JP3905747B2 - Side shaft rotary press and control method thereof - Google Patents

Description

【００１５】
【発明が解決しようとする課題】
しかしながら上記の従来方式には以下のような改良すべき点があった。
つまり、加減速時の定常的なカットオフずれは減少するものの、補正を行うポイントで、テンション変動が大きく発生していまい、瞬間的な「カットオフ」ずれや「だぶり」が発生してしまう。
【００１６】
また、補正値の設定は、印刷機毎に実際に印刷を行って加減速時の各速度ポイントでのカットオフずれ量を実測定して設定する必要があり作業負担が大きい。これは、印刷機械毎に加減速のレート等が微妙に違う為、長さベースの設定値は汎用的な設定値とすることができないからである。
また、設定すべきパラメータの数が非常に多いため、この点でも作業負担が大きい。
【００１７】
本発明は、上述の課題に鑑み創案されたもので、機械毎に試し印刷を実施する必要のない汎用的で且つ調整が容易な手法によって、従来発生していた断裁補正時のテンション変動による単発的な断裁狂いやだぶり等の発生を防止することができるようにした、併設型シャフトレス輪転機及びその制御方法を提供することを目的とする。
【００１８】
【課題を解決するための手段】
このため、本発明の併設型シャフトレス輪転機（請求項１）は、ラインシャフトにより駆動される折機をそなえたシャフト駆動部分と、モータにより駆動される印刷胴を有する印刷ユニットをそなえたシャフトレス駆動部分とが併設された併設型シャフトレス輪転機において、該ラインシャフト又は該ラインシャフトに連動する部材の位置を検出する位置検出用エンコーダと、該位置検出用エンコーダからの検出信号を処理してマスタ信号を生成するマスタ信号生成手段を有し、該シャフトレス駆動部分にそなえられた該モータを該マスタ信号生成手段により生成された該マスタ信号に応じて制御する制御手段とをそなえ、該マスタ信号生成手段は、該検出信号をスムージング処理して基準速度を設定する基準速度設定手段と、該ラインシャフトの実際の回転状態に対する該検出信号の遅れを補正する信号遅れ補正手段と、該基準速度設定手段で設定された該基準速度及び該信号遅れ補正手段で遅れを補正された該検出信号に応じて該マスタ信号を算出するマスタ信号算出手段と、をそなえ、該信号遅れ補正手段は、該位置検出用エンコーダの読み出し周期に起因した信号読み出し遅れ時間と、該検出信号のスムージング処理に起因したスムージング遅れ時間とを含み、システム全体で固有の値として予め認識された遅れ時間に基づいて、該検出信号の遅れ補正を行うことを特徴としている。
【００１９】
該信号遅れ補正手段は、該基準速度設定手段によって所定周期で設定された該基準速度に該遅れ時間を乗算して移動量を該周期で算出する移動量算出手段と、現在の算出周期で算出された該移動量と前回の算出周期で算出された該移動量との差分を遅れ補正量として算出する遅れ補正量算出手段とをそなえ、該遅れ補正量によって該検出信号の遅れ補正を行うことが好ましい（請求項２）。
【００２０】
本発明の併設型シャフトレス輪転機の制御方法（請求項３）は、ラインシャフトにより駆動される折機をそなえたシャフト駆動部分と、モータにより駆動される印刷胴を有する印刷ユニットをそなえたシャフトレス駆動部分とが併設された併設型シャフトレス輪転機であって、該ラインシャフト又は該ラインシャフトに連動する部材の位置を位置検出用エンコーダによって検出する検出ステップと、該検出ステップで検出された検出信号を処理してマスタ信号を生成するマスタ信号生成ステップと、該マスタ信号生成ステップで生成された該マスタ信号に応じて該シャフトレス駆動部分にそなえられた該モータを制御する制御ステップとをそなえ、該マスタ信号生成ステップでは、該検出信号をスムージング処理して基準速度を設定する基準速度設定ステップと、該ラインシャフトの実際の回転状態に対する該マスタ信号の遅れを補正する信号遅れ補正ステップと、該基準速度設定ステップで設定された該基準速度及び該信号遅れ補正ステップで遅れを補正された該検出信号に応じて該マスタ信号を算出するマスタ信号算出ステップと、をそなえ、該信号遅れ補正ステップでは、該位置検出用エンコーダの読み出し周期に起因した信号読み出し遅れ時間と、該基準速度設定手段によるスムージング処理に起因したスムージング遅れ時間とを含み、システム全体で固有の値として予め認識された遅れ時間に基づいて、該検出信号の遅れ補正を行うことを特徴としている。
【００２１】
該信号遅れ補正ステップでは、該基準速度設定ステップによって所定周期で設定された該基準速度に該遅れ時間を乗算して移動量を該周期で算出する移動量算出ステップと、現在の算出周期で算出された該移動量と前回の算出周期で算出された該移動量との差分を遅れ補正量として算出する遅れ補正量算出ステップとをそなえ、該遅れ補正量によって該検出信号の遅れ補正を行うことが好ましい（請求項４）。
【００２２】
【発明の実施の形態】
以下、図面により、本発明の実施の形態について説明する。
図１〜図５は本発明の第１実施形態にかかる増設シャフトレス機（併設型シャフトレス輪転機）およびその制御方法を説明するもので、図１はそのマスタ信号生成装置を示す模式的構成図、図２，図３はその信号遅れ補正を説明する図、図４，図５はそのマスタ信号の生成手法を説明する図である。
【００２３】
本実施形態にかかる輪転機は、図６を参照して既に説明したように、既存のシャフト駆動式輪転機部分（既存部分）１０とこれに増設したシャフトレス機部分（増設部分）２０とからなる増設シャフトレス機である。ただし、本発明の適用対象の輪転機は、シャフト駆動式輪転機部分１０とシャフトレス機部分とが併設されたもの（併設型シャフトレス輪転機）であればよく、いずれが既存部分でいずれが増設部分かは問わない。
【００２４】
図６に示すように、既存部分１０は、ラインシャフト１１と、このラインシャフト１１を回転駆動するモータ１２と、ラインシャフト１１にそれぞれクラッチ１３ａ〜１３ｄを介して接続されラインシャフト１１によって作動する印刷ユニット１４ａ〜１４ｃ及び折機１５等から構成されている。増設部分２０は、印刷ユニット２１ａ，２１ｂと、各印刷ユニット２１ａ，２１ｂの各ローラ（胴）２２をそれぞれ個別に回転駆動するモータ２３ａ〜２３ｈと、ラインシャフト１１に付設したエンコーダ２４と、エンコーダ２４の検出信号に基づいて、ラインシャフト１１と同期して回転するように各モータ２３ａ〜２３ｈの作動を制御するマスタコントローラ部２５等から構成されている。
【００２５】
