EP0882587B1 - Contrôle du repérage des cylindres dans une machine à imprimer rotative pour bandes - Google Patents

Contrôle du repérage des cylindres dans une machine à imprimer rotative pour bandes Download PDF

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Publication number
EP0882587B1
EP0882587B1 EP98810436A EP98810436A EP0882587B1 EP 0882587 B1 EP0882587 B1 EP 0882587B1 EP 98810436 A EP98810436 A EP 98810436A EP 98810436 A EP98810436 A EP 98810436A EP 0882587 B1 EP0882587 B1 EP 0882587B1
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EP
European Patent Office
Prior art keywords
cylinder
register
regulator
basis
printing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP98810436A
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German (de)
English (en)
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EP0882587A1 (fr
Inventor
Walter Dr. Siegl
Andreas Helfenstein
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Wifag Maschinenfabrik AG
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Wifag Maschinenfabrik AG
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Priority claimed from DE1997123059 external-priority patent/DE19723059A1/de
Priority claimed from DE1997123043 external-priority patent/DE19723043C2/de
Application filed by Wifag Maschinenfabrik AG filed Critical Wifag Maschinenfabrik AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/08—Cylinders
    • B41F13/10—Forme cylinders
    • B41F13/12—Registering devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/004—Electric or hydraulic features of drives
    • B41F13/0045—Electric driving devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F33/00—Indicating, counting, warning, control or safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2213/00—Arrangements for actuating or driving printing presses; Auxiliary devices or processes
    • B41P2213/70—Driving devices associated with particular installations or situations
    • B41P2213/73—Driving devices for multicolour presses
    • B41P2213/734—Driving devices for multicolour presses each printing unit being driven by its own electric motor, i.e. electric shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20—Calculating means; Controlling methods
    • B65H2557/264—Calculating means; Controlling methods with key characteristics based on closed loop control
    • B65H2557/2644—Calculating means; Controlling methods with key characteristics based on closed loop control characterised by PID control

Definitions

  • the invention relates to a method and a device for register-containing Tuning of web-printing cylinders of a web-fed rotary press according to the preambles of claim 1 and claim 16.
  • the peripheral speed of the pressure cylinder for the previous old Production up to a predetermined value, for example to 30% of Speed in the production, lowered, and the new cylinders are for the subsequent new production after reaching the same peripheral speed their counter-cylinders created.
  • the new production will be at this speed added.
  • the now forming the pressure points cylinder the speed of the production started up.
  • drive through two speed ramps The Drive concept described in the above publications
  • printing presses with individually driven printing units allow compared to the previously common drives with a common wave a considerable faster passage through the speed ramps, so that the changeover times between two productions can be shortened again.
  • the invention has set itself the task of registering and thus the Improve the quality of the printed image on a printing path.
  • the invention relates to web-fed rotary printing presses, in particular for the Newspaper offset, from, as known for example from EP 0 644 048 A2 are.
  • a printing on one side of a web first cylinder is from a first Engine and a printing on the same side of the web second cylinder is of driven by a second motor, i. between the first and the second cylinder
  • the two motors are not form-fitting for driving purposes connected.
  • At least one of the two cylinders is in register for controlled by other cylinders.
  • the control behavior of at least the register controller for the second cylinder deliberately changed, if a the circumferential register influencing change of a production condition is made.
  • the Change of the regulation behavior becomes by a purposeful change at least one Controller parameter causes. Changes in production conditions, which is an inventive Change the control behavior are such changes, their impact on the scope register or the register validity predictable and reproducible.
  • the inventive response to one or more changes in production conditions consists in a modified change of the control behavior of the Controller, namely a controlled adaptation of at least one controller parameter, optionally all or at least all essential controller parameters.
  • the Adjustment of the controller is the changed situation in real time or anticipating, preferably partly in real time and partly anticipated, adapted.
  • the controller parameter preferably the peripheral speed or the speed of the cylinder to be registered in register.
  • Cylinders are used to register in register with the second cylinder are, for example, a reference cylinder.
  • a device for register-containing vote has at least the register controller for the second cylinder to be tuned to the first cylinder Cylinder via a preferably digital signal processor, with its own Memory, in which the parameter base values for the controller parameters of this controller stored or in which the respectively valid parameter basic values are inscribable.
  • the circuit or the signal processor of the controller must when using a Fixed memory only to be communicated, which of these stored basic values for the current operating case should apply to the respective controller parameter.
  • the controller itself has both a RAM and a ROM and receives from a higher-level control only via a control signal the message which value or data set stored in the ROM of the controller He should take over in his RAM and use until further notice.
  • the currently current one Value set for the controller parameters can, however, also be advantageous from the superordinate one Control can be loaded directly into a RAM of the controller.
