U.S. patent application number 10/417284 was filed with the patent office on 2003-12-18 for compensation of cylinder vibration in printing material processing machines.
This patent application is currently assigned to Heidelberger Druckmaschinen AG. Invention is credited to Mutschler, Peter, Noell, Matthias.
Application Number | 20030230205 10/417284 |
Document ID | / |
Family ID | 28458944 |
Filed Date | 2003-12-18 |
United States Patent
Application |
20030230205 |
Kind Code |
A1 |
Mutschler, Peter ; et
al. |
December 18, 2003 |
Compensation of cylinder vibration in printing material processing
machines
Abstract
A compensation device (9) for vibrations of an angle variable in
a printing material processing machine (1) having an associated
actuator (6) which acts on the angle variable, the compensation
device (9) receiving a signal representative of the angle variable
characteristic, and the compensation device (9) generating an
output signal for the actuator (6) is disclosed. The compensation
device (9) has at least one filter (13) in the form of a transfer
function or a sum of transfer functions whose frequency parameters
correspond to the vibration frequencies to be compensated, through
whose effect the output signal of the compensation device (9) is
obtained from the signal at at least one of the discrete
frequencies to be compensated.
Inventors: |
Mutschler, Peter;
(Gorxheimertal, DE) ; Noell, Matthias;
(Weiterstadt, DE) |
Correspondence
Address: |
DAVIDSON, DAVIDSON & KAPPEL, LLC
485 SEVENTH AVENUE, 14TH FLOOR
NEW YORK
NY
10018
US
|
Assignee: |
Heidelberger Druckmaschinen
AG
Heidelberg
DE
|
Family ID: |
28458944 |
Appl. No.: |
10/417284 |
Filed: |
April 16, 2003 |
Current U.S.
Class: |
101/216 |
Current CPC
Class: |
B65H 2557/2644 20130101;
B41F 13/085 20130101; F16F 15/02 20130101; B41F 13/0045
20130101 |
Class at
Publication: |
101/216 |
International
Class: |
B41F 005/00 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 17, 2002 |
DE |
DE 102 17 707.4 |
Claims
What is claimed is:
1. A compensation device for vibrations of an angle variable in a
printing material processing machine having an associated actuator
for affecting the angle variable, the compensation device receiving
a representative signal representative of the angle variable, and
the compensation device generating an output signal for the
actuator, the compensation device comprising: at least one filter
having a transfer function or a sum of transfer functions having
frequency parameters corresponding to vibration frequencies to be
compensated, the output signal for at least one of the vibration
frequencies to be compensated being a function of the
representative signal passed through the at least one filter.
2. The compensation device as recited in claim 1 wherein the angle
variable is an angle of rotation of a cylinder or an angle of
rotation difference between a first cylinder and a second
cylinder.
3. The compensation device as recited in claim 1 wherein the
transfer function is harmonic for each of the vibration frequencies
to be compensated and is represented in the Z range or in the S
range.
4. The compensation device as recited in claim 1 wherein the
transfer function for each of the frequencies to be compensated is
a harmonic transfer function.
5. The compensation device as recited in claim 4 wherein the
transfer function is a cosine transfer function or a sine transfer
function or a weighted sum of a cosine transfer function and a sine
transfer function.
6. The compensation device as recited in claim 1 wherein the
representative signal is a time series having a signal train
defined at certain points in time.
7. The compensation device as recited in claim 1 wherein the
compensation device includes a processor executing program steps
for obtaining the output signal from the representative signal as a
function of the transfer function or the sum of the transfer
functions.
8. The compensation device as recited in claim 1 further comprising
at least one linear phase shift element upstream or downstream from
the filter or contained within the filter.
9. A regulating device for an angle variable in a printing material
processing machine, the regulating device comprising: an angle
variable transducer, a regulating element having a regulating
output signal, an actuator affecting the angle variable, and a
compensation device for vibrations of the angle variable as recited
in claim 1, the output signal of the compensation device being
superimposed on the regulating output signal.
10. The regulating device as recited in claim 9 wherein the
representative signal represents a value of the angle variable or a
value of a change in the angle variable or a value of an
acceleration or deceleration in the angle variable.
