes abnormally high in tension or loosened, and further, troubles may occur in which the continuous paper breaks or gets caught in various rolls.

  Therefore, when starting the operation of the shaftless rotary printing press, the electric motor 07f of the folding machine is stably operated using the rotation compensator 0662 according to the sixth embodiment during the operation with the slow speed command 0644. Thereby, even after the rotational phase of the virtual rotation command generator 0101 and the phase FB0619 are set to zero in accordance with the Z-phase signal of the rotary encoder 08f of the folding machine, the phase deviation ΔP continues to be a small value. Then, even if the speed command is switched by the selector 0643 and the selector 0651 and the phase control is subsequently turned on, the electric motor 07f of the folding machine shifts to the synchronous control as it is without a sudden change in torque or speed, and then promptly prints. You can start driving.

FIG. 27 is a diagram for explaining the configuration of a synchronous control system using the virtual rotation command generation device 0101 and the folding device synchronous drive device 06f according to the seventh embodiment of the present invention. FIG. 28 shows a phase deviation corrector 0671 according to the seventh embodiment. These operations will be described in order.
In FIG. 27, 0671 is a phase deviation corrector, which receives the selected speed command 0645 output from the selector 0643 and outputs a proportional gain to the phase deviation calculator 0650. Here, the phase deviation calculator 0650 in FIG. 27 is configured by a proportional amplifier, and the proportional gain of the phase deviation calculator 0650 is set by the phase deviation corrector 0671 as described above. In addition, what attaches | subjects the same code | symbol as the said FIG. 24 has the same function as this, and omits the description.

The phase deviation corrector 0671 has an input / output characteristic indicated by a solid line a in FIG. 28 as an example. In FIG. 28, the X axis is the speed command 0645 after the selection to be input, and the Y axis is It is a proportional gain set in the phase deviation calculator 0650 as an output. Then, as shown in the figure, at a speed Vc or less, the proportional gain is increased or decreased from G1 to G2 corresponding to the selected speed command 0645.
As described above, according to the simulation results and experimental results of the present applicant, the phase deviation ΔP has an anti-correlation with the speed of the electric motor 07f when performing synchronous control (speed control + phase control). . That is, the phase deviation ΔP is large when the speed is low, and the phase deviation ΔP is small as the speed increases.
Then, the phase control is turned on during slow-motion operation, but at this time the speed is low, so the phase deviation ΔP is large, and the proportional gain of the phase deviation computing unit 0650 is the value when performing normal synchronous control. Vibration and squealing will occur. Therefore, when the speed command 0645 after the selection is small, such as during slow operation, the proportional gain is decreased corresponding to the speed command 0645, and the proportional gain is increased as the speed command 0645 after the selection increases. Increase to the set value for normal synchronization control. The solid line a in FIG. 28 indicates that the proportional gain increases when the selected speed command 0645 is zero to Vc and the proportional gain is constant when the speed is Vc or higher, but as indicated by the dotted line b in FIG. The proportional gain may increase in a curve as the speed command 0645 after selection increases.

  As for the synchronous driving device 06f of the folding machine, Embodiment 5 of the present invention will be described with reference to FIG. 23, Embodiment 6 with reference to FIGS. 24, 25, and 26, and Embodiment 7 with reference to FIGS. 27 and 28. Went. The main purpose common to these embodiments is that when printing is started in a shaftless rotary printing press, there is no occurrence of mechanical vibration or gear noise, and continuous paper is caught in various rolls due to breakage or slack. It is to realize a synchronous control system in which the folding machine 15f is started and a transition to a printing operation is made promptly. Next, the operation of the synchronous driving device 06f of the folding machine according to the fifth to seventh embodiments will be described with reference to the graph of FIG. 29 with reference to FIG.