  • the engine governor of the engine for the second Cylinder switched on a disturbance. Due to the additionally applied disturbance variable such larger deviations in the perimeter register, i. Register errors or Register deviations, counteracted without such an additional circuit and would occur without register control.
  • a disturbance is preferably the Cylinder peripheral speed or a size from which the designedsgweschwindtechnik can be determined. The peripheral speed or the equivalent size is preferably measured at each of the cylinders and this Cylinder connected or representative of all of the register-related Cylinder to be tuned measured on one of these cylinders and each of the others Cylinder activated. This forms a control element based on a stored, speed-dependent characteristic a mecanicozocon.
  • the angular position of the cylinder is in the sense of a synchronous Run controlled and regulated, but does not take into account the random and the predictable change in the path behavior during operation.
  • Such is for example the train, inter alia, a function of the web speed.
  • Such especially in unsteady operation occurring changes in the track behavior, cause the unacceptable registration errors are, by the invention additional connection of a disturbance variable to the manipulated variable of the register controller or directly compensated for the housessleitificat for a motor controller or not allowed from the outset.
  • Each of the engines is thus based on the conventional Leitlini, for example, the absolute angular position, out.
  • At least the engine for the cylinder to be tuned is also based on the additionally connected Disturbance to compensate for a predictably changing path behavior guided.
  • a third Cylinder comprehensive sub-control from a second cylinder comprehensive Partial control path decoupled with respect to the circumferential register.
  • the third cylinder prints on the same side of the web as the first and the second cylinder and follows in Web running direction seen the second cylinder.
  • the first one prints Cylinder the reference color
  • the second and the third cylinder are in register matched with respect to the first cylinder.
  • the features disclosed above can not only in the scheme or Control of those cylinders that are in register to one of the Reference color printing cylinder are tuned.
  • the the reference color itself printing cylinder can be controlled and / or controlled in the same way. In order to print in register, this is for example advantageous if there is a common component in the manipulated variables of the register controller of all the reference color following inks are.
  • the described control and / or control of the circumferential register can advantageously also for the control and optionally control of the cut register be used, i.
  • the register regulators of the cylinders can also with regard to the cut register can be adapted to be adapted.
  • the cut register can be used in the course of Feedforward control, preferably with, but also without controlled adaptation, also taken into account become.
  • FIG. 1 shows a four-high tower of a web-fed rotary press for newspaper offset printing.
  • the printing tower is formed by four printing units DE1 to DE4, which two H-bridges in the tower are arranged one below the other.
  • Each of the printing units comprises two blanket cylinders forming a printing nip for a continuous web B, starting with the first printing unit DE1 until the last printing unit DE4 of the printing tower are continuously denoted by 11 to 14 and 15 to 18.
  • Each the blanket cylinder 11 to 18 is assigned a plate cylinder 21 to 28 each.
  • the Plate cylinders 21 to 28 each subordinate color and dampening units are the Clarity not shown.
  • the web B is unwound from a paper roll of a roll changer and runs then via guide rollers and a draw roller 1 in the printing tower.
  • the tension roller 1 is on the drive side not coupled to the downstream pressure units DE1 to DE4.
  • the web is printed on both sides in four colors.
  • the Blanket cylinder 11 to 18 following their function of printing on the web because unspecific called printing cylinder.
  • the first printing unit DE1 is the web through the first cylinder 11 and 15 on both sides in each case preferably with the printed as a reference first color.
  • the register accuracy when printing of the second color through the second cylinders 12 and 16 in the second printing unit DE2 as well as the third and fourth color will always be in relation to the first color measured and corrected.
  • a further web tension roller 2 is arranged, the also on the drive side is not coupled to the printing units. Between both draw rollers 1 and 2 immediately at the entrance and at the exit before the first Pressure unit DE1 or behind the fourth printing unit DE4, ie the first and the Last printing point for the colors to be printed on top of each other, the web B curious; excited.
  • the arrangement of the sensor or sensors 3 is the speed of the color register control and, where appropriate, control benefit, especially in transient Operations. Especially in such phases, it is important to intervene in time, so that the color register (s) do not run or run out of tolerance.
  • the error time Around the time between error generation and debugging, i. the error time, too should first minimize the pressure units DE1 to DE4 as close as possible lie together.
  • it has been called sufficient and cost-advantageous proved to be only one sensor 3 per track side, and this sensor 3 as close as possible behind the last Pressure point to be registered in register to the reference color to place.
  • the Pressure point for printing the reference color on the other hand, the sensor 3 on the be furthest away.
  • the each one of the printing cylinder 11 to 14 associated register controller physically in a single register controller 30 summarized.
  • An input of the controller 30 are recorded by the respective web page associated sensor 3 Register deviations supplied.
  • Another input is the register controller 30 connected to a bus of a higher-level control.