11. The regulating device as recited in claim 9 wherein the
regulating element has a first input for actual values of the
representative signal of the angle variable and a second input for
setpoints for the representative signal of the angle variable.
12. A printing unit in a printing material processing machine
comprising: at least one cylinder, and a compensation device as
recited in claim 1 associated with the cylinder.
13. A printing unit in a printing material processing machine
comprising: at least one first cylinder; a second cylinder, and a
compensation device as recited in claim 1 associated with the first
cylinder and the second cylinder.
14. A printing unit group in a printing material processing machine
comprising: a first printing unit having at least one first
cylinder; a second printing unit having a second cylinder; and a
compensation device as recited in claim 1 associated with the first
cylinder and the second cylinder.
15. A printing press comprising a printing unit as recited in claim
12.
16. A printing press comprising a printing unit group as recited in
claim 14.
17. A printing press comprising: at least one first cylinder; a
second cylinder mechanically separated from the first cylinder, and
a compensation device as recited in claim 1 associated with the
first cylinder and the second cylinder.
18. A printing press comprising: at least one first cylinder, and a
compensation device as recited in claim 1 associated with the first
cylinder.
19. A compensation method for vibrations of an angle variable in a
printing material processing machine by influencing the angle
variable using an actuator in such a way that the vibrations of the
angle variable are reduced, comprising the steps of: determining
and processing a representative signal representative of the angle
variable in a compensation device to generate an output signal for
the actuator, the output signal of the compensation device being
generated for at least one vibration frequency of vibration
frequencies to be compensated as a function of at least one filter
on the representative signal, the at least one filter performing a
transfer function or a sum of transfer functions having frequency
parameters corresponding to the vibration frequencies to be
compensated.
20. A regulating method for an angle variable in a printing
material processing machine by affecting the angle variable by an
actuator in such a way that differences between actual values and
setpoints of the angle variable are reduced, the method comprising:
compensating for vibrations of the angle variable by a compensation
method as recited in claim 19.
Description
[0001] Priority to German Patent Application No. 102 17 707.4,
filed Apr. 17, 2002 and hereby incorporated by reference herein, is
claimed.
BACKGROUND INFORMATION
[0002] The present invention relates to a compensation device for
vibrations of an angle variable in a printing material processing
machine, having an associated actuator which affects the angle
variable, the compensation device being supplied with a signal
which is representative of the angle variable characteristic and
the compensation device generating an output signal for the
actuator.
[0003] Periodic noninteger orders of vibration in comparison with
the machine frequency in an angle variable, an angle of rotation,
or an angle signal of a cylinder in a printing material processing
machine, in particular a sheet or web processing printing press,
have a negative effect on the precision of successive printed
objects on a printing material. These negative effects may result
in printing problems, in particular so-called doubling. Such
negative effects may become relevant in particular between
mechanically isolated parts of a printing material processing
machine, in particular two or more groups of printing units of a
sheet processing printing press. The vibrations result in
fluctuations in the angle of rotation differences at the
circumferences of a first cylinder and a second cylinder, resulting
in a corresponding change in the circumferential register to the
sheet transfer angle directly at the transfer of sheets between the
separately involved printing units.
[0004] For a printing press driven by individual electric motors, a
regulating means using control circuits for each electric motor is
disclosed in German Patent Application No. 197 40 153 A1, for
example, for compensating periodic vibrations. In this periodic
compensation regulator, a torque setpoint which is sent to a final
control element receives an additional torque which is determined
by a compensation regulator which processes the setpoint-actual
value difference or the difference is determined from the torque
setpoint and the actual value of the angular velocity or the angle
of rotation. In this procedure, a dynamic process model is
necessary to ensure stability. This form of regulating the system
is also associated with a high computational complexity.
Furthermore, the sampling time must be selected to be so long that
a multiple of the period of the vibrations to be compensated may be
included, but this is problematic in the case of variable printing
press speeds.