ここでは、印刷ユニット１４ａ〜１４ｃは、黒の他に、シアン，イエロー，マゼンタの４色によりカラー印刷を行えるタワーユニットとして構成され、各印刷ユニット２１ａ，２１ｂは、黒の他に、シアン，イエロー，マゼンタの４色によりカラー印刷を行えるタワーユニットとして構成されている。もちろん、これらの各印刷ユニット１４ａ〜１４ｃ，２１ａ，２１ｂは、これに限定されるものではない。そして、ラインシャフト１１等の既設機回転部分に、位置検出用（或いは速度検出用）のエンコーダ（ラインシャフトエンコーダともいう）２４を設置し、このエンコーダ２４からの信号データを使用してマスタコントローラ２５部のマスタ信号生成装置（マスタ信号生成手段）３０（図１参照）で各モータ２３ａ〜２３ｈの指令値のためのマスタ信号を生成し、位置指令値生成部（制御手段）３８により該マスタ信号に応じて各モータ２３ａ〜２３ｈの指令値を生成して各モータ２３ａ〜２３ｈを制御するようになっている。
【００２６】
マスタ信号生成装置（マスタコントローラフィルタ処理部ともいう）３０は、図１に示すように、エンコーダ２４からのパルス信号を所定のスキャン周期（数msec程度）でカウントするカウンターユニット３１と、カウンターユニット３１を介して入力された検出信号Ｎ（パルス／スキャン）をスムージング処理して基準速度Ｎ₀を設定する基準速度設定部（基準速度設定手段）３２と、ラインシャフト２４の実際の回転状態に対するマスタ信号の遅れを補正するための信号遅れ補正部（信号遅れ補正手段）としての断裁ずれ補償回路３９と、基準速度設定部３２で設定された基準速度Ｎ₀に所要の補正量を加算補正して得られる補正信号Ｎ_cに基づいてマスタ信号Ｎ_mを算出するマスタ信号算出部（マスタ信号算出手段）３３と、検出信号Ｎと補正信号Ｎ_cとの差分の積算値を溜まり量として記憶する溜まり量記憶部（溜まり量記憶手段）３４と、溜まり量記憶部３４に記憶された溜まり量が予め設定された境界値を超えたら溜まり量が減少する側に所要の補正量を増減調整する補正量調整部（補正量調整手段）３５とをそなえている。
【００２７】
基準速度設定部３２では、改良フィルタ（二次遅れフィルタ）３２ａがそなえられ、二次遅れフィルタ処理によって検出信号Ｎをスムージング処理するようになっている。このスムージング処理は、このほか、移動平均処理を用いて行ってもよい。
信号遅れ補正部３９は、位置検出用エンコーダ２５の読み出し周期に起因した信号読み出し遅れ時間と、検出信号のスムージング処理に起因したスムージング遅れ時間とを含んだ、トータルの遅れ時間ＴＳに基づいて、該マスタ信号の遅れ補正を行う。そして、この遅れ補正を行うことによって、システムの増減速時に、増設部分２０の各モータ２３ａ〜２３ｈが既存部分１０の折機１５等に対して遅れを生じないようにして断裁ずれ補償を行うようにしている。
【００２８】
なお、この遅れ時間ＴＳは、▲１▼エンコーダ信号の読出し周期等により信号読出し遅れ時間と、▲２▼読出データのフィルタリング処理（スムージング処理）によるスムージング遅れ時間とが主要なものであり、遅れ時間ＴＳ（＝信号読み出し遅れ時間＋スムージング遅れ時間）は、システム全体で固有の値としてシステム設計の段階から予め認識できるものである。
【００２９】
つまり、この遅れ時間ＴＳにより、例えば、図３に示すように、速度Ｘ₀から速度Ｘ_Nまで加速した場合、図３中の破線と実線とで囲まれた台形部分の面積が折機１５と印刷部（モータ２３ａ〜２３ｈ側）との位置ずれ量となり、この位置ずれ量は遅れ時間に比例して大きくなる。このような点に着目して、本輪転機では、遅れ時間ベースで遅れ補正を行うようにしているのである。
【００３０】
具体的には、信号遅れ補正部３９は、基準速度設定部３２のフィルタ３２ａによって所定周期でスムージング処理によって設定された基準速度Ｘ（パルス／スキャン）に遅れ時間ＴＳを乗算して移動量（補正値）Ｙ（＝Ｘ×ＴＳ）を上記周期に応じて算出する移動量算出部（移動量算出手段）３９ａと、前回の算出周期で算出された移動量（補正値）Ｙ_n-1との差分（＝Ｙ_n−Ｙ_n-1）を記憶部３９ｂと、現在の算出周期で算出された移動量（補正値）Ｙ_nと記憶部３９ｂからの前回の算出周期で算出された移動量（補正値）Ｙ_n-1との差分（＝Ｙ_n−Ｙ_n-1）を遅れ補正量（位相補正値）Ｐ_nとして算出する遅れ補正量算出部（遅れ補正量算出手段）３９ｃと、遅れ補正量算出部３９ｃで算出された遅れ補正量Ｐ_nを検出信号Ｎに加算することによってマスタ信号（ここでは、検出信号Ｎ）の遅れ補正を行う演算部（補正処理部）３９ｄとをそなえている。
【００３１】
つまり、図１に示すように、毎スキャンのエンコーダ信号Ｎ(パルス/スキャン)にスムージング処理を施し、速度Ｘ(パルス/スキャン)を生成して、図１，図２に示すように、毎スキャンの遅れ補正量（位相補正値）Ｐ_nを、

として毎スキャン連続的に補正するのである。
【００３２】
なお、一定速運転の場合には、Ｘ_n＝Ｘ_n-1なので、補正値は０となりは補正行われない。
また、例えば、マシン速度がＸ₀からＸ_nまで加速した場合の補正値の総計は、

となり、正しく、台形面積となり、これは断続的に加速した場合でも正しく演算できることがわかる。
【００３３】
ところで、マスタ信号算出部３３は、検出信号Ｎ_inを、基準速度Ｎ₀に所要の補正量Δｄを加算補正して得られる補正信号Ｎ_c（＝Ｎ₀＋Δｄ）にリミット処理する機能３６をそなえるが、上述のように、補正量Δｄは溜まり量の大きさ（溜まり具合）に応じて増減調整されるので、リミット処理もこれに応じた処理をすることになるため、このリミット処理機能を学習リミット処理手段３６と呼ぶ。
【００３４】
つまり、図４に示すように、学習リミット処理手段３６では、基準速度Ｎ₀（パルス／スキャン）に対するリミット値を上限と下限とで１本化し（即ち、リミット処理を帯域ではなく幅を持たない１つの値にする）、且つ、リミット位置Δｄを溜り量に応じて自動的に変化させる方式としている。
さらに、マスタ信号算出部３３は、この学習リミット処理手段３６の出力信号Ｎ_out（＝補正信号Ｎ_c）を移動平均処理してマスタ信号Ｎ_mとして出力する移動平均処理部（移動平均処理手段）３７をそなえ、移動平均処理部３７から出力されたマスタ信号Ｎ_mが位置指令値生成部３８に送られて、ここでマスタ信号Ｎ_mに基づいて位置指令値（モータ指令値）が演算によって生成されるようになっている。
【００３５】
ここで、補正量調整部３５で行なわれる補正量Δｄの増減調整を具体的に説明する。
▲１▼まず、マシン起動時はリミットΔｄ値を０としてスタートする。▲２▼その後、溜まり量（溜まりパルス）の値を監視しながら、以下の方法によりΔｄを自動シフトする。なお、Ｐ１，Ｐ２，Ｐ３，・・・，ＰｎはΔｄをシフトさせる溜まりパルス量のポイント（境界値）であり、Δｐはヒステリシス量である。
【００３６】
Ａ）溜まりパルス量がプラス値の場合
▲３▼溜まりパルス量が、Ｐ１＋ΔＰを超えたら、Δｄをプラス方向へ１シフトさせる。▲４▼その後、溜まりパルス量が更に増え、Ｐ２＋ΔＰを超えたら、Δｄを更にプラス方向へ１シフトさせる。▲５▼その後、溜まりパルス量が更に増え、Ｐ３＋ΔＰを超えたら、Δｄを更にプラス方向へ１シフトさせる。このように、溜まりパルス量がＰｎ＋ΔＰを超えたら、Δｄをプラス方向へ１シフトさせる処理を行う。
▲６▼また、上記プラス方向へのシフトの過程で、溜まりパルス量が（境界値−ΔＰ）よりも減ったら、Δｄをマイナス方向へ１戻す。
【００３７】
Ｂ）溜まりパルス量がマイナス値の場合