  • control comprises a control station 4, section computers 5 and Service interfaces accessible via modems 6.
  • the setpoint values for the drive control the motors 10 are given by means of the higher-level control.
  • the Register control arrangement for printing on the other side of the web B. Cylinders 15 to 18 are mirror images of the register control arrangement for the cylinders 11 to 14.
  • a register controller 30 for a motor of The cylinder 11 to 18 is adjusted, inter alia, the error propagation time.
  • a controller parameterization can therefore also be dependent on the operation of the machine vary by error times, especially in the case of changes in the web speed or a change in the distance between the location of the error and the sensor 3 in changing productions also change.
  • the dynamics of the partial control section can be incorporated into the parameterization, in particular the free path length between the previous pressure point and considered Pressure point of the partial control range.
  • the transfer of the manipulated variable of the register controller 30 should be as fast as possible and the actuator itself should have the dynamics of the register controller 30 output variables can participate.
  • FIGS 2 to 4 show each other alternative drive concepts for each individually driven pressure units DE1 to DE4.
  • the Pressure gap forming cylinder for example, 11 and 15, each via a transmission 10.1, preferably a toothed belt, driven by a motor 10.
  • the like directly driven cylinders 11 and 15 are mechanically with their downstream Plate cylinders 21 and 25 coupled so that they are not shown gears abort on these downstream plate cylinder.
  • Between the pressure gap forming cylinders 11 and 15 is no positive coupling, so that of a decoupling of the drive can be spoken on the web.
  • the immediate driven cylinders 11 and 15 are relative to their angular position relative to another on the same side of the web printing cylinder regulated to order with these register more cylinders in register.
  • Figure 4 shows another drive concept, in which both the two pressure gap forming cylinders 11 and 15 and their respective downstream plate cylinder 21st and 25 are mechanically coupled together and by a common motor 10 are driven.
  • the drive from the engine 10 is again via a Transmission, preferably a toothed belt, on one of the two the pressure nip forming cylinders 11 and 15, from which then again via a gear train on the with driven further cylinders, namely the counter cylinder and the plate cylinder, is driven off.
  • a central steel cylinder 19 is shown in Figure 5a via a Transmission, preferably a toothed belt, driven by a motor 10.
  • a Transmission preferably a toothed belt
  • FIG. 5a shows the central cylinder 19 also mechanically one of the cylinders 11 'to 14' could be coupled, so with a form-fitting This cylinder could be in communication, so the own engine for this Central cylinder 19 would be omitted in this case.
  • the satellite printing unit of FIG. 5a are each printing on the same side of a web Cylinder 11 'to 14' controlled in register with each other in their angular positions.
  • one Superposition of the controls for the central cylinder 19 with each of the cylinder 11th until 14 can be profitable in the sense of minimizing deviations from ideal circumferential register are used.
  • FIG. 5b shows the corresponding a Example of a ten-cylinder printing unit with two central cylinders 19.1 and 19.2.
  • the plate cylinders 21 to 24 or 25 to 28 and 21 'and 24' downstream Farbund Dampeners can use the plate cylinders for common drive mechanically coupled, i. by positive locking.
  • the inking and dampening units can also be driven by their own motors.
  • FIG. 6 shows a characteristic curve for the register deviation Y 12 of the second cylinder 12 obtained by measurement and interpolation from the first cylinder 11.
  • the first cylinder 11 is the reference cylinder.
  • the register deviation Y 12 is plotted against the peripheral speed v 2 of the second cylinder 12.
  • the characteristic curve of FIG. 6 is reproducible.
  • Such characteristic curves can be determined in particular for different machine types, different paper grades and different machine configurations, ie for different path lengths between two adjacent printing locations, and stored in a machine-specific database. On the basis of these data records stored in the database, the appropriate data record can be selected after a corresponding selection of the type of machine, the currently used paper type and the currently set machine configuration. Thus, a compensating register correction is then determined on the basis of the relationship shown in FIG. 6 from the circumferential speed v 2 which is currently in production.
  • a characteristic such as that of FIG. 6 is used for each pressure drop of the second cylinder 12 and 16, respectively, and accordingly for the other to be agreed in register Cylinder determined.
  • the characteristics are each different, for example, because of different paper qualities, the the same cylinder peripheral speed show different web tension.
  • divergent track paths cause production changes a changed track behavior.
  • the cylinders of those Printing units following the reference unit DE1 serving as the reference will become select the appropriate curve from the database.
  • one Cylinder circumferential speed becomes a correction quantity, i. H. the proportion of one réelleden disturbance, formed on the basis of the selected characteristic and the Reference variable of the motor controller 8 switched.
  • a feedforward control also takes place in the cylinders 11 and 15 the first printing unit DE1.
  • the connection of such a disturbance even with the First cylinders 11 and 15 makes sense especially for a cut-off register control.