[0005] In German Patent Application No. 100 53 237.1, having a
filing date of Oct. 26, 2000, a process of compensating mechanical
vibrations, in particular rotational vibrations on a machine shaft,
a cylinder, or a signal calculated from one or more coordinate
values of one or more axes of rotation, in particular the
difference between coordinates of two real machine shafts is
disclosed. The rotational vibrations are represented spectrally in
discrete frequency components, and each component is compensated by
an essentially harmonic moment of the same frequency and a certain
amplitude and phase in that the harmonic moment is impressed
directly on the machine shaft or indirectly via an actuator. The
process in question requires knowledge of the reinforcements and
phase shifts of the underlying process for the frequencies to be
compensated in order to be able to introduce harmonic moments of
appropriate intensities and phases.
BRIEF SUMMARY OF THE INVENTION
[0006] An object of the present invention is to reduce or eliminate
unwanted vibrations of one cylinder or of multiple cylinders in
printing material processing machines, in particular in printing
presses.
[0007] According to the present invention, the compensation device
for vibrations of an angle variable in a printing material
processing machine having a respective actuator which affects the
angle variable and is preferably downstream from the compensation
device, has at least one filter in the form of a transfer function
or a sum of transfer functions whose frequency parameters
correspond to the vibration frequencies to be compensated, through
whose effect the output signal of the compensation device is
derived for the actuator on at least one of the discrete
frequencies to be compensated from the signal which is supplied to
the compensation device and is representative of the angle variable
characteristic, or more precisely for the time characteristic or
change in value of the angle variable over time. The angle variable
may be an angle of rotation of a cylinder or an angle of rotation
difference between a first cylinder and a second cylinder.
[0008] In general, the vibrations that occur may be represented
discretely in the sense in which they are formed by superimposing
vibrations having discrete frequencies. The vibrations that occur
may be represented with sufficient accuracy by a finite number of
vibrations. It is known that the resulting vibrations depend on the
operating condition of the machine that processes the printing
material. The printing speed is a parameter which has an especially
great influence here.
[0009] The frequency parameters required for the compensation
device according to the present invention are either preset or they
are adjustable or variable during operation of the printing
material processing machine. An adjustment may be made, for
example, on the basis of the operating state as mapped in the
machine control. The machine control may be effectively connected
to the compensation device according to the present invention and
may influence or alter the frequency parameters. The frequency
parameters may depend on the speed in particular.
[0010] The compensation device according to the present invention
may be used in a simple and advantageous manner for compensation of
integer or noninteger orders of vibrations, based on the machine
frequency. A precise knowledge of the process parameters is not
necessary for this compensation device. Therefore, stability may be
achieved even in the case of highly fluctuating processes (process
parameters, process transfer functions). To ensure stability, it is
necessary to know only the stability range of the process
parameters. One embodiment of the compensation device includes a
second-order filter involving a low computation complexity. The
compensation device may be used in particular to advantage for
compensation of vibrations whose energy is low in comparison with
the energy of a rotational movement of the angle variable.
[0011] According to the present invention, the angle variable is
acted upon by an actuator in a compensation process for vibrations
of an angle variable in a printing material processing machine so
that the vibrations of the angle variable are reduced, a signal
representative of the angle variable characteristic being
determined and sent to the compensation device for generating an
output signal for the actuator. The output signal of the
compensation device is obtained from the signal at at least one of
the discrete frequencies to be compensated by the action of at
least one filter in the form of a transfer function or a sum of
transfer functions whose frequency parameter corresponds to the
vibration frequencies to be compensated.
[0012] In a preferred embodiment of the compensation device
according to the present invention, the transfer function is
harmonic for each of the frequencies to be compensated, i.e., it is
a sine- or cosine-shifted function or a corresponding phase-shifted
function. The transfer functions are each represented in the
Laplace range (S range for continuous signals) or the Z range. The
basic mathematical properties of the Laplace transform and the Z
transform are summarized, e.g., in Taschenbuch der Mathematik
[Handbook of Mathematics] by I. N. Bronstein and K. A. Semendjajew,
24th edition, Harri Deutsch, Thun and Frankfurt am Main, Germany,
1989.
