EP2298553B1 - Method for synchronising the position of multiple individual drives of a drive assembly and/or production assembly for a printing machine and a printing machine with at least a drive assembly and/or production assembly - Google Patents

Method for synchronising the position of multiple individual drives of a drive assembly and/or production assembly for a printing machine and a printing machine with at least a drive assembly and/or production assembly Download PDF

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Publication number
EP2298553B1
EP2298553B1 EP09170556.6A EP09170556A EP2298553B1 EP 2298553 B1 EP2298553 B1 EP 2298553B1 EP 09170556 A EP09170556 A EP 09170556A EP 2298553 B1 EP2298553 B1 EP 2298553B1
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Prior art keywords
individual drives
adjustment
assembly
drive
drives
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German (de)
French (fr)
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EP2298553A1 (en
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Mathias Monse
Harold Meis
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Baumueller Anlagen Systemtechnik GmbH and Co
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Baumueller Anlagen Systemtechnik GmbH and Co
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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
    • B41F13/004—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
    • B41F33/0009—Central control units
    • 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

Definitions

  • the invention relates to a method for synchronizing the position of several individual drives of a drive network and / or production network in a printing press according to the first part / preamble of claim 1. Furthermore, the invention relates to a printing machine with at least one drive network and / or production network with several, in their position synchronizing individual drives according to the preamble of claim 7.
  • an electric drive system is known in particular for printing machines, in which a plurality of rotatable and / or pivotable functional parts of devices and machines are adjusted in their angular position with an electric motor.
  • Each assigned angle encoders record the angular movements of the electric motor or functional part and enter them as actual values of a control loop to a signal processing module further.
  • the latter is designed to compare these actual values with nominal values and for the corresponding control of a power amplifier for the electric motor.
  • the arrangement of a digital signal processor is described, with the functions for encoder evaluation, engine control, speed control, angular position control and others are implemented.
  • the signal processing module has a plurality of controllers, each associated with a functional part, which are designed to simultaneously receive nominal values assigned to each functional part.
  • the invention is thus based on the object of specifying an improved method for the position synchronization of the individual drives of a printing machine as well as a printing machine equipped with such a position synchronization.
  • This optimization is carried out according to the invention on the basis of a consideration of the overall system, that is to say the entire drive network or production association, not as previously based on a decentralized approach.
  • the optimization of the travel paths or the adjustment of the drives by a central device of the entire system can be made, for example by means of an execution of the optimization process in one higher-level control system or a higher-level control device.
  • the determination according to the invention of optimized adjustment paths also includes a determination of these corresponding optimal target positions or the like, which are then set on the basis of the respective current positions. Even in such a way, ultimately, if not directly, optimized ways are determined.
  • the travel and / or adjustment paths are optimized with particular advantage, taking into account at least one boundary condition.
  • boundary conditions makes it possible to take into account a large number of requirements, which are or could be important for the optimization of the production process, and to include them in the optimization process in order to minimize unused times, to optimize resource consumption, and to improve efficiency To achieve the highest possible utilization of the respective machine in which the drives are installed.
  • At least one technological and / or constructive specification and / or a current drive state of at least one individual drive can be taken into account as at least one boundary condition.
  • a control device of all axes or drives reads in current drive states such as position angle and position data. These current states are evaluated, preferably taking into account further boundary conditions, centrally in a superordinate control system, or are included in a calculation process as part of an optimization process. As a result, optimized travel and / or adjustment paths are obtained for the individual drives or axles.
  • the travel and / or adjustment paths are optimized taking into account an allowed adjustment speed and / or at least one permissible adjustment movement and / or at least one current position angle of at least one individual drive as a boundary condition.
  • a weighting of the boundary conditions can be carried out according to the invention.
  • boundary conditions can thus be evaluated differently in their meaning.
  • database tables can be stored in a controller or a control system that contain evaluation specifications for the boundary conditions and / or can be changed by the user.
  • the weighting may, for example, be such that boundary conditions, the non-compliance of which could possibly lead to damage to the machine as a whole, are rated as more important than boundary conditions, which could only possibly lead to a lower quality of the product or the like.
  • the weighting of the boundary conditions can preferably be changed at any time user side. Weighting factors or the like may be used for the weighting.
  • traversing and / or adjustment requirements for the individual drives and / or boundary conditions are evaluated by a central device of the overall system of the drive network and / or production network.
  • a higher-level control system or a higher-level control device thus evaluates the alignment requirements for the individual drives, possibly also determined by the control device, wherein boundary conditions, preferably weighted, can be taken into account in any desired form.
  • adjustment orders are generated, which indicate how the alignment or the rotation and adjustment of each individual drive has to be made under the path optimization according to the invention.
  • These adjustment orders or commands, which lead to optimized adjustment paths, are transmitted, for example, in the form of control signals to the individual drives or their decentralized controls, for example to drive controllers of the individual drives.
  • deviations which may occur during the adjustment are compensated within the scope of a control loop so as to ensure and check the optimum adjustment of the positions or positions of the drives.
  • the regulation is likewise triggered or carried out by the central device, for example the control system or a central control device.
  • the travel and / or adjustment paths are optimized by means of an optimization algorithm implemented in a central device of the overall system of the drive network and / or production network, in particular by means of an optimization algorithm based on a movement model.
  • an optimization strategy is to be defined for which preferably a movement model of the machine or of the individual drives of a drive and / or production network is created, whereupon the optimization calculation is carried out on the basis of the model parameters. The result is optimized adjustment paths for the drives.
  • the current position angles of all individual drives are read in by a central control device and an optimal setpoint position for all individual drives is calculated by means of an optimization algorithm in a superordinate control system and sent to the individual drives, in particular associated drive controller, transmitted and / or deviations from the optimum setpoint positions are corrected via a control loop.
  • signals which relate to the actual state of the respective individual drive are in turn to be reported back to the central or higher-level control system.
  • the higher-level control system can actively request these signals, which relate to the current drive state, in turn.
  • the drives adopt the determined setpoint positions, then the paths that are traversed in this setting procedure are possible as short as considering the boundary conditions, since the setpoint positions are determined as a function of the path optimization according to the invention have been.
  • the travel paths can be specified directly (starting from or as a difference to the current position).
  • the controller reads a current position angle from all axes, including the folder, for which the optimization method is then carried out, taking into account further boundary conditions.
  • the determined setpoint position is distributed to all drive controllers, including those of the folder.
  • the individual drives take their optimal positions, where appropriate, corrections can be determined and made by a control.
  • the optimization means is based on current data of the drives, for example the current position data, possibly also other data, which it retrieves or receives from decentralized devices such as controllers. This data, along with other constraints that are significant to the adjustment process, are evaluated to produce commands that relate to and are passed to the final adjustments of each axis.
  • the synchronization time can be reduced and the waste produced can be minimized,
  • a control of all axes reads in the respective current position angles and evaluates them in the framework of an optimization algorithm, for example in the higher-level control system.
  • the optimization algorithm which takes into account system-relevant boundary conditions, possibly in weighted form, calculates setpoint positions which are distributed to the respective drive controllers.
  • a control of deviations is carried out via a control loop, so that a synchronous machine state is achieved in a short time.
  • FIG. 1 shows the FIG. 1 sketchy the course of a method according to the invention.
  • a vector of an adjustment profile (“the adjustment profile vector") or to be set Traversing and / or adjustment paths generated.
  • Such a vector An is calculated taking into account the overall system or considering the overall system with its boundary conditions and the like for each individual drive n. The calculation is based on an optimization algorithm that optimizes the adjustment paths based on a motion model.
  • an adjustment profile is generated or written for each individual drive n or transmitted to or from the drives.
  • the individual drives thus receive the adjustment commands following from the algorithm according to which they are aligned. After this alignment can be done in accordance with the box e start up or activation of the drive network.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Description