  29 is time, and FIGS. 29- (a) to (d) show temporal transitions in contrast to each other. FIG. 29- (a) shows the state after selection output by the selector 0643. 29- (b) shows the phase command 0618, FIG. 29- (c) shows the interlocked speed command 0642 output by the speed command detector 0641, and FIG. 29- (d) shows the adder / subtracter. A time transition of the phase deviation ΔP output from 0649 is shown. Here, prior to the printing operation, a plurality of continuous sheets are set in advance in the folding machine 15f through each printing machine and various drive rolls from a paper feeder.

  First, in FIG. 29- (a), Vj is a slow speed command value, Vr is a printing start speed, and Vh is a compensation switching speed. The selector 0643 is OFF from time zero to time T3 and selects the b-speed slow motion command 0644 (having the slow-speed command value Vj). The interlocking speed command 0642 is selected and output. The interlocking speed command 0642 is set to the same slowing speed command value Vj as the slowing speed command 0644 by time T3. The selector 0651 is turned on at time T4 to select and output the corrected phase deviation ΔQ of the a input, and the selector 0664 is on until time T5 and the rotation compensation 0663 of the a input. Select to output.

Similarly, in FIG. 29- (a), the folding machine starts a slow motion operation at a time T1 with a slow motion speed command 0644. When the running and control of the continuous paper become stable, the slow motion speed is reached at a time T3. The command 0644 is switched to the interlocking speed command 0642. After that, at time T4, in addition to speed control, phase control is turned on. At this time, the rotation phase of the virtual rotation command generator 0101 and the rotary encoder 08f of the folding machine, that is, the phase FB0619 is accurately matched. Therefore, the synchronous drive device 06f of the folding machine promptly shifts to the synchronous control without performing the origin adjustment control. Here, as an example of numerical values, the slowing speed command value Vj of the electric motor 07f of the folding machine is about 20 rpm, the printing start speed Vr is about 200 rpm, and the maximum speed Vmax is 1400 rpm.
Thus, in FIG. 29- (a), the speed command is stably set by the slow speed command 0644 until time T3 immediately before time T4 when the phase control is turned on, and further, until time T5, the speed command is set. The rotation compensation by the rotation compensator 0662 is performed to eliminate periodic load fluctuations caused by the folding mechanism and the cutting mechanism, and the folding machine 15f is started and operated stably.

Next, the operation of the phase command 0618 in FIG. 29- (b) will be described. The phase command 0618 has the same operation as the rotation phase P generated in the virtual rotation command generation device 0101. Accordingly, FIG. 29- (b) will be described below as the rotation phase P generated in the virtual rotation command generation device 0101.
In FIG. 29- (b), the power supply of the virtual rotation command generator 0101 is turned on at time 0, the hardware device in the virtual rotation command generator 0101 is initialized to zero, and the rotation phase P is also set to zero. It is going to be. Further, at time T1, the virtual rotation command generation device 0101 also starts outputting the A-phase signal, the B-phase signal and the Z-phase signal so that the speed setting is equal to the slow-motion speed command value Vj. P starts increasing from time T1.

At time T2, the Z-phase signal Z3 of the rotary encoder 08f of the folding machine becomes “1”, and the phase FB0619 output from the phase detector 0603 of the folding machine is cleared to zero. At the same time, the rotation phase P in the virtual rotation command generator 0101 is cleared to zero by the extracted Z phase signal Zm.
That is, in the present invention, after the time T2, the rotational phase P becomes valid with a correct phase, and coincides with the rotational phase of the rotary encoder 08f of the folder, that is, the phase FB0619 with high accuracy. Therefore, even when the phase control is turned on at time T4, the phase deviation ΔP is extremely small, so that the electric motor 07f of the folding machine does not generate torque fluctuations or speed fluctuations, and can be promptly performed without adjusting the origin. Transition to synchronous control.
Thus, the rotational phase P in FIG. 29- (b) is not used for control until time T4 indicated by a dotted line, and is used for synchronous control as a phase command after time T4 indicated by a solid line. Then, during the confirmation of the sheet passing state and control in the slow operation from time T1 to T4, at time T2, the rotational phase P, the phase command 0618, and the phase FB0619 become zero and become the same phase. Preparation is complete.