  • characteristic curves Y kl (v 1 ) are measured and provided in a machine-specific database.
  • the index k denotes the reference cylinder and the index 1 the respective follow-up cylinder to be matched in register.
  • FIG. 7 shows a regulator arrangement for printing on the right side of the web Cylinders 11 to 14 and hinted also for printing on the left side of the sheet Cylinders 15 to 18 shown.
  • FIG. 7 shows a regulator arrangement for printing on the right side of the web Cylinders 11 to 14 and hinted also for printing on the left side of the sheet Cylinders 15 to 18 shown.
  • the scheme described on the right side of the track For the regulation left of the course applies in each case appropriate.
  • the register marks printed on the web are picked up by the sensor 3 and evaluated in the measuring head of the sensor 3. From the output of the sensor 3, the determined register deviations Y 1, i of the cylinders 12, 13 and 14 are fed to the reference cylinder 11 to an input of the register controller 30.
  • the register controller 30 is internally divided into a respective register controller for each of the cylinders 11 to 14. From these register deviations forms each of the individual controller of the register controller 30 is a manipulated variable for its controlled system, the relevant cylinder, its engine 10 and motor controller 8, the web and the Sensor technology includes.
  • the angular positions of the cylinders 11 to 14 are controlled by a motor controller 8.
  • an individual desired angular position is formed for each of the cylinders 11 to 14.
  • the angular position ⁇ is represented by a length u [mm] unwound from the circumference of the cylinder.
  • the desired angular position is composed of the proportion u i, desired , which is specified by the higher-level control 4, 5, 6, and a correction du 1 together.
  • a comparison is made between the desired angular position and the actual angular position u 1, Ist recorded by a sensor 7.
  • the actual values are recorded at the torque-free ends of the cylinders 11 to 14.
  • the comparison result, the difference is converted by the motor controller 8 into a manipulated variable for its motor 10.
  • FIG. 8 exemplarily shows the control for the second cylinder 12 in more detail.
  • Y 12 represents the register deviation of the second cylinder 12 to the first cylinder 11.
  • the register controller 30 is connected to the superordinate control, which is simply designated by 4 in FIG.
  • basic parameters k Basis (k P base , k I base , k D base , k f basis ) output by the higher-level control 4 and optionally coefficients a P , a I , a D for the second cylinder 12 three basic values are for the controller, the fourth for a filter.
  • Basic parameters k basis are also supplied accordingly for the third cylinder 13 and the fourth cylinder 14 and possibly also for the first cylinder 11. From these input variables, ie the register deviation Y 12 , the peripheral speed v 2 and the parameter basic values, the register controller 30 forms its manipulated variable du 2, R.
  • This output variable or manipulated variable is the input of the motor controller 8 together with the effetsleitificat u 2, should from the controller 4 and the angle actual position u 2, is in the form of the difference u 2, should + du 2 - u 2, is supplied.
  • a PID controller known from EP 0 644 048 can be used as motor controller 8.
  • the register controller 30 of the embodiment is designed as a controller with PID elements, each with controller parameters k P , k I and k D.
  • controller parameters k P , k I and k D are formed by the register controller 30 as a function of the respective parameter base value and the peripheral speed of the cylinder, ie as a function of the individual parameter basic values and peripheral speeds per cylinder. It thus applies to each of the cylinders 11 to 14 individually:
  • each controller parameter k a coefficient for each controller parameter k.
  • Each of the controller parameters thus becomes as a function of the respective parameter base value, a cylinder-specific or a representative for all cylinders, representative speed, and optionally formed the last-mentioned coefficient.
  • the parameter base values k base are determined solely as a function of the dynamics of the partial control sections, ie only or at least mainly from the track paths to the preceding cylinder and to the sensor 3.
  • the controller parameters of the exemplary embodiment are proportional to the product of the parameter base value and the peripheral speed, that is to say:
  • the aforementioned relationships according to (1) and (2) between the controller parameters and the variables which determine them apply to each of the variables to be agreed in the register Cylinders with their own parameter base values.
  • the sampling time T flowing into the weighting is preferably constant, at least in regions, i. within predefined speed ranges, kept constant.
  • the parameter base values k base and the possibly used coefficients a for the controller parameters are predetermined by the machine controller to the register controller 30 in the event of a production change and the ensuing pressure point remodeling.
  • the parameter base values take into account only the length of the web to the respective preceding in the printing pressure cylinder.
  • a corresponding setting on the machine control station 4 is converted by the machine control into the parameter base values and forwarded to the register controller 30.
  • These parameter values then apply until a new pressure reshaping is performed.
  • the cylinder peripheral velocities v 1 to v 4 are measured and used in real time continuously by the register controller 30 to form its output variable du i, R in the context of a suitable control algorithm, preferably a PID control.