Die Erfindung betrifft ein Verfahren zur Synchronisation der Lage mehrerer Einzelantriebe eines Antriebsverbunds und/oder Produktionsverbunds bei einer Druckmaschine gemäß erster Teil/Oberbegriff des Patentanspruchs 1. Ferner betrifft die Erfindung eine Druckmaschine mit wenigstens einem Antriebsverbund und/oder Produktionsverbund mit mehreren, in ihrer Lage zu synchronisierenden Einzelantrieben gemäß Oberbegriff des Patentanspruchs 7.The invention relates to a method for synchronizing the position of several individual drives of a drive network and / or production network in a printing press according to the first part / preamble of claim 1. Furthermore, the invention relates to a printing machine with at least one drive network and / or production network with several, in their position synchronizing individual drives according to the preamble of claim 7.

In Systemen bzw. Maschinen, in denen mehrere Einzelantriebe zusammenarbeiten, beispielsweise um einen kontinuierlichen Durchfluss eines oder mehrerer Produkte sicherzustellen, ist in der Regel für das Gelingen des Produktionsvorgangs überhaupt bzw. für das Erreichen eines zufrieden stellenden Qualitätsstandards der gegenseitige Lagebezug der Einzelantriebe zu berücksichtigen. Die Einzelantriebe müssen gemeinsam geführt werden, wobei ihre Lage zueinander, in gewissen Fehlertoleranzen, korrekt einzustellen ist.In systems or machines in which several individual drives work together, for example to ensure a continuous flow of one or more products, the mutual relationship between the individual drives must generally be taken into account for the success of the production process or for achieving a satisfactory quality standard. The individual drives must be performed together, with their position to each other, in certain fault tolerances, set correctly.

Diese Einstellung erfolgt bisher auf einer rein dezentralen Ebene. Die Lage der Antriebe zueinander wird dezentral eingestellt, die Synchronisationsaufgabe wird dezentral bearbeitet. Allerhöchstens werden Teilsysteme betrachtet.This setting is currently done on a purely decentralized level. The position of the drives to each other is set decentrally, the synchronization task is processed decentrally. At the very most, subsystems are considered.

Dadurch entsteht das Problem, dass, bis letztlich ein produktionsfähiger Zustand hergestellt ist, eine beträchtliche Zeit vergeht bzw. in einem erheblichen Umfang Ressourcen verbraucht werden, beispielsweise dadurch, dass Produktionsausschuss erzeugt wird. Die Maschine kann durch das Anfallen beträchtlicher Einrichtzeiten nicht optimal ausgelastet werden.This poses the problem that, until finally a production-capable state is established, a considerable amount of time passes or resources are consumed to a considerable extent, for example by generating production scrap. The machine can not be optimally utilized by the occurrence of considerable set-up times.

Aus der EP 0 603 343 A1 ist ein elektrisches Antriebssystem insbesondere für Druckmaschinen bekannt, bei dem mehrere dreh- und/oder verschwenkbare Funktionsteile von Geräten und Maschinen in ihrer Winkellage mit einem Elektromotor verstellt werden. Jeweils zugeordnete Winkelgeber nehmen die Winkelbewegungen des Elektromotors bzw. Funktionsteiles auf und geben Sie als Istwerte eines Regelkreises an ein Signalverarbeitungsmodul weiter. Letzteres ist zum Vergleich dieser Istwerte mit Sollwerten und zur entsprechenden Ansteuerung eines Leistungsverstärker für den Elektromotor ausgebildet. Ferner wird die Anordnung eines digitalen Signalprozessors beschrieben, mit dem Funktionen zur Geberauswertung, Motorsteuerung, Drehzahlregelung, Winkellageregelung und anderes implementiert sind. Insbesondere weist das Signalverarbeitungsmodul mehrere, je einem Funktionsteile zugeordnete Regler auf, die zur simultanen Aufnahme von je einem Funktionsteile zugeordneten Sollwerten ausgebildet sind. Ein Bedarf an Weiterentwicklung ergibt sich allerdings hinsichtlich der Gesamterfassung aller Einzelantriebe der Druckmaschine und/oder hinsichtlich einer Verringerung des Zeit- und Ressourcenverbrauchs, bis die geforderte Produktionsbereitschaft der Druckmaschine besteht.From the EP 0 603 343 A1 an electric drive system is known in particular for printing machines, in which a plurality of rotatable and / or pivotable functional parts of devices and machines are adjusted in their angular position with an electric motor. Each assigned angle encoders record the angular movements of the electric motor or functional part and enter them as actual values of a control loop to a signal processing module further. The latter is designed to compare these actual values with nominal values and for the corresponding control of a power amplifier for the electric motor. Furthermore, the arrangement of a digital signal processor is described, with the functions for encoder evaluation, engine control, speed control, angular position control and others are implemented. In particular, the signal processing module has a plurality of controllers, each associated with a functional part, which are designed to simultaneously receive nominal values assigned to each functional part. However, there is a need for further development with regard to the overall detection of all individual drives of the printing press and / or with regard to a reduction in the consumption of time and resources until the required production readiness of the printing press exists.