  Next, FIG. 29- (c) explains the operation of the interlocking speed command 0642 output from the speed command detector 0641. The interlocking speed command 0642 is converted from the phase command 0618 to the rotational phase command per unit time. It is obtained by calculating the change of. Therefore, the interlocking speed command 0642 starts with a value from the time T1, but the rotational phase P in FIG. 29- (b) is forcibly cleared at the time T2, so the interlocking speed command 0642 As shown in the figure, the detection becomes discontinuously extremely large or small and becomes an abnormal value. Therefore, the speed command 0645 after the selection is set to a safe fixed value using the slow speed command 0644 stored in the memory or the like until the time T3 after the time T2, and after the time T3, the speed command 0645 is changed to FIG. ) Is a speed command 0645 after selection because it is a value detected accurately.

Next, the operation of the phase deviation ΔP in FIG. 29- (d) will be described. First, since the phase command 0618 and the phase FB0619 in FIG. 29- (b) become effective after time T2 when the Z-phase signal Z3 becomes “1”, the adder / subtracter 0649 in FIG. 29- (d) The phase deviation ΔP is detected after time T2.
The electric motor 07f of the folding machine is speed controlled until time T4 and phase control is not turned on, but it is stably operated by speed control by means of the present invention. Therefore, as shown in the figure, the phase deviation ΔP gently drifts around zero with time from time T2 to T4, and the phase control is turned on at time T4 to converge to zero. At time T4, the phase deviation ΔP is within (+ ΔPs) to (+ ΔPs), so that the origin adjustment is omitted and the synchronous control state is quickly established.

In the fifth embodiment, the sixth embodiment, and the seventh embodiment, the synchronous control system using the virtual rotation command generating device 0101 and the folding device synchronous driving device 06f according to the present invention has been described. Next, a synchronous control system using the virtual rotation command generation device 0101 and the printing press synchronous drive device 06a according to the present invention will be described with reference to FIGS.
First, FIG. 30 is a diagram for explaining the configuration of a synchronous control system by the virtual rotation command generating device 0101 and the printing press synchronous driving device 06a according to the eighth embodiment of the present invention. Reference numerals 07a and 08a denote the electric motor and rotary encoder of the printing press shown in FIG. 1, and reference numeral 0602 denotes the printing press phase FB detection device 0602 shown in FIG. Reference numerals Gz and 0672 denote origin adjustment gains and selectors, respectively, and those having the same reference numerals as those in FIG. 27 have the same functions and will not be described. Next, the control performed by the synchronous drive device 06a of the printing press in contrast to the synchronous drive device 06f of the folding machine shown in FIG. 27 will be described.

  In the synchronous drive device 06a of the printing press of FIG. 30, the selector 0664 is always off, the b input is selected and zero is output, and the rotation compensation by the rotation compensator 0662 is not used. Further, Gz is the origin adjustment gain of the printing press, and the selector 0672 selects and outputs the origin adjustment gain Gz of b input and the proportional gain output by the phase deviation corrector 0671 of a input. Here, the proportional gain output from the phase deviation corrector 0671 in FIG. 30 is referred to as a synchronization control gain. When the shaftless rotary printing machine starts operation, the electric motor 08a of the printing machine first turns on the phase control after performing a slow operation by speed control. At this time, unlike the folding machine 15f, the rotational phase P in the virtual rotation command generator 0101 does not match the rotational phase of the rotary encoder 08a of the printing press, so the phase deviation ΔP is a randomly large value. It can be Therefore, origin adjustment is performed with the origin adjustment gain Gz having a value smaller than the synchronization control gain, and the synchronization deviation gain is obtained when the phase deviation ΔP converges within (+ ΔPs) from (−ΔPs) where printing is possible. To switch to.