[0013] The representative signal for the angle variable
characteristic may be a time series, a signal train determined or
sampled at certain points in time. In other words, the
representative signal may be composed of a series (preferably
ordered in time) of measured values of the angle variable at
different points in time. The instantaneous angle variable
characteristic may be known at discrete interpolation points. As an
alternative, a continuous representative signal may also be
generated. A representative signal may be generated by an angle
position transducer. It may be sent to a compensation device either
directly or indirectly, i.e., unprocessed and/or unmodified or
processed and modified. A processing (modification) may be
necessary for example to compensate for systematic errors in
measurement (calibration). The sampling interval in the procedure
according to the present invention may be independent of the period
of the vibration to be compensated and is preferably
independent.
[0014] The compensation device includes in an advantageous
embodiment a computing device in which a program runs, this program
having at least one section in which the output signal is obtained
from the representative signal under the influence of the transfer
function on the representative signal. In other words, the transfer
function may be stored in a memory, and a program has steps
according to a computation procedure for how the output signal is
to be obtained from the representative signal by transformation. In
particular, the present invention provides for calculation of the
output signal as a differential equation corresponding to the
transfer function from values of the input signal at one or more
points in time and optionally from values of the output signal at
one or more preceding points in time.
[0015] In a refinement of the present invention, to ensure the
stability of the compensation device, at least one linear phase
shift element is provided upstream or downstream from the filter.
The filter and the phase shift element may also be integrated. In
other words, the phase shift element may also be contained in the
filter. The phase shift element may act on a discrete frequency, on
a plurality of discrete frequencies or on a continuum of
frequencies. In other words, a phase shift element may be provided
for each frequency to be compensated or one phase shift element may
act on at least a number of frequencies to be compensated.
[0016] As an alternative to the use of a phase shift element, the
stability of the compensation may also be ensured through the
choice of the phase of the harmonic transfer function.
[0017] In a regulating device for an angle variable in a printing
material processing machine having an angle variable sensor, a
regulating element and an actuator which affects the angle
variable, the compensation device according to the present
invention for vibrations of an angle variable may be assigned to
the regulating element in such a way that the output signal of the
compensation device is superimposed on the output signal of the
regulating element. In the regulating device according to the
present invention, the representative signal may represent the
value of the angle variable or the value of the change in the angle
variable or the value of the acceleration in the angle variable.
The regulating element preferably has an input for actual values of
the representative signal of the angle variable and an input for
setpoint values of the representative signal of the angle
variable.
[0018] In other words, a regulating process according to the
present invention for an angle variable in a printing material
processing machine by action on the angle variable with an actuator
so that differences between the actual values and setpoints of the
angle variable are reduced includes compensation for vibrations in
the angle variable by a compensation process according to the
present invention.
[0019] A printing unit according to the present invention in a
printing material processing machine having at least one cylinder
is also related to the compensation device and the regulating
device according to the present invention. It is characterized by a
compensation device according to the present invention and/or a
regulating device according to the present invention which is
associated with the cylinder. As an alternative, in a printing
material processing machine having at least one first cylinder and
one second cylinder, a printing unit according to the present
invention may have a compensation device according to the present
invention and/or a regulating device according to the present
invention associated with the first cylinder and the second
cylinder.
[0020] A printing unit group includes a plurality of printing
units. The printing units of a printing unit group are preferably
adjacent to one another. In other words, the printing material goes
from one printing unit to the other printing unit along its
transport path through the printing press. A printing unit group
according to the present invention in a printing material
processing machine having at least one first cylinder in a first
printing unit and a second cylinder in a second printing unit
includes a compensation device according to the present invention
and/or a regulating device according to the present invention
associated with the first cylinder and the second cylinder.
[0021] An improved synchronization of the first and second
cylinders may be achieved in particular by reducing the vibrations.
This is especially advantageous for the sheet transfer between two
mechanically separated cylinders of two printing units, between two
printing units in a printing unit group or between two printing
unit groups in a sheet processing printing press.
[0022] The compensation device according to the present invention
or the regulating device according to the present invention may be
used in a printing press having an integrated gear train or in a
printing press having a separate gear train. In other words, there
may be separation points between the printing units or the printing
unit groups in a printing press, where the drives of the printing
units or the printing unit groups are separated from one another.
The printing units or the printing unit groups, as seen
individually, may have one or more drives.