Der Erfindung liegt damit die Aufgabe zugrunde, ein diesbezüglich verbessertes Verfahren zur Lagesynchronisation der Einzelantriebe einer Druckmaschine sowie eine mit einer solchen Lage Synchronisation eingerichtete Druckmaschine anzugeben.The invention is thus based on the object of specifying an improved method for the position synchronization of the individual drives of a printing machine as well as a printing machine equipped with such a position synchronization.

Zur Lösung dieser Aufgabe wird auf das im Patentanspruch 1 angegebene Synchronisationsverfahren und die im Patentanspruch 7 angegebene, entsprechend eingerichtete Druckmaschine verwiesen. Vorteilhafte, optionale Ausgestaltungen ergeben sich aus den abhängigen Ansprüchen.To solve this problem, reference is made to the specified in claim 1 synchronization method and specified in claim 7, correspondingly equipped printing press. Advantageous, optional embodiments emerge from the dependent claims.

Die Ausrichtung der einzelnen Antriebe, die zu einem Antriebsverbund bzw. Produktionsverbund zusammengeschlossen sind, um so die technologischen Anforderungen zu erfüllen, erfolgt somit unter Optimierung dieses Vorgangs hinsichtlich des Verfahrwegs bzw. Verstellwegs für die einzelnen Antriebe bzw. für das System der Antriebe insgesamt. Diese Optimierung wird erfindungsgemäß ausgehend von einer Betrachtung des Gesamtsystems, also des gesamten Antriebsverbunds bzw. Produktionsverbands, vorgenommen, nicht wie bisher ausgehend von einer dezentralen Betrachtungsweise. Insbesondere kann die Optimierung der Verfahrwege bzw. die Einstellung der Antriebe durch eine zentrale Einrichtung des Gesamtsystems vorgenommen werden, beispielsweise mittels einer Ausführung des Optimierungsvorgangs in einem übergeordneten Leitsystem oder einer übergeordneten Steuerungseinrichtung. Selbstverständlich schließt die erfindungsgemäße Bestimmung optimierter Verstellwege auch eine Ermittlung diesen entsprechender optimaler Solllagen oder dergleichen ein, die dann ausgehend von den jeweils aktuellen Lagen eingestellt werden. Auch auf solch eine Art und Weise werden ja letztlich, wenn auch nicht direkt, optimierte Wege bestimmt.The alignment of the individual drives, which are combined to form a drive network or production network so as to meet the technological requirements, thus takes place while optimizing this process with regard to the travel path or adjustment path for the individual drives or for the system of drives as a whole. This optimization is carried out according to the invention on the basis of a consideration of the overall system, that is to say the entire drive network or production association, not as previously based on a decentralized approach. In particular, the optimization of the travel paths or the adjustment of the drives by a central device of the entire system can be made, for example by means of an execution of the optimization process in one higher-level control system or a higher-level control device. Of course, the determination according to the invention of optimized adjustment paths also includes a determination of these corresponding optimal target positions or the like, which are then set on the basis of the respective current positions. Even in such a way, ultimately, if not directly, optimized ways are determined.

Der Zeit- und Ressourcenverbrauch, bis schließlich die geforderte Produktionsbereitschaft besteht, werden auf diese Art und Weise deutlich verringert. Die bestehenden Vorgaben werden produktionsweit oder antriebsverbundweit verknüpft.The consumption of time and resources, until finally the required production readiness exists, are significantly reduced in this way. The existing specifications are linked across the production or throughout the drive network.

Erfindungsgemäß werden die Verfahr- und/oder Verstellwege mit besonderem Vorteil unter Berücksichtigung wenigstens einer Randbedingung optimiert.According to the invention, the travel and / or adjustment paths are optimized with particular advantage, taking into account at least one boundary condition.

Die Berücksichtigung von Randbedingungen ermöglicht es, eine Vielzahl von Forderungen bzw. Vorgaben, die für die Optimierung des Produktionsprozesses von Bedeutung sind bzw. sein könnten, zu berücksichtigen und in den Optimierungsprozess einzubeziehen, um so ungenutzte Zeiten zu minimieren, den Ressourcenverbrauch zu optimieren und eine möglichst hohe Auslastung der jeweiligen Maschine, in die die Antriebe eingebaut sind, zu erreichen.The consideration of boundary conditions makes it possible to take into account a large number of requirements, which are or could be important for the optimization of the production process, and to include them in the optimization process in order to minimize unused times, to optimize resource consumption, and to improve efficiency To achieve the highest possible utilization of the respective machine in which the drives are installed.

Als wenigstens eine Randbedingung kann wenigstens eine technologische und/oder konstruktive Vorgabe und/oder ein aktueller Antriebszustand wenigstens eines Einzelantriebs berücksichtigt werden. In der Regel ist es sinnvoll, für alle Antriebe des Gesamtverbunds bzw. Produktionsverbunds die jeweils aktuellen Antriebszustände zu ermitteln und in einen Auswertungsprozess z.B. in einer zentralen Einrichtung einzubeziehen. Dies kann beispielsweise geschehen, indem entsprechende Signale von den Antrieben abgefragt oder übermittelt werden, um so für jeden einzelnen Antrieb eine optimale Einstellung bzw. Ermittlung eines Verstellauftrags zur Durchführung der Einstellung zu ermöglichen.At least one technological and / or constructive specification and / or a current drive state of at least one individual drive can be taken into account as at least one boundary condition. As a rule, it makes sense to determine the current drive states for all drives of the overall network or production network and include them in an evaluation process, for example in a central facility. This can be done, for example, by interrogating or transmitting appropriate signals from the drives, so as to allow for each drive optimal setting or determination of a Verstellauftrags to carry out the setting.

Für die optimale Ausrichtung der Antriebe spielen technologische Gegebenheiten und Besonderheiten der jeweiligen Maschine bzw. des Antriebsverbunds eine Rolle. Ebenso sind konstruktive Eigenschaften zu berücksichtigen. Das bedeutet zum Beispiel, dass einerseits die Gegebenheiten der Maschine an sich, beispielsweise die grundsätzliche Zahl der Antriebe und deren Einbau innerhalb der Maschine oder auch Details der Steuerung, als Randbedingung in den Optimierungsprozess einfließen können, andererseits Vorgaben, die durch das zu erzeugende Produkt gegeben sind, beispielsweise Eigenschaften eines spezifischen Materials, das als Ausgangsmaterial in den Prozess einfließt bzw. bei der Produktion verwendet wird, und dergleichen.For optimum alignment of the drives, technological conditions and special features of the respective machine or drive network play a role. Likewise, constructive properties must be considered. This means, for example, that on the one hand the conditions of the machine itself, for example the basic number of drives and their installation within the machine or even details of the control, can be included as a boundary condition in the optimization process, on the other hand specifications given by the product to be produced are, for example, properties of a specific material incorporated as a raw material in the process and used in production, and the like.