  • a peripheral speed measured for one of the cylinders 11 to 14 for all cylinders to be matched to one another in register.
  • the output formed by controlled adaptation du 2, R of the register controller 30, the peripheral speed v 2 is added as a disturbance variable by a control member 40 additively.
  • the sum du 2 formed from this is added to the master variable u 2, setpoint of the machine control 4, and the difference between the reference variable thus formed and the measured actual position value u 2, Ist is the control deviation for the motor controller 8.
  • An output quantity du 2, S as a correction quantity is formed in the control member 40 as a function of the speed v 2 of the second cylinder 12, which is preferably measured.
  • characteristic curves are stored in a memory of the control unit 40 for the relationship between the register deviations and the cylinder speeds.
  • the correction value or disturbance variable component du 2, S the register deviation Y 12 dependent on the speed v 2 of the second cylinder 12 is used, as shown for example in FIG.
  • the control element 40 calculates from this characteristic curve the correction variable du 2, S serving for the compensation of the register deviation Y 12 , ie depending on the definition of Y 12 and du 2, S , a scaling and / or a change of sign takes place as a conversion.
  • the current curve to be used is selected by the controller 4 via a dash-dotted line in FIG.
  • the characteristic curves could also be stored in a database of the machine control and entered into the control element memory via the Y KL bus at the start of production.
  • the correction variable du 2, S can also be used alone in stationary and transient operation of the machine to compensate for systematic registration errors or register deviations. This mode is indicated by an open switch at the output of the controller 30.
  • the intrusion of this correction variable is also optional, Aufschaltificat that you two can also be identical to the manipulated variable du 2, R of the regulator 30 be.
  • This mode is also symbolized by an open switch.
  • the control member 40 may, as shown in Figure 8, independently in addition to the Motor controller 8 and the register controller 30 may be provided. However, it can also be advantageous divided into individual control elements for the individual cylinders 11 to 14 and be in this division in each case the engine controllers 8 directly upstream.
  • a third possibility, namely the implementation of the control member 40 forming Individual control elements 41 to 44 in the register controller 30 is shown in FIG.
  • FIGS. 9 to 11 show the influence that a register adjustment made on the second cylinder 12 exerts on the registers of the following cylinders 13 and 14.
  • FIG. 9 shows the deviation of the register of the second cylinder 12 from the first cylinder 11 over time in the case of a rectangular excitation du 2 .
  • the register of the second cylinder 12 has been adjusted by 1 mm and returned to a predetermined second time t2.
  • the adjustment of the second cylinder 12 makes itself felt in the register of the following third cylinder 13 only at the aforementioned first and second times, ie the transition points of FIG. 9, by a first and a second projection below and above the line for zero deviation.
  • the register of the fourth cylinder 14 according to FIG. 11 shows a similar behavior.
  • the proportions du 3 and du 4 in the reference variables for their motor controller 8 are zero.
  • the change in the excitation du 2 is shown in FIG. 12 in addition to the course of the register deviation Y 12 .
  • Figure 13 shows the course of du 3 and the course of the register deviation Y 13 for the third cylinder 13.
  • the register adjustment of Figure 12 in the second cylinder 12 also causes an adjustment of the circumferential register in the subsequent cylinders 13 and 14, as already in the figures 10 and 11 is shown.
  • the motor of the third cylinder 13 is readjusted to eliminate the register deviation Y 13 .
  • the re-regulation corresponding proportion du 3 of the reference variable for the engine controller 8 of the third cylinder 13 is shown in Figure 13.
  • Figure 13 it can be seen that the command variable is changed only after a certain time lag occurred to register deviation Y 13 to you. 3
  • the controlled systems for the two cylinders 12 and 13 are coupled. As FIG.
  • the delayed change du 3 not only causes the register deviation Y 13 to occur undisturbed, but also causes significant overshoot of the register deviation Y 13 in the other direction after reduction of Y 13 .
  • the overshoot occurs even at a time when the register deviation Y 13 would reverse to the desired zero deviation without the change du 3 .
  • the overshoot is thus caused by du 3 in the first place.
  • Figure 14 shows the course of the register deviation Y 13 of the third cylinder 13 in the event that a control engineering decoupling for the controlled systems of the second cylinder 12 and the third cylinder 13 is made or activated.
  • FIG. 15 shows an exemplary embodiment of register regulator 30, which is integrated by integration of the control member 40 in the controller 30 of Figure 8 is formed. Furthermore, there are decouplers intended.
  • first bus v and a second bus k base which together can also be combined into a single bus, the peripheral velocities v 1 to v 4 of the four printing on the same side of the cylinder 11 to 14 and the Basic parameter values supplied for these cylinders.
  • the coefficients a are transmitted via the K base bus or a separate bus.
  • the register controller 30 each has a main controller for each of the cylinders 11 to 14.