Next, FIG. 31 is a graph for explaining the operation from the start of the driving device 06a of the printing press 06a shown in FIG. 30 to the printing operation. FIGS. The time transition of the same signal as each of (a) to (d) is shown.
First, in FIG. 31- (a), the synchronous compensation by the rotation compensator 0662 is not performed as compared with FIG. 29- (a), and the phase control is turned on at time T4 until time T6. There is a difference that origin adjustment control is added.
Next, FIG. 31- (b) shows the rotation phase P generated in the virtual rotation command generator 0101, and this rotation phase P is determined by the Z-phase signal Z3 of the rotary encoder 08f of the folding machine at time T2. Cleared to zero. Therefore, the rotation phase P becomes effective after time T2. Although the phase FB0619 of the printing press is not shown in the figure, the phase FB0619 is also turned on and the electric motor 07a is operated, so that the Z-phase signal Z2 of the rotary encoder 08a is first "1" and correct rotation is performed. The phase is detected, but here it is assumed that it has been completed by time T3.
FIG. 31- (c) shows an interlocking speed command 0642 output from the speed command detector 0641. The interlocking speed command 0642 is obtained by calculating a change in the rotational phase command per unit time from the phase command 0618. Since the rotation phase is forcibly cleared, a discontinuous abnormal value is obtained at time T2. Therefore, the interlocked speed command 0642 in FIG. 31- (c) is output from the selector 0643 at T3 after time T2.

Next, the operation of the phase deviation ΔP of the printing press shown in FIG. 31- (d) is largely different from the phase deviation ΔP of the folding machine shown in FIG. 29- (d). That is, at time T2, the rotation phase P generated in the virtual rotation command generation device 0101 and the folding machine phase FB0619 are both zero and coincide with each other, but the printing press phase FB0619 is at an arbitrary phase. The phase deviation ΔP of the printing press can be a large value. When the phase control is turned on at time T4, if a normal synchronization control gain is applied to the phase deviation calculator 0650, the gain becomes large and the phase control becomes unstable, causing machine vibration and gear noise. Will be. Therefore, from time T4, the selector 0672 gives the phase deviation calculator 0650 a small value of origin adjustment gain Gz to perform origin adjustment control. Then, the phase deviation corrector 0671 outputs to the phase deviation calculator 0650 from the time T6 when the phase deviation ΔP of the printer converges within (+ ΔPs) from (−ΔPs) when printing becomes possible over time. It is characterized in that synchronous control is performed by giving a control gain.
Further, in FIG. 31, the explanation is based on the origin adjustment during slow-motion operation, but according to the present invention, the origin can be surely adjusted even during acceleration or operation at a high speed.

Next, FIG. 32 schematically shows a case where the origin adjustment using the origin adjustment gain Gz is omitted in the sequence of transition from the slow operation of the printing press to the origin adjustment control and the synchronization control described above. FIG. 32- (a) shows the temporal transition of the rotational speed generated in the virtual rotation command generator 0101, and FIG. 32- (d) shows the temporal transition of the phase deviation ΔP output from the adder / subtracter 0649. .
First, in FIG. 32- (a), the printing machine starts a slow motion operation at time T1 with the slow motion speed command 0644, and when the running and control of continuous paper become stable, the slow motion speed is reached at time T3. The command 0644 is switched to the interlocking speed command 0642. Thereafter, in addition to speed control, phase control is turned on at time T4.

  Next, in FIG. 32D, the rotation phase P in the virtual rotation command generator 0101 is cleared to zero by the Z-phase signal Z3 of the rotary encoder 08f of the folding machine at time T2, but the printing machine Since the phase FB0619 is in an arbitrary phase, the phase deviation ΔP can be a large value. Therefore, the phase deviation ΔP transitions with a larger value than the time T2 in FIG. 32- (d), and the phase control is turned on at the time T4. At this time, if the gain for synchronization control is given to the phase deviation calculator 0650, the gain is large and the phase deviation ΔP becomes unstable without converging as shown in the figure after time T4. . Therefore, the origin adjustment mode using the origin adjustment gain Gz described above is installed in the synchronous drive device 06a of the printing press.