Soll nun eine Maschine von einem nicht synchronen in einen synchronen Betrieb gebracht werden, so liest eine Steuerungseinrichtung von allen Achsen bzw. Antrieben aktuelle Antriebszustände wie Positionswinkel und Lagedaten ein. Diese aktuellen Zustände werden, vorzugsweise unter Berücksichtigung weiterer Randbedingungen, zentral in einem übergeordneten Leitsystem, ausgewertet bzw. fließen in einen Berechnungsvorgang im Rahmen eines Optimierungsprozesses ein. Als Ergebnis werden für die einzelnen Antriebe bzw. Achsen optimierte Verfahr- und/oder Verstellwege erhalten.If a machine is now to be brought from a non-synchronous mode to a synchronous mode, then a control device of all axes or drives reads in current drive states such as position angle and position data. These current states are evaluated, preferably taking into account further boundary conditions, centrally in a superordinate control system, or are included in a calculation process as part of an optimization process. As a result, optimized travel and / or adjustment paths are obtained for the individual drives or axles.

Vom Standpunkt der Implementierung bzw. der im Rahmen der Steuerung zu verwendenden Programmmittel ist es denkbar, dass das erfindungsgemäße Verfahren nicht nur bei neuen Maschinen von Anfang an vorgesehen ist, sondern auch bei bereits existierenden Maschinen nachgerüstet wird. Damit können die erfindungsgemäßen Vorteile auch bei bereits bestehenden Systemen genutzt werden.From the point of view of the implementation or the program means to be used in the context of the control, it is conceivable that the method according to the invention is not only provided for new machines from the beginning, but also retrofitted on already existing machines. Thus, the advantages of the invention can also be used in existing systems.

Die Verfahr- und/oder Verstellwege werden unter Berücksichtigung einer erlaubten Verstellgeschwindigkeit und/oder wenigstens einer zulässigen Verstellbewegung und/oder wenigstens eines aktuellen Positionswinkels wenigstens eines Einzelantriebs als Randbedingung optimiert man.The travel and / or adjustment paths are optimized taking into account an allowed adjustment speed and / or at least one permissible adjustment movement and / or at least one current position angle of at least one individual drive as a boundary condition.

Dies bedeutet, dass alle gegebenenfalls relevanten Randbedingungen in den Optimierungsprozess, der zentral erfolgt bzw. von einer Betrachtung des Gesamtsystems ausgeht, einfließen können. Damit ist sichergestellt, dass der letztlich ausgelöste Verstellbefehl ausgeführt werden kann, ohne dass ein Schaden an der Maschine bzw. den einzelnen Komponenten zu befürchten wäre. Konkret bedeutet dies, dass für die Optimierung beispielsweise berücksichtigt wird, wie schnell ein Antrieb oder auch eine Gruppe von Antrieben höchstens verstellt werden können, ohne dass Probleme auftreten, bzw. welche Verstellbewegungen höchstens erlaubt sind, sodass sich die Antriebe nicht gegenseitig im Betrieb stören und dergleichen, bzw. ob eine gegebenenfalls berechnete minimale Verstellung technisch überhaupt durchgeführt werden kann. Dabei ist auch zu berücksichtigen, ob eine bestimmte Verstellbewegung in Abhängigkeit von der Lage oder Einstellung weiterer Antriebe des Antriebsverbunds zweckmäßig so durchgeführt werden kann, dass die geforderte Abstimmung mit den weiteren Antrieben dabei gegeben ist.This means that all possibly relevant boundary conditions can be included in the optimization process, which takes place centrally or starts from a consideration of the overall system. This ensures that the ultimately triggered adjustment command can be executed without any risk of damage to the machine or the individual components. Specifically, this means that the optimization takes into account, for example, how fast a drive or even a group of drives can be adjusted at most without problems, or which adjusting movements are permitted at most, so that the drives do not interfere with one another during operation and The like, or whether an optionally calculated minimum adjustment can be performed technically at all. It should also be considered whether a particular adjustment in function of the location or setting of other drives of the drive system can be conveniently carried out so that the required coordination with the other drives is given.

Bei Berücksichtigung mehrerer Randbedingungen kann erfindungsgemäß eine Gewichtung der Randbedingungen vorgenommen werden.Taking into account a plurality of boundary conditions, a weighting of the boundary conditions can be carried out according to the invention.

Dies bedeutet, dass für die Durchführung des Optimierungsprozesses für das Gesamtsystem definiert werden kann, wie wichtig eine jeweilige Randbedingung ist, beispielsweise, ob diese Randbedingung in jedem Fall eingehalten werden muss bzw. ob bestimmte Toleranzen bestehen bzw. ob es sich um eine vor- oder nachrangige Randbedingung handelt.This means that for the implementation of the optimization process for the entire system can be defined, how important a respective boundary condition is, for example, whether this boundary condition must be met in any case, or if there are certain tolerances or whether it is a forward or subordinate constraint.

Die Randbedingungen können somit in ihrer Bedeutung unterschiedlich bewertet werden. Gegebenenfalls können beispielsweise Datenbanktabellen in einer Steuerung oder einem Leitsystem abgelegt sein, die Bewertungsvorgaben für die Randbedingungen enthalten und/oder benutzerseitig änderbar sind. Die Gewichtung kann beispielsweise so erfolgen, dass Randbedingungen, deren Nichteinhaltung gegebenenfalls zu Schäden an der Maschine insgesamt führen könnte, als wichtiger bewertet werden als Randbedingungen, die lediglich unter Umständen zu einer geringeren Qualität des Produkts führen könnten oder dergleichen. Die Gewichtung der Randbedingungen kann dabei vorzugsweise benutzerseitig jederzeit geändert werden. Für die Gewichtung können Gewichtungsfaktoren oder dergleichen zum Einsatz kommen.The boundary conditions can thus be evaluated differently in their meaning. Optionally, for example, database tables can be stored in a controller or a control system that contain evaluation specifications for the boundary conditions and / or can be changed by the user. The weighting may, for example, be such that boundary conditions, the non-compliance of which could possibly lead to damage to the machine as a whole, are rated as more important than boundary conditions, which could only possibly lead to a lower quality of the product or the like. The weighting of the boundary conditions can preferably be changed at any time user side. Weighting factors or the like may be used for the weighting.