▲３▼´溜まりパルス量が−Ｐ１−ΔＰ未満になったら、Δｄをマイナス方向へ１シフトさせる。▲４▼´その後、溜まりパルス量が更に減り、−Ｐ２−ΔＰ未満になったら、Δｄをさらにマイナス方向へ１シフトさせる。▲５▼´その後、溜まりパルス量が更に減り−Ｐ３−ΔＰ未満になったらさらにマイナス方向へ１シフトさせる。このように、溜まりパルス量が−Ｐｎ−ΔＰ未満になったら、Δｄをマイナス方向へ１シフトさせる処理を行う。
【００３８】
▲６▼´また、上記マイナス方向へのシフトの過程で、溜まりパルス量が（境界値＋ΔＰ）よりも増えたら、Δｄをプラス方向へ１戻す。
なお、ヒステリシス量ΔＰは、溜まりパルス量が基本単位Ｐｎの整数倍付近に行った場合のΔｄのシフトチャタリング防止の為に設けている。
また、Ｐ１〜Ｐｎ（以下シフト関数と称す）の調整方法は、定速，加減速で実際の溜り量をモニターして、（１）ピーク値が大きい場合には、シフト関数のレベルを下げ、シフトする間隔を短くする。（２）また、ピーク値が小さい場合は、シフト関数のレベルを上げ、シフトする間隔を短くする。
【００３９】
ところで本学習リミット処理部３６による処理方式においては、溜まりパルスの量に応じて常に最適にリミット位置が移動する為、Ｐｎの値さえ最適に設定しておけば、加減速時の基準速度Ｎ₀と実速度（検出速度）Ｎとの差が増大しても弊害は発生しない。このため、基準速度Ｎ₀生成の為のスムージング処理をより強力にして、全周波数域の外乱に対しても基準速度Ｎ₀を安定化できるようになっている。
【００４０】
具体的な実施例としては、フィルタリング処理に、低周波の外乱をもしっかり減衰させる二次遅れフィルタを用いて行うようにしている。もちろん、低周波の外乱減衰性は劣るが一次遅れフィルタを用いてもよい。
本発明の一実施形態としての併設型シャフトレス輪転機は、上述のように構成されているので、信号遅れ補正部３９によって、回転速度検出用エンコーダ２５の読み出し周期に起因した信号読み出し遅れ時間と、検出信号のスムージング処理に起因したスムージング遅れ時間とを含んだ、遅れ時間ＴＳに基づいて、この遅れ時間を解消するように、検出速度Ｎに遅れ補正が施され、マスタ信号の遅れ補正を行う。
【００４１】
遅れ時間ＴＳ（＝信号読み出し遅れ時間＋スムージング遅れ時間）は、システム全体で固有の値としてシステム設計の段階から予め認識できるものであるので、機械毎に試し印刷を実施する必要がなくなり、且つ、機械毎に異なる微妙な加速レートにも影響を受けない汎用的な手法となる。
したがって、断裁ずれの補正を容易に勝つ確実に行うことができるようになる。
【００４２】
また、各制御周期ごとに適切に補正を行うので、加減速時に、連続的に補正することが可能となり、従来発生していた補正時のテンション変動も無くなり、単発的な断裁狂いやだぶり等の発生を防止できるようになる。
さらに、遅れ時間の微調整を行うだけで、断裁ずれの微調整（更なる追い込み調整）を実施できる。したがって、調整が非常に容易になる効果もある。
【００４３】
以上、本発明の実施形態を説明したが、本発明はかかる実施形態に限定されるものではなく、本発明の趣旨を逸脱しない範囲で種々変形して実施することができる。
例えば、マスタ信号算出部３３のリミット処理部３６は、図５に示すように構成しても良い。
【００４４】
つまり、図５に示すように、毎回のパルスカウント数ｎ（パルス／スキャン）を、一次遅れフィルタなどによりスムーズ化したものを基準速度Ｎ₀（パルス／スキャン）としてリミット処理の基準地点とし、この基準に対して、プラス方向巾Δ１、及び、マイナス方向巾Δ２を設定する。
入力パルスＮ_in（パルス／スキャン）に関して具体的には以下のようにリミット処理を行う。
[ケース１]
Ｎ₀−Δ２≦Ｎ_in≦Ｎ₀＋Δ１→Ｎ_out＝Ｎ_in
[ケース２]
Ｎ_in＞Ｎ₀＋Δ１→Ｎ_out＝Ｎ₀＋Δ１ 溜まりパルスカウント増
[ケース３]
Ｎ_in＜Ｎ₀−Δ２→Ｎ_out＝Ｎ₀−Δ２ 溜まりパルスカウント減
【００４５】
【発明の効果】
以上詳述したように、本発明の併設型シャフトレス輪転機（請求項１，２）及びその制御方法（請求項３，４）によれば、マスタ信号生成手段に設けられた信号遅れ補正手段が、位置検出用エンコーダの読み出し周期に起因した信号読み出し遅れ時間と、検出信号のスムージング処理に起因したスムージング遅れ時間とを含み、システム全体で固有の値として予め認識された（システム設計の段階で分かっている）遅れ時間に基づいて、検出信号の遅れ補正を行うので、機械毎に試し印刷を実施する必要がなくなり、且つ、機械毎に異なる微妙な加速レートにも影響を受けない汎用的な手法となり、断裁ずれの補正を容易に勝つ確実に行うことができるようになる。
【００４６】
また、加減速時に、連続的に補正することが可能となり、従来発生していた補正時のテンション変動も無くなり、単発的な断裁狂いやだぶり等の発生を防止できるようになる。
さらに、断裁ずれの微調整（更なる追い込み調整）を、遅れ時間の微調整によって実施でき、調整が非常に容易になる効果もある。
【図面の簡単な説明】
【図１】本発明の一実施形態にかかる増設シャフトレス機（併設型シャフトレス輪転機）の要部（マスタ信号生成装置）を示す模式的構成図である。
【図２】本発明の一実施形態にかかるマスタ信号生成装置の信号遅れ補正を説明する図である。
【図３】本発明の一実施形態にかかるマスタ信号生成装置の信号遅れ補正を説明する図である。
【図４】本発明の一実施形態にかかるマスタ信号の生成の第１の手法を説明する図である。
【図５】本発明の一実施形態にかかるマスタ信号の生成の第２の手法を説明する図である。
【図６】一般的な増設シャフトレス機（併設型シャフトレス輪転機）の例を示す模式的側面図である。
【図７】従来のフルシャフトレス機にかかるマスタ信号生成の概要を説明する図である。
【図８】従来の増設シャフトレス機にかかるマスタ信号生成の概要を説明する図である。
【図９】従来の増設シャフトレス機（併設型シャフトレス輪転機）用のマスタ信号生成装置を示す模式的構成図である。
【符号の説明】
１０ シャフト駆動式輪転機部分（既存部分）
１１ ラインシャフト
１２ モータ
１３ａ〜１３ｄ クラッチ
１４ａ〜１４ｃ 印刷ユニット
１５ 折機
２０ シャフトレス機部分（増設部分）
２１ａ，２１ｂ 印刷ユニット
２２ ローラ（胴）
２３ａ〜２３ｈ モータ
２４ エンコーダ
２５ マスタコントローラ部
３０ マスタ信号生成装置（マスタ信号生成手段）
３１ カウンターユニット
３２ 基準速度設定部（基準速度設定手段）
３２ａ 改良フィルタ（二次遅れフィルタ）
３２ 一次遅れフィルタ
３３ マスタ信号算出部（マスタ信号算出手段）
３４ 溜まり量記憶部（溜まり量記憶手段）
３５ 補正量調整部（補正量調整手段）
３６ 学習リミット処理手段
３７ 移動平均処理部（移動平均処理手段）
３８ 位置指令値生成部（制御手段）
３９ 信号遅れ補正部（信号遅れ補正手段）としての断裁ずれ補償回路
３９ａ 移動量算出部（移動量算出手段）
３９ｂ 記憶部
３９ｃ 遅れ補正量算出部