[0023] A printing press according to the present invention has at
least one printing unit according to the present invention and/or
one printing unit group according to the present invention. In
addition, as an alternative to that, in the case of a printing
press according to the present invention having one or more
separation points, each forming boundaries between printing units
or printing unit groups over which the printing material is
transferred between cylinders that are not mechanically
synchronized with precision, each having a first cylinder and a
second cylinder per separation point, with the separation point
being situated between them, the printing press may have a
compensation device according to the present invention and/or a
regulating device according to the present invention which is
associated with the first cylinder and the second cylinder.
[0024] In other words, a printing press according to the present
invention having at least one first cylinder and one second
cylinder which is mechanically separated from the first cylinder is
characterized by a compensation device according to the present
invention which is associated with the first cylinder and the
second cylinder and/or a regulating device according to the present
invention which is associated with the first cylinder and the
second cylinder. A printing press according to the present
invention having at least one first cylinder may be characterized
by a compensation device according to the present invention which
is associated with the first cylinder and/or a regulating device
according to the present invention which is associated with the
first cylinder.
[0025] The printing press may be a web (roll) processing machine or
a sheet processing machine. The machine may print by various
processes. In particular, the printing process may be direct or
indirect flatbed printing, offset printing, flexographic printing,
or the like. Typical printing materials include paper, paperboard,
cardboard, organic polymer films, or the like.
BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Additional advantages and advantageous embodiments and
refinements of the present invention are presented on the basis of
the following figures as well as the descriptions thereof, in
which:
[0027] FIG. 1 shows a schematic diagram of the structure of a
compensation device according to the present invention;
[0028] FIG. 2 shows a schematic diagram of an advantageous
refinement of the design of the compensation device according to
the present invention;
[0029] FIG. 3 shows a detail of a printing material processing
machine having a separate gear train, two regulating devices and a
vibration compensation according to the present invention;
[0030] FIG. 4 shows a detail of an embodiment of a printing
material processing machine having a separate gear train, two
regulating devices and two vibration compensating devices according
to the present invention;
[0031] FIG. 5 shows a detail of an alternative embodiment of a
printing material processing machine having a separate gear train,
two regulating devices and two vibration compensating devices
according to the present invention;
[0032] FIG. 6 shows a detail of an alternative embodiment of a
printing material processing machine having a regulating device and
a vibration compensating device according to the present invention
for one cylinder;
[0033] FIG. 7 shows a detail of an embodiment of a printing
material processing machine having two cylinders, each cylinder
being assigned a regulating device and a vibration compensation
device according to the present invention;
[0034] FIG. 8 shows an embodiment of a regulating device having a
vibration compensation device according to the present invention
for one cylinder of a rotary printing press;
[0035] FIG. 9 shows a detail of another alternative embodiment of a
printing material processing machine having a regulating device and
a vibration compensation according to the present invention,
and
[0036] FIG. 10 shows another additional embodiment of a printing
material processing machine having a regulating device and
vibration compensation according to the invention.
DETAILED DESCRIPTION
[0037] FIG. 1 shows a schematic diagram of the design of a
compensation device according to the present invention. Before
describing this simple embodiment, a few basic remarks should be
made.
[0038] In the compensation device according to the present
invention, a signal is influenced. The compensation device
preferably contains a harmonic transfer function whose angular
frequency corresponds to the angular frequency .omega..sub.n to be
compensated. In particular, the harmonic transfer function may be a
cosine transfer function or a sine transfer function or a weighted
sum of a cosine transfer function and a sine transfer function.