Im Rahmen der Synchronisation der Lage der Einzelantriebe können Verfahr- und/oder Verstellanforderungen für die Einzelantriebe und/oder auf die Einzelantriebe bezogene Signale an eine zentrale Einrichtung des Gesamtsystems des Antriebsverbunds und/oder Produktionsverbunds übermittelt und/oder in dieser bestimmt werden und/oder durch die zentrale Einrichtung eingelesen und/oder abgerufen werden.As part of the synchronization of the position of the individual drives Verfahr- and / or adjustment requirements for the individual drives and / or based on the individual drives signals transmitted to a central device of the entire system of the drive network and / or production network and / or determined in this and / or by the central facility is read in and / or retrieved.

Es ist also denkbar, dass bestimmte Anforderungen zur Ausrichtung oder Verstellung der Antriebe bereits dezentral, in den Antrieben selbst bzw. in diesen zugeordneten dezentralen Steuerungseinrichtungen, ermittelt werden, welche dann beispielsweise seitens eines übergeordneten Leitsystems oder einer anderen zentralen Einrichtung ausgelesen oder abgerufen werden, um anschließend in den eigentlichen Optimierungsvorgang einzufließen. Ebenso ist es denkbar, dass lediglich auf die Einzelantriebe bezogene Signale, wie beispielsweise aktuelle Positionswinkel, Lagewerte oder dergleichen an die zentrale Einrichtung übermittelt oder von dieser abgerufen werden, die anschließend zentral weiter verarbeitet werden, um daraus konkrete Verstellanforderungen zu generieren. Weiterhin ist es möglich, dass in der zentralen Einrichtung gegebenenfalls aus einzelnen antriebsbezogenen Signalen weitere antriebsbezogene Signale ermittelt werden, die dann beispielsweise als Randbedingungen in den Optimierungsprozess einfließen.It is therefore conceivable that certain requirements for aligning or adjusting the drives are already determined decentrally, in the drives themselves or in these associated decentralized control devices, which are then read out or retrieved, for example, by a higher-level control system or another central device then flow into the actual optimization process. It is also conceivable that only signals related to the individual drives, such as current position angles, position values or the like, are transmitted to or retrieved from the central device, which are subsequently further processed centrally in order to generate concrete adjustment requests. Furthermore, it is possible for further drive-related signals to be determined in the central device, if appropriate from individual drive-related signals, which then, for example, flow into the optimization process as boundary conditions.

Erfindungsgemäß werden im Rahmen der Synchronisation der Lage der Einzelantriebe Verfahr- und/oder Verstellanforderungen für die Einzelantriebe und/oder Randbedingungen seitens einer zentralen Einrichtung des Gesamtsystems des Antriebsverbunds und/oder Produktionsverbunds ausgewertet.According to the invention, as part of the synchronization of the position of the individual drives, traversing and / or adjustment requirements for the individual drives and / or boundary conditions are evaluated by a central device of the overall system of the drive network and / or production network.

Erfindungsgemäß werden somit die Verstellanforderungen und Randbedingungen über das Gesamtsystem ausgewertet und nicht dezentral, wie dies bisher üblich ist. Dadurch ist insgesamt eine bessere Abstimmung möglich, da alle Einflüsse auf den Produktionsprozess bzw. vielfache Vorgaben in einer Gesamtbetrachtung produktionsweit zusammenfließen.According to the invention thus the adjustment requirements and boundary conditions are evaluated on the entire system and not decentralized, as has been customary. Overall, a better vote is possible, since all influences on the production process and / or multiple specifications flow together production-wide in an overall view.

Im Rahmen der Synchronisation der Lage der Einzelantriebe werden erfindungsgemäß in Abhängigkeit von einer Auswertung von Verfahr- und/oder Verstellanforderungen für die Einzelantriebe und/oder von Randbedingungen Verstellaufträge für die Einzelantriebe gebildet und/oder an die Einzelantriebe übermittelt werden und/oder es können Abweichungen ausgeregelt werden, insbesondere seitens einer zentralen Einrichtung des Gesamtsystems des Antriebsverbunds und/oder Produktionsverbundes und/oder im Rahmen einer Vorgabe von Sollpositionen.As part of the synchronization of the position of the individual drives are inventively formed depending on an evaluation of traversing and / or Verstellanforderungen for individual drives and / or boundary conditions Verstellaufträge for individual drives and / or transmitted to the individual drives and / or deviations can be corrected be, in particular by a central facility of the entire system of the drive network and / or production network and / or in the context of a specification of target positions.

Ein übergeordnetes Leitsystem oder eine übergeordnete Steuerungseinrichtung werten somit die, gegebenenfalls ebenfalls durch die Steuereinrichtung bestimmten, Ausrichtungsanforderungen für die Einzelantriebe aus, wobei in beliebiger Form Randbedingungen, vorzugsweise gewichtet, berücksichtigt werden können.A higher-level control system or a higher-level control device thus evaluates the alignment requirements for the individual drives, possibly also determined by the control device, wherein boundary conditions, preferably weighted, can be taken into account in any desired form.

Als Ergebnis dieses Optimierungsprozesses werden Verstellaufträge erzeugt, die angeben, wie die Ausrichtung bzw. das Verdrehen und Einstellen des jeweiligen Einzelantriebs unter der erfindungsgemäßen Wegoptimierung zu erfolgen hat. Diese Verstellaufträge bzw. -befehle, die zu optimierten Verstellwegen führen, werden beispielsweise in Form von Steuersignalen an die Einzelantriebe oder deren dezentrale Steuerungen, beispielsweise an Antriebsregler der Einzelantriebe, übermittelt.As a result of this optimization process adjustment orders are generated, which indicate how the alignment or the rotation and adjustment of each individual drive has to be made under the path optimization according to the invention. These adjustment orders or commands, which lead to optimized adjustment paths, are transmitted, for example, in the form of control signals to the individual drives or their decentralized controls, for example to drive controllers of the individual drives.