It is a figure explaining the whole structure of the present invention. It is a figure explaining Example 1 of this invention. It is FIG. (1) explaining operation | movement of the rotation phase generator of Example 1. FIG. FIG. 6 is a diagram (part 2) for explaining the operation of the rotational phase generator according to the first embodiment. It is a figure explaining operation | movement of the Z phase generator of Example 1. FIG. It is supplementary explanation (the 1) of Example 1. FIG. It is supplementary explanation (the 2) of Example 1. FIG. It is a figure explaining the detail of the Z phase generator of Example 1. FIG. It is a figure explaining Example 2 of this invention. 6 is a diagram illustrating a configuration example of a second Z-phase generator according to Embodiment 2. FIG. It is a figure explaining operation | movement of the 2nd Z phase generator of Example 2. FIG. It is a figure explaining the detail of the 2nd Z phase generator of Example 2. FIG. It is a figure explaining Example 3 of this invention. It is a figure explaining operation | movement of the 3rd Z phase generator of Example 3. FIG. It is FIG. (1) explaining the detail of the 3rd Z phase generator of Example 3. FIG. It is FIG. (2) explaining the detail of the 3rd Z phase generator of Example 3. FIG. 6 is a diagram illustrating a configuration example of a third Z-phase generator of Embodiment 3. FIG. It is a figure explaining Example 4 of this invention. FIG. 9 is a diagram (part 1) illustrating details of a Z-phase receiver according to a fourth embodiment. FIG. 10 is a second diagram illustrating details of the Z-phase receiver according to the fourth embodiment. It is a figure explaining the phase FB detection apparatus of a folding machine. It is a figure explaining the phase FB detection apparatus of a printing press. It is a figure explaining Example 5 of this invention. It is a figure explaining Example 6 of this invention. It is a figure explaining the operation | movement of Example 6. FIG. It is a figure explaining the function of the rotation compensator of Example 6. FIG. It is a figure explaining Example 7 of this invention. It is a figure explaining operation | movement of the phase deviation corrector of Example 7. FIG. It is a figure explaining operation | movement of the folding machine by Example 5, 6, and 7. FIG. It is a figure explaining Example 8 of this invention. FIG. 10 is a diagram illustrating the operation of a printing machine according to an eighth embodiment. It is a figure explaining the effect of an origin adjustment gain. It is a figure which shows the arrangement configuration of the printing station group of patent document 1, and a folding device. It is a figure explaining the output signal of an incremental encoder. It is a figure explaining the structure of a folding device. It is a figure explaining the structure of a shaftless newspaper rotary printing press.