  • the respective main regulators are designated 31 to 34. These are each a PID controller.
  • Each of the main regulators 31 to 34 and the filters 1 to 4 is supplied with the basis for its cylinder individual set of parameter base values k Pi, base , k li, base , k Di, base and k fi, Basis ;
  • the main regulators are further supplied with cylinder-individual coefficients a Pi , a Ii , a Di.
  • the register deviations Y 12 to Y 14 are the main controllers 32 to 34 respectively via an upstream filter, namely filter 2, filter 3 and filter 4, respectively.
  • the parameter base values are read once for the entire production in a respective memory of the main controllers 31 to 34.
  • a plurality of production-specific sets of parameter base values are used, for example a first set for a first speed range and a second, possibly a third set for a second or even third speed range of the cylinders.
  • the parameter base values take into account only the length of the free path in front of the respective cylinder and the length of the path from the cylinder to the sensor 3. If a sensor 3 is provided for each of the cylinders 11 to 14, the parameter base values must be the respective path lengths up to do not consider such individual sensors 3. From the parameter base values and the measured cylinder peripheral speed, each of the main controllers 31 to 34 forms its controller parameters k P , k I and k D according to the relationships:
  • the values for the coefficients a P , a I , a D reach the main regulators in the same way as the k basis values.
  • the a-values are preferably also always changed when the k base values are changed.
  • the likewise cylinder-individual coefficients a and the basic values k base can vary in discrete steps as a function of the cylinder peripheral speed, preferably in only two or three steps over the entire speed range.
  • the coefficients k f of the upstream filters, the filters 1, 2, 3 and 4 can be adapted controlled in an advantageous development according to such relations and equations (1) to (3).
  • the output quantities du i, R of the main regulators 31 to 34 are each the Störssennanteile du i, S in the manner described for Figure 8 added.
  • decoupling elements EG 34 , EG 234 and EG 1234 are also added in an additive manner.
  • the control elements 41 to 44 are also included in the decoupling.
  • FIG. 15 shows the case that the first cylinder 11 prints the reference color.
  • Y 11 is zero in this case; also you 1, R.
  • the feedforward control acts in this case for the first cylinder 11 only at the cutting register. If the reference color is printed by one of the other cylinders 12, 13 or 14, then the cylinder corresponding to the then printing the reference color applies. If a common part occurs in the register deviations Y 12 , Y 13 and Y 14 and, if appropriate, this common register deviation component is compensated for the first cylinder 11, the reference cylinder, or for cutting register adjustments, the controlled systems of the cylinders 12, 13 and 14 are replaced by a corresponding decoupling member EG 1234 decoupled from the controlled system of the first cylinder 11 in the same way. If the reference cylinder is freely selectable, the cylinders 11 to 14 are preferably decoupled from each other via decoupling members.
  • connection of the disturbance variable components du i, S is optional.
  • the output variables du i, R of the main controller 31 to 34 can be dispensed with, if one can be satisfied with the compensation of purely systematic errors or at least a part of the systematic errors.
  • formation of a control engineering decoupling by means of decoupling members EG 34 , EG 234 and EG 1234 is optional.
  • FIG. 16 qualitatively shows a step response or transfer function for the decoupling elements EG 23 , EG 234 and EG 1234 as a function of time.
  • the transfer function which applies in this qualitative representation for all decouplers, falls from a positive initial value over time to zero. Since the control according to the invention is preferably a discrete control, the course of the transfer function is stepped downwards.
  • the output variables of the decoupling elements are thus formed in such a way that the following cylinders deflect in such a way that their register is changed as little as possible when a register adjustment has been made on a preceding cylinder.
  • the inventive decoupling of the controlled systems in the register controller 30 also contributes alone, ie without the controlled adaptation of the controller parameters and without the involvement of the disturbance to the register of printing on one side of the web cylinders with each other, so brings alone or in optional combination with a the other two solutions have register advantages.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)

Claims (24)

  1. Procédé pour ajuster le repérage de cylindres d'impression imprimant sur une bande dans une presse rotative à imprimer pour lequel
    a) un premier cylindre (11) - imprimant sur un côté de la bande - est entraíné par un premier moteur (10) et un deuxième cylindre (12) - imprimant sur le même côté de la bande - par un deuxième moteur (10) ;
    b) un détecteur (3) mesure l'exactitude du repérage du premier et du deuxième cylindre (11 ; 12) en tant que grandeur d'entrée d'un régulateur (30 ; 32) et
    c) la position relative du deuxième cylindre (12) est ajustée en fonction du repérage du premier cylindre (11) par le régulateur (30 ; 32) qui commande au moins un moteur (10),
    caractérisé en ce que
    d) l'on modifie le comportement de réglage du régulateur (30 ; 32) lors d'une modification des conditions de production.