３９ｄ 演算部（補正処理部）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a side-by-side shaftless rotary press suitable for use in an additional shaftless press in which a printing unit that is driven shaftlessly is added to an existing shaft-driven rotary press and a control method therefor.
[0002]
[Prior art]
As a rotary printing press (hereinafter also referred to as a rotary press) that prints newspapers, etc., a shaft drive type that drives a line shaft by a main drive motor and drives each printing apparatus and folding machine through the line shaft while synchronizing them. In recent years, the shaftless type (shaftless machine), in which the operating elements of each printing device, folding machine, etc. are driven to synchronize with each other by an individual electric motor instead of a line shaft. (Also called) is being developed.
[0003]
This shaftless rotary press is generally a full shaftless press that does not use a line shaft at all, but an additional shaftless press that has a shaftless drive unit added to the existing shaft driven rotary press is also available. Has been developed.
For example, there is an increase in the number of pages in a newspaper or the case where it is desired to make it possible to create a page for color printing when the existing rotary press cannot perform color printing.
[0004]
It is possible to extend the shaft of an existing shaft-driven machine and add it as it is, but in this case, stop the existing shaft-driven machine (that is, stop the line) and increase the work. I have to do it. On the other hand, in the case of an extension shaftless machine, the extension can be performed without stopping the existing shaft drive type machine, which is extremely advantageous without reducing the operating rate.
[0005]
FIG. 6 is a schematic side view showing the configuration of the extension shaftless machine. As shown in FIG. 6, this extension shaftless machine has an existing shaft-driven rotary press part (existing part) 10 and an extension to this. It consists of a shaftless machine part (additional part) 20. The existing portion 10 includes a line shaft 11, a motor 12 that rotationally drives the line shaft 11, printing units 14 a to 14 c that are connected to the line shaft 11 via clutches 13 a to 13 d and are operated by the line shaft 11, and a folding machine. It consists of 15 grades. In addition, each printing unit 14a-14c is comprised as a tower unit which can perform color printing by four colors, cyan, yellow, and magenta here besides black.
[0006]
The additional portion 20 includes printing units 21a and 21b, motors 23a to 23h that individually rotate and drive the rollers (cylinders) 22 of the printing units 21a and 21b, an encoder 24 attached to the line shaft 11, and an encoder 24. And a master controller 25 that controls the operation of the motors 23a to 23h so as to rotate in synchronization with the line shaft 11. Here, each printing unit 21a, 21b is configured as a tower unit that can perform color printing with four colors of cyan, yellow, and magenta in addition to black.