Erfindungsgemäß werden schließlich Abweichungen, die bei der Einstellung auftreten können, im Rahmen eines Regelkreises ausgeregelt, um so die optimale Einstellung der Positionen oder Lagen der Antriebe zu gewährleisten und zu überprüfen. Die Regelung wird ebenfalls durch die zentrale Einrichtung wie beispielsweise das Leitsystem bzw. eine zentrale Steuerungseinrichtung ausgelöst bzw. durchgeführt.Finally, according to the invention, deviations which may occur during the adjustment are compensated within the scope of a control loop so as to ensure and check the optimum adjustment of the positions or positions of the drives. The regulation is likewise triggered or carried out by the central device, for example the control system or a central control device.

Die Verfahr- und/oder Verstellwege werden mittels eines in einer zentralen Einrichtung des Gesamtsystems des Antriebsverbunds und/oder Produktionsverbunds implementierten, Optimierungsalgorithmus optimiert er, insbesondere mittels eines auf einem Bewegungsmodell basierenden Optimlerungsalgorithmus.The travel and / or adjustment paths are optimized by means of an optimization algorithm implemented in a central device of the overall system of the drive network and / or production network, in particular by means of an optimization algorithm based on a movement model.

Ein solcher Algorithmus kann gegebenenfalls auch in bestehenden Maschinen oder Steuerungen nachgerüstet werden. Dabei ist eine Optimierungsstrategie festzulegen, für die vorzugsweise ein Bewegungsmodell der Maschine oder der einzelnen Antriebe eines Antriebs- und/oder Produktionsverbunds erstellt wird, woraufhin auf Basis der Modellparameter die Optimierungsrechnung durchgeführt wird. Das Ergebnis sind dann optimierte Verstellwege für die Antriebe.If necessary, such an algorithm can also be retrofitted in existing machines or controllers. In this case, an optimization strategy is to be defined for which preferably a movement model of the machine or of the individual drives of a drive and / or production network is created, whereupon the optimization calculation is carried out on the basis of the model parameters. The result is optimized adjustment paths for the drives.

Auf Basis dieses wegoptimierenden Algorithmus kann schließlich ausgehend von einer Gesamtsystembetrachtung eine optimale Synchronisation der Lage von Antrieben eines Systems erfolgen.On the basis of this path-optimizing algorithm, an optimum synchronization of the position of drives of a system can finally be carried out on the basis of an overall system consideration.

Bei einer Druckmaschine werden im Rahmen der Synchronisation der Lage der Einzelantriebe die aktuellen Positionswinkel aller Einzelantriebe, insbesondere aller Achsen, seitens einer zentralen Steuerungseinrichtung eingelesen und daraus mittels eines Optimierungsalgorithmus in einem übergeordneten Leitsystem eine optimale Sollposition für alle Einzelantriebe berechnet und an die Einzelantriebe, insbesondere an zugehörige Antriebsregler, übermittelt und/oder es werden Abweichungen von den optimalen Sollpositionen über einen Regelkreis ausgeregelt. Zur Ausregelung der Abweichungen sind Signale, die den Ist-Zustand des jeweiligen Einzelantriebs betreffen, wiederum an das zentrale oder übergeordnete Leitsystem zurückzumelden. Das übergeordnete Leitsystem kann diese Signale, die den aktuellen Antriebszustand betreffen, selbstverständlich auch seinerseits aktiv anfordern. Nehmen die Antriebe die ermittelten Sollpositionen ein, so sind die Wege, die in diesem Einstellvorgang durchlaufen werden, so kurz wie unter Beachtung der Randbedingungen möglich, da die Sollpositionen in Abhängigkeit der erfindungsgemäßen Wegoptimierung bestimmt worden sind. Selbstverständlich können statt der Sollpositionen bzw. ergänzend zu diesen die Verfahrwege direkt (ausgehend von der bzw. als Differenz zur aktuellen Position) vorgegeben werden.In the case of a printing press, as part of the synchronization of the position of the individual drives, the current position angles of all individual drives, in particular all axes, are read in by a central control device and an optimal setpoint position for all individual drives is calculated by means of an optimization algorithm in a superordinate control system and sent to the individual drives, in particular associated drive controller, transmitted and / or deviations from the optimum setpoint positions are corrected via a control loop. To compensate for the deviations, signals which relate to the actual state of the respective individual drive are in turn to be reported back to the central or higher-level control system. Of course, the higher-level control system can actively request these signals, which relate to the current drive state, in turn. If the drives adopt the determined setpoint positions, then the paths that are traversed in this setting procedure are possible as short as considering the boundary conditions, since the setpoint positions are determined as a function of the path optimization according to the invention have been. Of course, instead of the desired positions or in addition to these, the travel paths can be specified directly (starting from or as a difference to the current position).

Auf diese Art und Weise kann durch einen wegoptimierten Ansatz bei einer Druckmaschine die Synchronisationszeit erheblich vermindert werden und gleichzeitig die Produktion von Makulatur minimiert werden. Die Steuerung liest von allen Achsen einschließlich des Falzapparats einen aktuellen Positionswinkel ein, für den dann unter Berücksichtigung weiterer Randbedingungen das Optimierungsverfahren durchgeführt wird. Die ermittelte Sollposition wird an alle Antriebsregler, auch an den des Falzapparats, verteilt. Die einzelnen Antriebe nehmen ihre optimalen Positionen ein, wobei gegebenenfalls Korrekturen durch eine Regelung ermittelt und vorgenommen werden können.In this way, by a path-optimized approach in a printing press synchronization time can be significantly reduced while minimizing the production of waste. The controller reads a current position angle from all axes, including the folder, for which the optimization method is then carried out, taking into account further boundary conditions. The determined setpoint position is distributed to all drive controllers, including those of the folder. The individual drives take their optimal positions, where appropriate, corrections can be determined and made by a control.

In dem Antriebsverbund oder Produktionsverbund gibt es beispielsweise eine zentrale Einrichtung wie ein übergeordnetes Leitsystem, das als Mittel zur Optimierung der Ausrichtwege der einzelnen Antriebe dient. Die Optimierung erfolgt vor dem Hintergrund einer Betrachtung des Gesamtsystems. Dabei geht das Optimierungsmittel von aktuellen Daten der Antriebe, beispielsweise den aktuellen Positionsdaten, gegebenenfalls auch weiteren Daten, aus, die es abruft bzw. von dezentralen Einrichtungen wie Steuerungen erhält. Diese Daten werden zusammen mit weiteren Randbedingungen, die für den Verstellprozess von Bedeutung sind, ausgewertet, um so Befehle zu erzeugen, die die letztlich auszuführenden Verstellungen der einzelnen Achsen betreffen und an diese weitergeleitet werden.In the drive network or production network, for example, there is a central device such as a higher-level control system, which serves as a means of optimizing the alignment paths of the individual drives. The optimization takes place against the background of a consideration of the entire system. In this case, the optimization means is based on current data of the drives, for example the current position data, possibly also other data, which it retrieves or receives from decentralized devices such as controllers. This data, along with other constraints that are significant to the adjustment process, are evaluated to produce commands that relate to and are passed to the final adjustments of each axis.