Explanation of symbols

01 Central control device 0101 Virtual rotation command generation device 0102 Transmitter 0103 Speed setting device 0104 Speed setting signal 0105 Rotation direction signal 0106 Rate multi 0107 Frequency signal 0108 NOT gate 0109 Rotation phase generator 0109b Second rotation phase generator 0110 Clear input 0111 Maximum phase coefficient register 0112 Reverse phase preset circuit 0113 Zero phase coefficient register 0114 Comparator 0115 D flip-flop 0116 AND gate 0117 Forward rotation clear circuit 0118 Comparator 0119 D flip-flop 0120 NOT gate 0121 AND gate 0122 OR gate 0123 A phase B phase generation 0124 XOR gate 0125, 0126 D flip-flop 0127 Z phase generator 0127b Second Z phase generator Unit 0127c Third Z-phase generator 0128 Z-phase width coefficient register 0129 Comparator 0130 D flip-flop 0131 Preset input 0132 OR gate 0133 Phase data input 0134 Selector 0142 Maximum phase coefficient register 0143 Adder / subtractor 0144 Comparator 0145 OR gate 0146 Reference frequency signal 0147 D flip flop 0151 Polarity inverter 0152 Reverse clear circuit 0153 Comparator 0154 D flip flop 0155 AND gate 0162, 0163 Polarity inverter 0164, 0165 Comparator 0166 AND gate 0167 OR gate 02 Phase speed signal and field bus 02a Phase speed command signal 02b Communication lines 03a, 03b, 03c, 03d Paper feeders 04a, 04b, 04c, 04 d Continuous paper 05a, 05b, 05c, 05d In-feed 0601 Phase command detection device 0602 Phase FB detection device 0603 of printing press Phase FB detection device 0611 of folding machine A phase B phase receiver 0612 Z phase receiver 0613 Rotation direction signal 0614 Frequency signal 0615 Rotation phase detector 0616, 0617 AND gate 0618 Phase command 0619 Phase FB
0620, 0621 OR gate 0631 Shift register 0632 AND gate 0633 D flip-flop 0634 AND gate 0641 Speed command detector 0642 Interlocking speed command 0643 Selector 0644 Slow speed command 0645 Speed command 0646 after selection Speed FB detector 0647 Speed FB
0648, 0649 Adder / Subtractor 0650 Phase Deviation Calculator 0651 Selector 0651 Adder / Subtractor 0653 Calculation Controller 0654 Torque Command 0655 Drive Device 0661 Speed Comparator 0662 Rotation Compensator 0663 Selector 0665 Adder / Subtractor 0671 Phase Deviation Corrector 0672 Selector 067 Selector 0672 06b, 06c, 06d, 06e Synchronous drive device for printing press 06f Synchronous drive device for folding machine 07a, 07b, 07c, 07d, 07e Electric motor for printing press 07f Electric motor for folding machine 08a, 08b, 08c, 08d, 08e Rotary encoder 08f Rotary encoder 10a, 11a, 12a, 13a Printing machine 10b, 10c Printing machine 10d, 11d, 12d, 13d Printing machine 14a, 14b, 14c, 14d Outfeed 15 Phase deviation ΔV speed deviation of the folding machine Gz home position alignment gain Zm extracted Z phase signal ΔP phase deviation ΔQ corrected

Claims (12)