[0007]
  By the way, in the case of a full shaftless machine, all the motors are under the control of the master controller, and the command value of each motor can be freely generated by internal calculation without any restrictions. Specifically, as shown in FIG. 7, an ideal virtual master signal is generated by calculation using an input signal from each operation button such as acceleration, deceleration, and stop as a trigger, and this data is Command values for each motor are generated in the base. As a result, the command value sent to each motor becomes a smooth signal without disturbance, and the command value to each motor can be made appropriate in synchronization with each other.The
[0008]
On the other hand, in the case of an extension shaftless machine, in order to realize a synchronous operation with the existing machine part, an encoder 24 for position detection is installed in the rotating part of the existing machine such as the line shaft 11 and the like. The master controller unit 25 uses the signal data to generate command values for the motors 23a to 23h.
The decisive difference from the full shaftless machine is that the encoder signal is used as the master signal in the command value calculation in the master controller.
[0009]
Since the master signal in this case is a signal from an encoder attached to the existing machine part, it is natural that the master signal is unstable and includes disturbance components peculiar to shaft-driven machines such as mechanical torsion and back crash. Since it becomes a signal, as shown in FIG. 8, it is necessary to filter the encoder signal to obtain smooth data, generate a master signal, and use it for command value generation of each motor.
[0010]
By the way, when the command value of each motor is generated in this way, an electrical delay time when the encoder signal is taken in and an internal feed time due to filtering processing (smoothing processing) at the time of command value generation occur. Become. For this reason, during acceleration / deceleration, a phase shift occurs between the printing units (printing units 21a, 21b) of the extension portion 20 and the folding machine 15 of the existing machine part, and a cutoff shift occurs in the folding machine 15. Had to do.
[0011]
Therefore, conventionally, as shown in FIG. 9, a correction value circuit is added before the filtering process of the master signal to correct the phase delay amount due to the time delay.
As shown in FIG. 7, the detection signal N (pulse / scan) obtained by counting the pulse signal from the encoder 24 by the counter unit 31 is filtered by the filter 32 ′, and this is processed by the master signal N._mIs sent to the position command value generation unit 38. At this time, the detection signal N is corrected by a correction circuit (signal delay correction means) 39 '.
[0012]
The correction circuit 39 ′ includes a filter 32a ′ for smoothing the detection signal N, a correction amount setting unit 39a ′ for setting the signal delay correction amount based on the reference speed V on which the detection signal N is smoothed, and a setting And an arithmetic unit 39b ′ for correcting the detection signal N with the signal delay correction amount.
As shown in Table 1 below, the correction amount setting unit 39a ′ is composed of an “acceleration correction function” and a “deceleration correction function”. The process of adding (or subtracting) the correction value set in step 1 is performed.
[0013]
For example, during acceleration, the speed is the speed point V_UP1At this point, the correction value C_UP1, Further accelerate, speed is speed point V_UP2At this point, the correction value C_UP2Is added. Conversely, during deceleration, the speed is at speed point V._DW2When the value decreases to the correction value C_DW2Is subtracted and further decelerated, the speed is speed point V_DW1When the value decreases to the correction value C_DW1The process of subtracting is performed.
[0014]
[Table 1]

[0015]
[Problems to be solved by the invention]
However, the conventional method has the following points to be improved.
That is, the steady cut-off deviation during acceleration / deceleration is reduced, but the tension fluctuation does not occur greatly at the point of correction, and an instantaneous “cut-off” deviation or “blurring” occurs.
[0016]
Further, the correction value needs to be set by actually measuring the cut-off deviation at each speed point at the time of acceleration / deceleration by actually performing printing for each printing press, and the work load is large. This is because the acceleration / deceleration rate is slightly different for each printing machine, and the length-based setting value cannot be a general-purpose setting value.
Further, since the number of parameters to be set is very large, the work load is also large in this respect.
[0017]
The present invention has been devised in view of the above-described problems, and is a single-shot method based on a tension variation at the time of cutting correction, which has been conventionally generated, by a general-purpose and easy-to-adjust method that does not require trial printing for each machine. It is an object of the present invention to provide a side-by-side shaftless rotary press and a control method therefor that can prevent the occurrence of typical cutting errors and blurring.
[0018]
[Means for Solving the Problems]
  For this reason, the shaft-less rotary press of the present invention (Claim 1) has a shaft driving portion having a folding machine driven by a line shaft, and a shaft having a printing unit having a printing cylinder driven by a motor. In a side-by-side shaftless rotary press provided with a less drive part, a position detection encoder for detecting the position of the line shaft or a member linked to the line shaft, and a detection signal from the position detection encoder are processed. Master signal generating means for generating a master signal, and control means for controlling the motor provided in the shaftless drive portion according to the master signal generated by the master signal generating means, A master signal generating means, a reference speed setting means for smoothing the detection signal to set a reference speed;Signal delay correcting means for correcting a delay of the detection signal with respect to an actual rotation state of the line shaft;The reference speed set by the reference speed setting meansAnd the detection signal whose delay is corrected by the signal delay correcting meansMaster signal calculating means for calculating the master signal according toTheIn addition, the signal delay correcting means includes a signal readout delay time resulting from the readout cycle of the position detection encoder and a smoothing delay time resulting from the smoothing processing of the detection signal. Based on the recognized delay time,detectionIt is characterized by signal delay correction.
[0019]
  The signal delay correction unit calculates a movement amount in the cycle by multiplying the reference speed set by the reference speed setting unit in a predetermined cycle by the delay time, and calculates in a current calculation cycle. And a delay correction amount calculating means for calculating a difference between the calculated movement amount and the movement amount calculated in the previous calculation cycle as a delay correction amount.detectionIt is preferable to perform signal delay correction.
[0020]
  A control method for a side-by-side shaftless rotary press according to the present invention (Claim 3) includes a shaft driving portion having a folding machine driven by a line shaft, and a shaft having a printing unit having a printing cylinder driven by a motor. A shaft-less rotary press with a less drive portion, the detection step of detecting the position of the line shaft or a member interlocking with the line shaft by a position detection encoder, and detected in the detection step A master signal generating step for processing a detection signal to generate a master signal, and a control step for controlling the motor provided in the shaftless driving portion according to the master signal generated in the master signal generating step. In addition, in the master signal generation step, a reference speed is set by smoothing the detection signal. And the degree setting step,A signal delay correction step for correcting a delay of the master signal with respect to an actual rotation state of the line shaft;The reference speed set in the reference speed setting stepAnd the detection signal whose delay is corrected in the signal delay correction stepA master signal calculating step for calculating the master signal according toTheThe signal delay correction step includes a signal readout delay time caused by the readout cycle of the position detection encoder and a smoothing delay time caused by the smoothing processing by the reference speed setting means, and is a unique value for the entire system. Based on the delay time previously recognized asdetectionIt is characterized by signal delay correction.