  2. Procédé selon la revendication 1 caractérisé en ce qu'une valeur de base du paramètre (kpBasis, kDBasis, kIBasis, kfBasis) spécifique à une production intervient dans la formation du paramètre de réglage (kp, kD, kI, kf) au moins au nombre d'un.
  3. Procédé selon la revendication 2 caractérisé en ce que la valeur de base du paramètre est modifiée au plus deux fois pendant cette production et est de préférence constante pendant cette production.
  4. Procédé selon la revendication 2 ou 3 caractérisé en ce que la valeur de base du paramètre (kpBasis, kDBasis, kIBasis, kfBasis) est au moins déterminée par une modification d'une longueur de bande suite à une transformation de la position d'impression.
  5. Procédé selon l'une des revendications précédentes caractérisé en ce que le paramètre de réglage (kp, kD, kI, kf) au moins au nombre d'un est modifié pour l'adaptation à la vitesse périphérique d'un des cylindres (11, 12), de préférence du cylindre (12) à ajuster, qui imprime sur le même côté de bande.
  6. Procédé selon la revendication précédente caractérisé en ce que la vitesse périphérique intervient linéairement lorsqu'on modifie le paramètre de réglage (kp, kD, kI, kf) au moins au nombre d'un.
  7. Procédé selon la revendication 5 ou 6 caractérisé en ce que l'on utilise la vitesse périphérique mesurée.
  8. Procédé selon l'une des revendications 2 à 7 caractérisé en ce que pour former le paramètre de réglage (kp, kD, kI, kf) modifié au moins au nombre d'un on multiplie la valeur de base du paramètre (kpBasis, kDBasis, kIBasis, kfBasis) par une grandeur qui dépend de la vitesse périphérique d'un des cylindres (11, 12), de préférence du cylindre (12) à ajuster, qui imprime sur le même côté de bande.
  9. Procédé selon l'une des revendications précédentes caractérisé en ce que tous les paramètres de réglage (kp, kD, kI, kf) du régulateur (30 ; 32), éventuellement aussi d'un filtre (filtre 2) placé en amont, sont modifiés de façon adaptée.
  10. Procédé selon l'une des revendications précédentes caractérisé en ce qu'une grandeur perturbatrice (v2) est indexée sur une grandeur d'entrée (du2.R) du régulateur (30 ; 32) pour le deuxième cylindre (12) afin de compenser un écart de repérage (Y12) - reproductible, typique pour une phase du fonctionnement de la machine et donc prévisible - du deuxième cylindre (12) par rapport au premier cylindre (11).
  11. Procédé selon l'une des revendications précédentes caractérisé en ce qu'une grandeur perturbatrice (v2) est indexée sur un régulateur de moteur (8) pour le deuxième cylindre (12) à une grandeur de référence (u2.soll) pour le déroulement synchrone du premier et du deuxième cylindre (11, 12) afin de compenser un écart de repérage (Y12) - reproductible, typique pour chaque phase et donc prévisible - du deuxième cylindre (12) par rapport au premier cylindre (11), le repérage périphérique du deuxième cylindre (12) pouvant être exclusivement commandé à l'aide de la grandeur de référence (u2.soll) et de la grandeur perturbatrice (v2).
  12. Procédé selon l'une des revendications précédentes caractérisé en ce que des valeurs - obtenues par une mesure ou par une simulation d'une phase d'accélération ou de décélération - pour des écarts de repérage (Y12) du deuxième cylindre (12) à différentes vitesses périphériques (v2) du deuxième cylindre (12) sont enregistrées dans une mémoire numérique d'un élément de commande (40) ou d'une commande (4, 5, 6) prioritaire.
  13. Procédé selon la revendication précédente caractérisé en ce que des écarts de repérage liés à la vitesse sont aussi enregistrés dans la mémoire pour d'autres trajets de transport de la bande.
  14. Procédé selon l'une des deux revendications précédentes caractérisé en ce que les écarts de repérage liés à la vitesse sont aussi enregistrés dans la mémoire pour différents matériaux de bande et éventuellement aussi pour différentes densités de couleur prédéfinies.
  15. Procédé selon l'une des revendications précédentes caractérisé en ce qu'un troisième cylindre (13) imprimant sur le même côté de la bande est découplé d'une correction - réalisée pour le deuxième cylindre (12) - d'un écart de repérage (Y12) du deuxième cylindre (12); la grandeur (du2.R) provoquant cette correction de l'écart de repérage (Y12) du deuxième cylindre (12) est alors conduite à un élément de découplage EG234 pour le deuxième cylindre (12) et son signal de sortie (E234) est indexé sur une grandeur de réglage (du3.R) afin de corriger les écarts de repérage (Y13) du troisième cylindre (13).