Consists of a centralized control device with a built-in virtual rotation command generation device, a synchronous drive device, and a shaftless rotary printing press,
The centralized control device outputs a phase speed command signal, controls the synchronous drive device and the shaftless rotary printing press, and performs control.
The shaftless rotary printing press is composed of a plurality of printing presses and folding machines, and each of the plurality of printing presses and folding machines has an electric motor with a rotary encoder and the central control device. A synchronous drive device including a phase command detection device that receives a phase velocity command signal to be output and a feedback detection device that detects a phase feedback signal from the output of the rotary encoder;
The synchronous drive device controls the speed and phase of the electric motor to follow the command of the virtual rotation command generator based on the outputs of the phase command detection device and the feedback detection device,
The rotary encoder outputs an A phase signal, a B phase signal, and a Z phase signal to the synchronous drive device according to the rotation of the electric motor, and both the A phase signal and the B phase signal are proportional to the rotational speed of the electric motor. It is a frequency signal and has a relationship of advance or delay by a predetermined phase depending on the rotation direction, and the Z-phase signal becomes an active level every time the motor rotates once,
The virtual rotation command generation device includes a reversible binary counter that can be cleared, a rotation phase generator that inputs a rotation direction signal and a frequency signal corresponding to a speed setting, and outputs a rotation phase signal; and an A phase and a B phase signal Built-in A phase B phase generator that generates a Z phase generator that generates a Z phase signal,
The reversible binary counter of the rotational phase generator is cleared by the Z-phase signal output from the folding machine, and is initialized as the rotational phase is zero.
The A-phase B-phase generator and the Z-phase generator are frequency signals proportional to the speed command from the rotational phase signal and are advanced by a predetermined phase or delayed by the rotational direction. Each time a signal and a phase command make one rotation, a Z-phase signal that becomes an active level is generated at the same time. As described above, the synchronous control device is characterized in that it is sent to the synchronous drive device. The Z-phase generator of the virtual rotation command generator according to claim 1 is:
The rotational phase output from the rotational phase generator is inputted and compared with the Z phase generation level 1, and when the rotational phase is not less than zero and not more than the Z phase generation level 1, the Z phase signal is set to the active level, A synchronous control device that generates the Z-phase signal having an arbitrary pulse width determined by a phase generation level 1. The rotational phase generator has a phase resolution of one rotation that is a multiple of 4.
The A-phase signal, the B-phase signal, and the Z-phase signal always maintain the same phase relationship when the virtual rotation command generator continuously outputs a rotation command. 3. The synchronous control device according to 2. The Z phase generator receives the rotation phase output from the rotation phase generator and compares it with the Z phase generation level 1 and the Z phase generation level 2. When the rotation phase is less than the Z phase generation level 1, or the rotation When the phase is Z phase generation level 2 or higher, the Z phase signal is set to the active level,
As a result, the Z-phase signal is a Z-phase signal having a pulse width equal to the forward rotation direction and the reverse rotation direction centered on zero as the rotation phase, and is determined by the Z-phase generation level 1 and the Z-phase generation level 2 The synchronous control device according to claim 1, wherein a Z-phase signal having a pulse width is generated. The rotation phase generator of the virtual rotation command generator is configured such that when the rotation direction is normal rotation, the maximum rotation phase is counted up to Pmax, and then becomes zero at the next input frequency signal pulse, and the rotation direction is reversed. After the negative maximum rotational phase counts down to (-Pmax), the frequency signal becomes zero at the next input pulse of the frequency signal, and the rotational phase generator outputs the rotational direction in accordance with forward rotation or reverse rotation. The synchronous control device according to claim 1, wherein the rotational phase transitions from a minimum rotational phase (−Pmax) to a maximum rotational phase Pmax. The Z phase generator receives the rotation phase output from the rotation phase generator and compares it with the Z phase generation level 1, the Z phase generation level 2, the Z phase generation level 3, and the Z phase generation level 4.
The Z-phase generation level 1 is a positive number, the Z-phase generation level 3 is a negative number obtained by reversing the polarity of the Z-phase generation level 1, and the Z-phase generation level 2 is a positive number and the Z-phase generation level 4 is a negative number obtained by reversing the polarity of the Z phase generation level 2;
When the rotation phase is Z phase generation level 1 or less and Z phase generation level 3 or more, or when the rotation phase is Z phase generation level 2 or more, or when the rotation phase is Z phase generation level 4 or less, the Z phase signal is Active level,
As a result, the Z-phase signal is centered on the rotation phase of zero, and the Z-phase has an arbitrary pulse width determined by the Z-phase generation level 1, the Z-phase generation level 2, the Z-phase generation level 3, and the Z-phase generation level 4. The synchronous control device according to claim 5, wherein the signal is generated. The phase command detection device of the synchronous drive device receives a rotation command including the phase A signal, a phase B signal, and a phase Z signal as a phase command and a speed command from the virtual rotation command generator, and the phase A signal A rotation phase detector that detects the phase command by counting up when the B-phase signal is forward rotation and counting down when the rotation is reverse;