[0021]
  In the signal delay correction step, a movement amount calculation step for calculating a movement amount in the cycle by multiplying the reference speed set in a predetermined cycle in the reference speed setting step by the delay time, and a calculation in the current calculation cycle. A delay correction amount calculating step for calculating a difference between the calculated movement amount and the movement amount calculated in the previous calculation cycle as a delay correction amount.detectionIt is preferable to perform signal delay correction.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIGS. 1 to 5 illustrate an additional shaftless machine (a combined shaftless rotary press) and a control method thereof according to the first embodiment of the present invention. FIG. 1 is a schematic configuration showing a master signal generating apparatus. FIGS. 2, 2 and 3 are diagrams for explaining the signal delay correction, and FIGS. 4 and 5 are diagrams for explaining the master signal generation method.
[0023]
As already described with reference to FIG. 6, the rotary press according to the present embodiment includes an existing shaft-driven rotary press portion (existing portion) 10 and a shaftless press portion (additional portion) 20 added thereto. It is an additional shaftless machine. However, the rotary machine to which the present invention is applied may be any one in which the shaft-driven rotary machine part 10 and the shaftless machine part are provided side by side (adjacent type shaftless rotary machine). It does not matter whether it is an expansion part.
[0024]
As shown in FIG. 6, the existing portion 10 includes a line shaft 11, a motor 12 that rotationally drives the line shaft 11, and printing that is connected to the line shaft 11 via clutches 13 a to 13 d and is operated by the line shaft 11. It consists of units 14a to 14c and a folding machine 15 and the like. The additional portion 20 includes printing units 21a and 21b, motors 23a to 23h that individually rotate and drive the rollers (cylinders) 22 of the printing units 21a and 21b, an encoder 24 attached to the line shaft 11, and an encoder 24. On the basis of the detection signal, a master controller unit 25 that controls the operation of the motors 23a to 23h so as to rotate in synchronization with the line shaft 11 is configured.
[0025]
Here, the printing units 14a to 14c are configured as tower units that can perform color printing with four colors of cyan, yellow, and magenta in addition to black, and the printing units 21a and 21b are cyan, yellow, in addition to black. , A tower unit that can perform color printing with four colors of magenta. Of course, each of these printing units 14a-14c, 21a, 21b is not limited to this. Then, an encoder (also referred to as a line shaft encoder) 24 for position detection (or speed detection) is installed at a rotating part of the existing machine such as the line shaft 11 and the master controller 25 is used using signal data from the encoder 24. A master signal generating device (master signal generating means) 30 (see FIG. 1) generates a master signal for command values of the motors 23a to 23h, and a position command value generating unit (control means) 38 generates the master signal. In response to this, command values for the motors 23a to 23h are generated to control the motors 23a to 23h.
[0026]
As shown in FIG. 1, a master signal generation device (also referred to as a master controller filter processing unit) 30 counts a pulse signal from the encoder 24 at a predetermined scan cycle (about several milliseconds), and a counter unit 31. The detection signal N (pulse / scan) input via the reference speed N is smoothed and processed.₀A reference speed setting unit (reference speed setting unit) 32 for setting the delay time, and a cutting deviation compensation circuit as a signal delay correction unit (signal delay correction unit) for correcting the delay of the master signal with respect to the actual rotation state of the line shaft 24. 39 and the reference speed N set by the reference speed setting unit 32₀Correction signal N obtained by adding and correcting the required correction amount to_cBased on the master signal N_mA master signal calculation unit (master signal calculation means) 33 for calculating the detection signal N and the correction signal N_cThe accumulated amount of the difference between the accumulated amount and the accumulated amount storage unit (accumulated amount storage means) 34 stores the accumulated amount, and the accumulated amount decreases when the accumulated amount stored in the accumulated amount storage unit 34 exceeds a preset boundary value. A correction amount adjusting unit (correction amount adjusting means) 35 for adjusting the required correction amount to increase or decrease is provided on the side to be corrected.
[0027]
The reference speed setting unit 32 is provided with an improved filter (second-order lag filter) 32a, and smoothes the detection signal N by second-order lag filter processing. In addition, the smoothing process may be performed using a moving average process.
Based on the total delay time TS including the signal readout delay time caused by the readout cycle of the position detection encoder 25 and the smoothing delay time caused by the smoothing processing of the detection signal, the signal delay correction unit 39 Performs master signal delay correction. Then, by performing this delay correction, each of the motors 23a to 23h of the additional portion 20 is compensated for cutting deviation so as not to cause a delay with respect to the folding machine 15 or the like of the existing portion 10 when the system is increased or decreased. I have to.
[0028]
The delay time TS is mainly composed of (1) signal read delay time depending on the encoder signal read cycle, and (2) smoothing delay time due to read data filtering processing (smoothing processing). TS (= signal readout delay time + smoothing delay time) can be recognized in advance from the system design stage as a unique value in the entire system.
[0029]
In other words, for example, as shown in FIG.₀To speed X_N3, the area of the trapezoidal portion surrounded by the broken line and the solid line in FIG. 3 becomes the positional deviation amount between the folding machine 15 and the printing unit (motors 23a to 23h side), and this positional deviation amount is a delay time. Increase proportionally. Focusing on this point, the present rotary press performs delay correction on a delay time basis.
[0030]
Specifically, the signal delay correction unit 39 multiplies the reference speed X (pulse / scan) set by the smoothing process at a predetermined period by the filter 32a of the reference speed setting unit 32 by the delay time TS, and moves the amount (correction). Value) Y (= X × TS) according to the period described above, a movement amount calculation unit (movement amount calculation means) 39a, and a movement amount (correction value) Y calculated in the previous calculation period_n-1Difference from (= Y_n-Y_n-1) In the storage unit 39b and the movement amount (correction value) Y calculated in the current calculation cycle_nAnd the movement amount (correction value) Y calculated in the previous calculation cycle from the storage unit 39b_n-1Difference from (= Y_n-Y_n-1) Is the delay correction amount (phase correction value) P_nAnd a delay correction amount P calculated by the delay correction amount calculation unit 39c and a delay correction amount P calculated by the delay correction amount calculation unit 39c._nIs added to the detection signal N to provide a calculation unit (correction processing unit) 39d that performs delay correction of the master signal (here, the detection signal N).