Diese am Gesamtsystem orientierte Betrachtung bietet den Vorteil, dass der Aufwand an Zeit und Ressourcen bis zum Erreichen des synchronisierten Zustands verringert werden kann, bis also schließlich ein produktionsfähiger Zustand eingestellt ist bzw. ein Zustand, der eine Produktion mit geringem oder ohne Ausschuss ermöglicht.This consideration, which is oriented on the overall system, offers the advantage that the expenditure of time and resources can be reduced until the synchronized state is reached, ie, finally, a production-capable state is set or a state which enables production with little or no waste.

Bei der Druckmaschine kann erfindungsgemäß die Synchronisationszeit verringert und die erzeugte Makulatur minimiert werden, indem beispielsweise eine Steuerung von allen Achsen die jeweiligen aktuellen Positionswinkel einliest und diese im Rahmen eines Optimierungsalgorithmus beispielsweise im übergeordneten Leitsystem auswertet. Dabei werden durch den Optimierungsalgorithmus, der systemrelevante Randbedingungen gegebenenfalls in gewichteter Form berücksichtigt, Sollpositionen berechnet, die an die jeweiligen Antriebsregler verteilt werden. Weiterhin wird über einen Regelkreis eine Ausregelung von Abweichungen durchgeführt, so dass in kurzer Zeit ein synchroner Maschinenzustand erreicht wird.In the printing machine according to the invention, the synchronization time can be reduced and the waste produced can be minimized, For example, a control of all axes reads in the respective current position angles and evaluates them in the framework of an optimization algorithm, for example in the higher-level control system. In this case, the optimization algorithm, which takes into account system-relevant boundary conditions, possibly in weighted form, calculates setpoint positions which are distributed to the respective drive controllers. Furthermore, a control of deviations is carried out via a control loop, so that a synchronous machine state is achieved in a short time.

Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich anhand des folgenden Ausführungsbeispiels sowie aus der Figur 1. Dabei zeigt die Figur 1 skizzenhaft den Ablauf eines erfindungsgemäßen Verfahrens.Further advantages, features and details of the invention will become apparent from the following embodiment and from the FIG. 1 , It shows the FIG. 1 sketchy the course of a method according to the invention.

Zunächst wird gemäß dem Kästchen a von Antriebskomponenten eines Verbunds ausgegangen, der sich im Stillstand befindet ("standstill drive compound"). Daraufhin wird gemäß dem Kästchen b für jeden einzelnen Antrieb n ("for each drive n") des Antriebssystems oder Produktionssystems eine aktuelle derzeitige Position bzw. ein aktueller Positionswinkel pn ("actual position") eingelesen, beispielsweise ein Positionswinkel. Zusätzlich werden Verstellbedingungen oder auch Randbedingungen cn eingelesen ("adjustment constraints"), durch die die Möglichkeiten für Verstellungen der Einzelantriebe beschränkt werden. Diese Bedingungen können von den einzelnen Antrieben selbst stammen bzw. eingelesen werden und/oder in Tabellen abgelegt sein, wobei derartige Tabellen beispielsweise in einer zentralen Steuerungseinrichtung (gegebenenfalls auch dezentral) vorliegen und sich auf die jeweiligen Produktionsprozesse bzw. die Maschine an sich beziehen können. Aus diesen Daten wird schließlich ein Bewegungsvektor Vn ("motion vector") berechnet. Bei der Berechnung dieses Bewegungsvektors wird ein Bewegungsmodell für die Gesamtmaschine bzw. einen Produktionsverbund der Maschine zugrunde gelegt.First of all, according to box a, it is assumed that drive components of a compound are at standstill drive compound. Thereupon, according to box b, for each individual drive n ("for each drive n") of the drive system or production system, a current current position or a current position angle pn ("actual position") is read in, for example a position angle. In addition, adjustment conditions or boundary conditions c n are read in ("adjustment constraints"), which limit the possibilities for adjustments of the individual drives. These conditions can originate from the individual drives themselves or be read in and / or stored in tables, such tables being present, for example, in a central control device (possibly also decentralized) and can refer to the respective production processes or the machine per se. From these data, finally, a motion vector V n ("motion vector") is calculated. The calculation of this motion vector is based on a movement model for the entire machine or a production network of the machine.

Aus dem Bewegungsvektor Vn wird gemäß dem Kästchen c ein Vektor eines Verstellprofils ("adjustment profile vector") bzw. der einzustellenden Verfahr- und/oder Verstellwege erzeugt. Bei diesem Vektor An handelt es sich um eine Funktion des Bewegungsvektors Vn, es gilt An=f(Vn). Ein derartiger Vektor An wird unter Berücksichtigung des Gesamtsystems bzw. unter Betrachtung des Gesamtsystems mit seinen Randbedingungen und dergleichen für jeden einzelnen Antrieb n berechnet. Der Berechnung zugrunde liegt ein Optimierungsalgorithmus, der ausgehend von einem Bewegungsmodell die Verstellwege optimiert.From the motion vector V n , according to the box c, a vector of an adjustment profile ("the adjustment profile vector") or to be set Traversing and / or adjustment paths generated. This vector An is a function of the motion vector V n , An = f (Vn). Such a vector An is calculated taking into account the overall system or considering the overall system with its boundary conditions and the like for each individual drive n. The calculation is based on an optimization algorithm that optimizes the adjustment paths based on a motion model.

Anschließend wird gemäß dem Kästchen d für jeden Einzelantrieb n ein Verstellprofil an ("adjustment profile") erzeugt bzw. geschrieben oder aus- bzw. an die Antriebe weitergegeben. Die einzelnen Antriebe erhalten so die aus dem Algorithmus folgenden Verstellbefehle, gemäß denen ihre Ausrichtung erfolgt. Nach so erfolgter Ausrichtung kann gemäß dem Kästchen e ein Anlaufen bzw. Aktivieren des Antriebsverbunds erfolgen.Subsequently, in accordance with the box d, an adjustment profile is generated or written for each individual drive n or transmitted to or from the drives. The individual drives thus receive the adjustment commands following from the algorithm according to which they are aligned. After this alignment can be done in accordance with the box e start up or activation of the drive network.