When a Z-phase signal having a pulse width wider than one period of an A-phase signal or B-phase signal is input and the Z-phase signal is at an active level, it is extracted when the A-phase signal and the B-phase signal advance more than a plurality of pulses. A Z-phase receiver that converts the Z-phase signal into a pulse signal with a narrow active level,
The rotation phase detector receives a Z-phase signal output from the Z-phase receiver, and is a pulse signal that is cleared when the phase command is forward rotation and preset when the phase command is reverse rotation. The synchronous control device according to 1. The synchronous driving device of the folding machine includes a rotation compensator to which a phase feedback signal output from the feedback detector is input,
The rotation compensator outputs a rotation compensation signal for suppressing periodic load fluctuations caused by a folding mechanism and a cutting mechanism generated every rotation of the folding machine,
The drive signal to the electric motor of the folding machine is compensated by the rotation compensation signal, and the influence of the periodic load fluctuation is suppressed, The claim 1, 2, 3, 4, 5, 6 or claim 8. The synchronous control device according to 7. The synchronous drive device of the folding machine includes a phase command output from the phase command detection device and the feedback detection device, a means for detecting a phase deviation of the feedback phase, and a phase deviation calculator for correcting the phase deviation,
9. The proportional gain of the phase deviation calculator is changed so as to increase in accordance with an increase in speed command, according to claim 1, 2, 3, 4, 5, 6, 7 or claim 8. Synchronous control device. The synchronous drive device of the printing press includes a phase command output from the phase command detection device and the feedback detection device, a means for detecting a phase deviation of the feedback phase, and a phase deviation calculator for correcting the phase deviation,
The proportional gain of the phase deviation calculator is set to the origin adjustment gain until the phase deviation converges within a predetermined value that allows printing, and the origin adjustment gain is used when performing synchronous control based on the phase deviation. 10. The synchronous control device according to claim 1, wherein the synchronous control device is smaller than the synchronous control gain. Consists of a centralized control device with a built-in virtual rotation command generation device, a synchronous drive device, and a shaftless rotary printing press composed of a plurality of printing machines and folding machines,
Each of the plurality of printing presses and folding machines is individually driven by a synchronous drive device incorporating a phase command detection device and an electric motor with a rotary encoder attached thereto,
The rotary encoder outputs an A phase signal, a B phase signal, and a Z phase signal to the synchronous drive device according to the rotation of the electric motor, and both the A phase signal and the B phase signal are proportional to the rotational speed of the electric motor. It is a frequency signal and has a relationship of advance or delay by a predetermined phase depending on the rotation direction, and the Z-phase signal becomes an active level every time the motor rotates once,
The virtual rotation command generation device includes a reversible binary counter that can be cleared, a rotation phase generator that inputs a rotation direction signal and a frequency signal corresponding to a speed setting, and outputs a rotation phase signal; and an A phase and a B phase signal The A phase and B phase generator for generating the Z phase generator and the Z phase generator for generating the Z phase signal are incorporated, and the synchronous drive device uses the A phase signal, the B phase signal and the Z phase signal as a phase command and a speed command. A synchronous activation method of the synchronous control device to be sent to
The shaftless rotary printing press performs a gradual operation by speed control before starting a production operation, and uses the Z-phase signal output from the rotary encoder of the folding machine as the external clear signal to clear the virtual rotation command generator. Input to the input, and when the Z-phase signal becomes an active level, the rotational phase output from the rotational phase generator is initialized to zero,
When the slow operation by the speed control of the folding machine becomes stable, the rotational phase of the rotational phase generator is initialized to zero, and then the phase when the shaftless rotary printing press immediately starts the production operation. A method for synchronous activation of a synchronous control device, characterized in that control is turned on and the folding machine can shift to synchronous control without performing origin adjustment. The synchronous drive device of the folding machine incorporates a phase feedback detection device for detecting the rotational phase of the rotary encoder of the folding machine, and the rotational phase generator of the virtual rotation command generating device is a preset for presetting the reversible counter Input and phase data input to set the value of the reversible counter to the set value,
Before the shaftless rotary printing press starts production operation, it performs a gradual operation by speed control, inputs the rotation phase obtained from the phase feedback detection device of the folding machine to the phase data input, and the preset input A command from the centralized control device is input,
When the slow-motion operation by the speed control of the folding machine becomes stable, the preset input is set to the active level and the rotation phase of the folding machine input to the phase data input is preset to the rotation phase output by the rotation phase generator. The phase control is turned on when the shaftless rotary printing press starts production operation immediately thereafter, and the folding machine can shift to the synchronous control without performing the origin adjustment. Item 12. A synchronous activation method for a synchronous control device according to Item 11.

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