[0031]
That is, as shown in FIG. 1, the smoothing process is performed on the encoder signal N (pulse / scan) for each scan to generate the velocity X (pulse / scan), and as shown in FIGS. Delay correction amount (phase correction value) P_nThe

As shown in FIG.
[0032]
In the case of constant speed operation, X_n= X_n-1Therefore, the correction value becomes 0 and no correction is performed.
For example, if the machine speed is X₀To X_nThe total correction value when accelerating to

Thus, the trapezoid area is correctly obtained, and it can be understood that the calculation can be correctly performed even when the acceleration is intermittently performed.
[0033]
By the way, the master signal calculating unit 33 detects the detection signal N._in, Reference speed N₀A correction signal N obtained by adding and correcting a required correction amount Δd to_c(= N₀+ Δd) is provided with a limit processing function 36, but as described above, the correction amount Δd is increased or decreased in accordance with the amount of accumulation (the amount of accumulation). Therefore, the limit processing is also performed in accordance with this. Therefore, this limit processing function is called learning limit processing means 36.
[0034]
That is, as shown in FIG. 4, the learning limit processing means 36 uses the reference speed N₀The limit value for (pulse / scan) is unified into an upper limit and a lower limit (that is, the limit processing is not a band but a single value having no width), and the limit position Δd is automatically set according to the amount of accumulation. The method to change to.
Further, the master signal calculation unit 33 outputs the output signal N of the learning limit processing means 36._out(= Correction signal N_c) Is the moving average process, and the master signal N_mAs a moving average processing unit (moving average processing means) 37, and a master signal N output from the moving average processing unit 37._mIs sent to the position command value generator 38, where the master signal N_mThe position command value (motor command value) is generated based on the calculation.
[0035]
Here, the increase / decrease adjustment of the correction amount Δd performed by the correction amount adjustment unit 35 will be specifically described.
(1) First, when the machine is started, the limit Δd value is set to 0. {Circle around (2)} Thereafter, Δd is automatically shifted by the following method while monitoring the value of the accumulation amount (accumulation pulse). Note that P1, P2, P3,..., Pn are points (boundary values) of the accumulated pulse amount for shifting Δd, and Δp is a hysteresis amount.
[0036]
A) When the accumulated pulse amount is positive
(3) When the accumulated pulse amount exceeds P1 + ΔP, Δd is shifted by 1 in the plus direction. (4) Thereafter, when the amount of accumulated pulses further increases and exceeds P2 + ΔP, Δd is further shifted by 1 in the positive direction. (5) Thereafter, when the amount of accumulated pulses further increases and exceeds P3 + ΔP, Δd is further shifted by 1 in the positive direction. As described above, when the accumulated pulse amount exceeds Pn + ΔP, a process of shifting Δd by 1 in the plus direction is performed.
{Circle around (6)} In the process of shifting in the positive direction, when the accumulated pulse amount is reduced below (boundary value−ΔP), Δd is returned to 1 in the negative direction.
[0037]
B) When the accumulated pulse amount is negative
(3) When the accumulated pulse amount is less than -P1-ΔP, Δd is shifted by 1 in the minus direction. {Circle over (4)} Thereafter, when the amount of accumulated pulses further decreases and becomes less than −P2−ΔP, Δd is further shifted by 1 in the minus direction. (5) 'After that, when the amount of accumulated pulses further decreases and becomes less than -P3-ΔP, it is further shifted by 1 in the negative direction. As described above, when the accumulated pulse amount is less than -Pn-ΔP, a process of shifting Δd by 1 in the minus direction is performed.
[0038]
{Circle over (6)} Further, if the accumulated pulse amount increases in the above-described negative shift process (boundary value + ΔP), Δd is returned to 1 in the positive direction.
The hysteresis amount ΔP is provided to prevent shift chattering of Δd when the accumulated pulse amount is in the vicinity of an integral multiple of the basic unit Pn.
Also, the adjustment method of P1 to Pn (hereinafter referred to as shift function) is to monitor the actual accumulation amount at constant speed and acceleration / deceleration. (1) When the peak value is large, the level of the shift function is lowered, Reduce the shift interval. (2) When the peak value is small, the level of the shift function is increased and the shift interval is shortened.
[0039]
By the way, in the processing method by the learning limit processing unit 36, the limit position always moves optimally according to the amount of accumulated pulses. Therefore, if the value of Pn is set optimally, the reference speed N during acceleration / deceleration is set.₀Even if the difference between the actual speed (detection speed) N and the actual speed increases, no adverse effect occurs. For this reason, the reference speed N₀The smoothing process for generation is more powerful, and the reference speed N₀Can be stabilized.
[0040]
As a specific embodiment, the filtering process is performed using a second-order lag filter that firmly attenuates low-frequency disturbances. Of course, a first-order lag filter may be used although the low-frequency disturbance attenuation is inferior.
Since the side-by-side shaftless rotary press as one embodiment of the present invention is configured as described above, the signal delay correction unit 39 causes the signal read delay time caused by the read cycle of the rotation speed detection encoder 25 to be Based on the delay time TS including the smoothing delay time resulting from the smoothing processing of the detection signal, the detection speed N is subjected to delay correction so as to eliminate the delay time, and the master signal delay correction is performed. .
[0041]
Since the delay time TS (= signal readout delay time + smoothing delay time) can be recognized in advance from the system design stage as a unique value for the entire system, it is not necessary to perform test printing for each machine, and This is a general-purpose method that is not affected by subtle acceleration rates that vary from machine to machine.
Therefore, the correction of the cutting deviation can be easily performed with certainty.
[0042]
In addition, since correction is performed appropriately for each control cycle, it is possible to perform continuous correction during acceleration / deceleration, eliminating tension fluctuation at the time of correction that has occurred in the past, such as single cutting errors and blurring. Occurrence can be prevented.
Furthermore, the fine adjustment of the cutting deviation (further adjustment) can be carried out only by fine adjustment of the delay time. Therefore, there is an effect that adjustment becomes very easy.
[0043]
Although the embodiments of the present invention have been described above, the present invention is not limited to such embodiments, and various modifications can be made without departing from the spirit of the present invention.
For example, the limit processing unit 36 of the master signal calculation unit 33 may be configured as shown in FIG.
[0044]
That is, as shown in FIG. 5, the reference speed N is obtained by smoothing the pulse count number n (pulse / scan) every time by a first-order lag filter or the like.₀As a reference point for limit processing as (pulse / scan), a plus direction width Δ1 and a minus direction width Δ2 are set with respect to this reference.