Hier nicht mehr dargestellt ist, dass selbstverständlich nach dem Anlaufen der Produktion eine weitere Regelung zur Korrektur der Positionen der Antriebe vorgenommen werden kann, wozu entsprechende Istwerte zum Beispiel an eine zentrale Steuerung zurückgeleitet werden, die dort beispielsweise im Rahmen eines Soll-/Istwertvergleichs ausgewertet werden, um so erneut Befehle zu erzeugen. Wird die Produktion umgestellt bzw. werden Bedingungen oder Vorgaben der Produktion geändert, so ist gegebenenfalls erneut eine Wegoptimierung mit diesen geänderten Vorgaben von einem Systemstillstand gemäß dem Kästchen a aus durchzuführen. Die Lagesynchronisation der Antriebe erfolgt somit unter Berücksichtung eines wegoptimalen Ansatzes, bei dem produktionsweit die vielfachen Vorgaben, beispielsweise technologische und konstruktive Vorgaben, die für die Produktion bestehen, berücksichtigt werden. Der Ressourcenverbrauch und die Maschinenauslastung lassen sich dadurch optimieren.It is no longer shown here that, of course, after the start of production, a further control for correcting the positions of the drives can be made, for which corresponding actual values, for example, are fed back to a central control, which are evaluated there, for example, as part of a setpoint / actual value comparison to generate commands again. If the production is changed over, or if conditions or specifications of the production are changed, it may be necessary to carry out a route optimization with these changed specifications from a system standstill in accordance with box a. The position synchronization of the drives is thus taking into account a path-optimal approach, in which production-wide, the multiple specifications, such as technological and design specifications that exist for the production, are taken into account. The resource consumption and the machine utilization can be optimized thereby.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

aa
Kästchencasket
bb
Kästchencasket
cc
Kästchencasket
dd
Kästchencasket
pn p n
aktuelle Position/Positionswinkelcurrent position / position angle
cn c n
Randbedingungenboundary conditions
Vn V n
Bewegungsvektormotion vector
AnAt
Vektor VerstellprofilVector adjustment profile
nn
Index EinzelantriebIndex single drive
an a n
Verstellprofilshifting profile

Claims (7)

  1. A method for synchronising the position of multiple individual drives of a drive assembly and/or production assembly for a printing machine, within the framework of synchronising the position of the individual drives travel and/or adjustment ranges to be determined in order to align the individual drives in consideration of the overall system of the drive assembly and/or production assembly or by means of a central unit of the overall system of the drive assembly and/or production assembly being optimised, the travel and/or adjustment ranges being optimised in consideration of a permitted adjustment speed and/or at least one admissible adjustment movement and/or at least one current position angle (pn) of at least one individual drive as a boundary condition (cn), characterised in that within the framework of synchronising the position of the individual drives in a printing machine the current position angles (pn) of all of the individual drives, in particular of all of the axes, is inputted by means of a central control unit, and from this, by means of an optimisation algorithm in an overriding control system, an optimal target position is calculated for all of the individual drives and is communicated to the individual drives, in particular to corresponding drive controllers, and/or that deviations from the optimal target positions are corrected by a control circuit.
  2. The method according to Claim 1, characterised in that with multiple boundary conditions (cn) weighting of the boundary conditions (cn) is undertaken.
  3. The method according to Claim 1 or 2, characterised in that within the framework of synchronising the position of the individual drives travel and/or adjustment requirements for the individual drives and/or signals relating to the individual drives are communicated to a central unit of the overall system of the drive assembly and/or production assembly and/or are determined in the latter and/or are inputted and/or retrieved by the central unit.
  4. The method according to any of the preceding claims, characterised in that within the framework of synchronising the position of the individual drives travel and/or adjustment requirements for the individual drives and/or boundary conditions are evaluated by means of a central unit of the overall system of the drive assembly and/or production assembly.
  5. The method according to any of the preceding claims, characterised in that within the framework of synchronising the position of the individual drives depending upon an evaluation of travel and/or adjustment requirements for the individual drives and/or upon boundary conditions (cn) adjustment orders are formed for the individual drives and/or are communicated to the individual drives and/or that deviations are corrected, in particular by means of a central unit of the overall system of the drive assembly and/or production assembly and/or within the framework of specified target positions.
  6. The method according to any of the preceding claims, characterised in that the travel and/or adjustment ranges are optimised by means of an optimisation algorithm implemented in particular in a central unit of the overall system of the drive assembly and/or production assembly, in particular by means of an optimisation algorithm based on a movement model.
  7. A printing machine that has at least one drive assembly and/or production assembly with multiple individual drives the positions of which are to be synchronised, the drive assembly and/or production assembly having means for optimising, within the framework of synchronising the position of the individual drives, travel and/or adjustment ranges to be determined in order to align the individual drives in consideration of the overall system of the drive assembly and/or the production assembly or in the form of a central unit of the overall system of the drive assembly and/or production assembly, and the means for optimising are designed and/or set up to optimise the travel and/or adjustment ranges in consideration of a permitted adjustment speed and/or at least one admissible adjustment movement and/or at least one current position angle (pn) of at least one individual drive as a boundary condition (cn), characterised in that there is a central control unit which is designed and/or set up, within the framework of synchronising the position of the individual drives in the printing machine, to input the current position angles (pn) of all of the individual drives, in particular of all of the axes, and to calculate from this by means of an optimisation algorithm in an overriding guiding system an optimal target position for all of the individual drives and to communicate this to the individual drives, in particular to corresponding drive controllers and/or to correct deviations from the optimal target positions by means of a control circuit.
EP09170556.6A 2009-09-17 2009-09-17 Method for synchronising the position of multiple individual drives of a drive assembly and/or production assembly for a printing machine and a printing machine with at least a drive assembly and/or production assembly Active EP2298553B1 (en)

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DE4322744C2 (en) * 1993-07-08 1998-08-27 Baumueller Nuernberg Gmbh Electrical drive system and positioning method for the synchronous adjustment of several rotatable and / or pivotable functional parts in devices and machines, drive arrangement with an angular position encoder and printing machine
DE10117454A1 (en) * 2001-04-06 2002-10-17 Rexroth Indramat Gmbh Register control procedure
DE10243454C5 (en) * 2002-09-19 2009-10-08 Koenig & Bauer Aktiengesellschaft Drive device of a processing machine
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