  16. Dispositif pour ajuster le repérage de cylindres d'impression imprimant sur une bande dans une presse rotative à imprimer avec
    a) un premier cylindre (11) - imprimant sur un côté de la bande - qui est entraíné par un premier moteur (10) et un deuxième cylindre (12) - imprimant sur le même côté de la bande - par un deuxième moteur (10);
    b) un détecteur (3) qui mesure l'exactitude du repérage du premier et du deuxième cylindre (11 ; 12) en tant que grandeur d'entrée d'un régulateur (30 ; 32) et
    c) un régulateur (30 ; 32) qui commande au moins un moteur (10) pour ajuster le repérage du deuxième cylindre (12) en fonction du premier cylindre (11)
    caractérisé en ce que
    d) l'on peut modifier le comportement de réglage du régulateur (30 ; 32) lors d'une modification des conditions de production.
  17. Dispositif selon la revendication précédente caractérisé en ce que le régulateur (30 ; 32) présente un processeur analogique et une mémoire dans laquelle des valeurs de base du paramètre (kpBasis, kDBasis, kIBasis, kfBasis) d'une commande (4, 5, 6) prioritaire sont lues pour former le paramètre de réglage (kp, kD, kI, kf) modifiable au moins au nombre d'un.
  18. Dispositif selon la revendication 16 ou 17 caractérisé en ce que la vitesse périphérique d'un cylindre (11, 12), de préférence du cylindre (12) à ajuster, imprimant sur le même côté de la bande est conduite au régulateur (30 ; 32).
  19. Dispositif selon la revendication 17 et 18 caractérisé en ce qu'un multiplicateur du régulateur (30 ; 32) multiplie la vitesse périphérique avec la valeur de base du paramètre (kpBasis, kDBasis, kIBasis, kfBasis) pour former au moins un paramètre de réglage (kp, kD, kI, kf) modifiable.
  20. Dispositif selon l'une des revendications 16 à 19 caractérisé en ce que l'on prévoit un organe de commande (40 ; 42) qui à partir d'une grandeur perturbatrice (v) forme une grandeur de correction (du2.s) afin de compenser un écart de repérage (Y12) du deuxième cylindre (12) par rapport au premier cylindre (11), lequel écart de repérage est typique pour la grandeur perturbatrice (v) et est indexé sur un régulateur de moteur (8) du deuxième cylindre (12).
  21. Dispositif selon la revendication précédente caractérisé en ce que l'organe de commande (40 ; 42) présente une mémoire dans laquelle est enregistrée au moins une caractéristique pour le déroulement, lié à la grandeur perturbatrice (v), de l'écart de repérage (Y12) du deuxième cylindre (12) par rapport au premier cylindre (11).
  22. Dispositif selon au moins l'une des deux revendications précédentes caractérisé en ce que, à partir de caractéristiques mémorisées dans une mémoire de l'organe de commande (40 ; 42), la grandeur perturbatrice (v) au moins au nombre d'une est conduite à l'organe de commande (40 ; 42) au moyen d'une première entrée et la caractéristique (Y12 (v)), au moins au nombre d'une, valable pour la production d'impression actuelle ou un signal de sélection pour sélectionner cette caractéristique au moyen d'une deuxième entrée.
  23. Dispositif selon l'une des revendications 20 à 22 caractérisé en ce que l'organe de commande (40 ; 42) fait partie du régulateur de repérage (30 ; 32).
  24. Dispositif selon l'une des revendications 20 à 22 caractérisé en ce que l'organe de commande (40 ; 42) est indépendant ou fait partie d'une commande de machine (4, 5, 6) prioritaire.
EP98810436A 1997-06-02 1998-05-13 Contrôle du repérage des cylindres dans une machine à imprimer rotative pour bandes Expired - Lifetime EP0882587B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE1997123059 DE19723059A1 (de) 1997-06-02 1997-06-02 Registerhaltige Abstimmung von Druckzylindern einer Rollenrotationsmaschine
DE19723059 1997-06-02
DE19723043 1997-06-02
DE1997123043 DE19723043C2 (de) 1997-06-02 1997-06-02 Verfahren und Vorrichtung zur Regelung eines Umfangregisters von auf eine Bahn druckenden Zylindern einer Rollenrotationsdruckmaschine

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EP0882587A1 EP0882587A1 (fr) 1998-12-09
EP0882587B1 true EP0882587B1 (fr) 2003-07-23

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US6532872B2 (en) 2003-03-18
EP0882587A1 (fr) 1998-12-09
DE59809058D1 (de) 2003-08-28
US20020023560A1 (en) 2002-02-28
US6647874B1 (en) 2003-11-18
EP0882588B1 (fr) 2001-11-07
EP0882588A1 (fr) 1998-12-09
DE59802022D1 (de) 2001-12-13

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