Input pulse N_inSpecifically, limit processing is performed as follows for (pulse / scan).
[Case 1]
N₀-Δ2 ≦ N_in≦ N₀+ Δ1 → N_out= N_in
[Case 2]
N_in> N₀+ Δ1 → N_out= N₀+ Δ1 Increase in accumulated pulse count
[Case 3]
N_in<N₀-Δ2 → N_out= N₀-Δ2 Accumulated pulse count decreased
[0045]
【The invention's effect】
  As described in detail above, according to the side-by-side shaftless rotary press of the present invention (Claims 1 and 2) and the control method thereof (Claims 3 and 4), the signal delay correcting means provided in the master signal generating means Includes a signal readout delay time caused by the readout cycle of the position detection encoder and a smoothing delay time caused by the smoothing processing of the detection signal, and is recognized in advance as a unique value in the entire system (at the stage of system design). Based on the delay timedetectionSince signal delay correction is performed, there is no need to perform trial printing for each machine, and it is a general-purpose method that is not affected by subtle acceleration rates that differ from machine to machine. It can be done reliably.
[0046]
Further, during acceleration / deceleration, it is possible to perform correction continuously, eliminating the tension fluctuation at the time of correction that has occurred in the past, and preventing the occurrence of a single cutting error, blurring, and the like.
Further, the fine adjustment of the cutting deviation (further adjustment) can be performed by fine adjustment of the delay time, and there is an effect that the adjustment becomes very easy.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing a main part (master signal generation device) of an additional shaftless machine (a combined shaftless rotary press) according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating signal delay correction of the master signal generation device according to the embodiment of the present invention.
FIG. 3 is a diagram illustrating signal delay correction of the master signal generation device according to the embodiment of the present invention.
FIG. 4 is a diagram illustrating a first technique for generating a master signal according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating a second technique for generating a master signal according to an embodiment of the present invention.
FIG. 6 is a schematic side view showing an example of a general extension shaftless machine (co-located shaftless rotary press).
FIG. 7 is a diagram illustrating an outline of master signal generation according to a conventional full shaftless machine.
FIG. 8 is a diagram illustrating an outline of master signal generation according to a conventional extension shaftless machine.
FIG. 9 is a schematic configuration diagram showing a master signal generating device for a conventional extension shaftless machine (co-located shaftless rotary press).
[Explanation of symbols]
10 Shaft-driven rotary press part (existing part)
11 Line shaft
12 Motor
13a-13d clutch
14a-14c printing unit
15 folding machine
20 Shaftless machine part (additional part)
21a, 21b printing unit
22 Roller
23a-23h Motor
24 Encoder
25 Master controller
30 Master signal generating device (master signal generating means)
31 Counter unit
32 Reference speed setting unit (reference speed setting means)
32a Improved filter (second-order lag filter)
32 First-order lag filter
33 Master signal calculation unit (master signal calculation means)
34 Accumulated amount storage unit (Accumulated amount storage means)
35 Correction amount adjustment unit (correction amount adjustment means)
36 Learning limit processing means
37 Moving average processing unit (moving average processing means)
38 Position command value generator (control means)
39 Cutting error compensation circuit as signal delay correction unit (signal delay correction means)
39a Movement amount calculation unit (movement amount calculation means)
39b storage unit
39c Delay correction amount calculation unit
39d Calculation unit (correction processing unit)

Claims (4)

In a side-by-side shaftless rotary press provided with a shaft driving part having a folding machine driven by a line shaft and a shaftless driving part having a printing unit having a printing cylinder driven by a motor,
A position detecting encoder for detecting the position of the line shaft or a member interlocking with the line shaft;
Master signal generation means for processing a detection signal from the position detection encoder to generate a master signal, and the master signal generated by the master signal generation means for the motor provided in the shaftless drive portion. Control means to control according to the
The master signal generating means includes
Reference speed setting means for smoothing the detection signal to set a reference speed;
Signal delay correcting means for correcting a delay of the detection signal with respect to an actual rotation state of the line shaft;
Equipped with a master signal calculating means for calculating the master signal in response to delayed detection signal is corrected by said reference velocity and the signal delay compensation means which is set at the reference speed setting means,
The signal delay correcting means includes a signal readout delay time resulting from the readout cycle of the position detection encoder and a smoothing delay time resulting from the smoothing processing of the detection signal, and is recognized in advance as a unique value in the entire system. based on the delay time, and performs the delay correction of the detection signal, hotel type shaftless rotary press. The signal delay correction unit calculates a movement amount in the cycle by multiplying the reference speed set by the reference speed setting unit in a predetermined cycle by the delay time, and calculates in a current calculation cycle. is equipped with a delay correction amount calculating means for calculating a correction amount delay the difference between the movement and the movement amount calculated by the calculating the previous cycle, performing the delay correction of the detection signal by the slow-error correction amount The side-by-side shaftless rotary press according to claim 1, wherein: This is a control method for a side-by-side shaftless rotary press in which a shaft driving part having a folding machine driven by a line shaft and a shaftless driving part having a printing unit having a printing cylinder driven by a motor are provided. And
A detection step of detecting a position of the line shaft or a member interlocked with the line shaft by a position detection encoder;
A master signal generation step of processing a detection signal detected in the detection step to generate a master signal;
A control step for controlling the motor provided in the shaftless drive portion in accordance with the master signal generated in the master signal generation step;
In the master signal generation step,
A reference speed setting step for smoothing the detection signal to set a reference speed;
A signal delay correction step for correcting a delay of the detection signal with respect to an actual rotation state of the line shaft;
And a master signal calculation step of calculating the master signal in response to said reference speed and said signal delay correction detection signal delay is corrected in step set by the reference speed setting step,
The signal delay correction step includes a signal readout delay time caused by the readout cycle of the rotation speed detection encoder and a smoothing delay time caused by the smoothing process by the reference speed setting step. based on a previously recognized delay time, and performs the delay correction of the detection signal, the control method of the hotel type shaftless rotary press. In the signal delay correction step, a movement amount calculation step for calculating a movement amount in the cycle by multiplying the reference speed set in a predetermined cycle in the reference speed setting step by the delay time, and a calculation in the current calculation cycle. is equipped with a delay correction amount calculating step of calculating a correction amount delay the difference between the movement and the movement amount calculated by the calculating the previous cycle, performing the delay correction of the detection signal by the slow-error correction amount The control method for a side-by-side shaftless rotary press according to claim 3.

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