Without restriction to a specific transfer function of the general
transfer functions, let us first consider a cosine transfer
function for the purpose of illustration. In the Laplace range, the
cosine transfer function of the compensation device is as follows:
1 G Rn ( s ) = k n s s 2 + n 2 ( 1 )
[0039] with two poles S.sub.1/2=.+-.i.multidot..omega..sub.n on the
imaginary axis at the angular frequency .omega..sub.n to be
compensated and thus it is based on an internal model principle (i
is the imaginary unit). Therefore, no precise knowledge of the
process is necessary. The process here is the transfer function
from the output of compensation device 9 to the input of
compensation device 9. In typical suitable designs, a phase shift
of -90.degree. is achieved only at an angular frequency greater
than 100 s.sup.-1. According to the principle of the internal model
principle, sinusoidal interference is then completely eliminated
(in other words, made equal to a setpoint of 0) when a model of the
interference is contained in the compensation device and the closed
compensation circuit is stable. For sampled systems having a
sampling interval T, the cosine transfer function in the Z range is
2 G Rn ( z - 1 ) = k n 1 - b n z - 1 1 - 2 b n z - 1 + z - 2 ( 2
)
[0040] where
b.sub.n=cos(.omega..sub.nT). (3)
[0041] No holding term is modeled in equation (2). For each
sampling step k, output variable y(k) of the compensation device
may be determined from input variable u(k) of time increments k and
k-1 and from output variable y(k) of time increments k-1 and k-2
according to the calculation procedure
y(k)=k.sub.n(u(k)-b.sub.nu(k-1))+2b.sub.ny(k-1)-y(k-2). (4)
[0042] In this connection it is clear that the order of the angular
frequency to be compensated may be either integer or noninteger.
For compensation of a speed-independent machine order r, the
respective angular frequency is
.omega..sub.n=2.pi..multidot.r.multidot.v/3600, (5)
[0043] where v denotes the average machine speed in prints per hour
and the order r indicates the ratio of the vibration frequency to
be compensated to the printing frequency of the machine. A printing
material processing machine typically has a regulator which has the
average machine speed as the setpoint speed. For compensation of
fixed orders r, parameter b.sub.n must be recalculated according to
equation (3) in equations (1), (2) and/or (4) when there is a
change in the average machine speed and/or the speed setpoint. The
compensation device succeeds in eliminating sinusoidal interference
without a complex calculation of trigonometric functions and may
therefore be used in conjunction with simple regulating processors.
When using a harmonic transfer function having a fixed phase such
as the cosine or sine transfer function, stability is achieved with
small gain factors in a 180.degree. range of the process phase.
With a suitable phase shift element, the process phase may be
adapted to always be in this stable range.
[0044] With regard to the required stability of the closed
compensation circuit, it should be pointed out that the transfer
function has an infinitely high gain for angular frequency on
.omega..sub.n and a gain which is a function of k.sub.n for other
frequencies, this gain decreasing with the difference between the
angular frequency to be compensated and the frequency in question.
Therefore, for a sufficiently small k.sub.n, the analysis may be
reduced to the angular frequency to be compensated. If the phase
shift of the process is in a range of -90.degree. to +90.degree.
for this frequency to be compensated, then stability is ensured by
the reversal of signs in the compensation circuit. With a
relatively rigid coupling of the actuator to the compensation
shaft, this condition is usually met for small orders. If the phase
shift is in a range of -180.degree. to 0.degree., a +90.degree.
phase increase may be achieved by connecting a differentiating
element upstream or downstream from the compensation device. This
is expedient for higher orders in particular, because for them the
process typically has a phase shift with a negative sign. Using a
differentiating element corresponds to using a speed signal instead
of an angle signal for compensation. Due to the connection of a
phase shift element for the angular frequency to be compensated, it
is possible to work in the stable range of -90.degree. to
+90.degree. regardless of the order. Only an approximate knowledge
of the frequency-dependent phase shift of the process is necessary
for selection of the phase shift element. Fluctuations in the
process parameters are therefore non-critical.
[0045] As an alternative to using a harmonic transfer function of a
fixed phase in conjunction with a phase shift element which shifts
the phase of the process into the stable range, stability may also
be achieved even without a phase shift element by selecting the
phase .phi..sub.n of a harmonic transfer function of the form 3 G
Rn ( s ) = k n s cos n + n sin n s 2 + n 2 . ( 6 )
[0046] Stability is achieved even when the phase of the process
fluctuates by .+-.90.degree. for small values of k.sub.n and
selection of .phi..sub.n according to the measured phase
{circumflex over (.phi.)}.sub.p of the process at the compensation
frequency. In other words, by selecting the phase of the harmonic
transfer function as a function of the phase of the process at the
compensation frequency, it is possible to locate the stable range
of 180.degree. in such a way that the measured phase of the process
is within this range. If the phase of the harmonic transfer
function is selected to be equal to the measured phase of the
process at the compensation frequency, then this is in the middle
of the stable range of 180.degree..
[0047] According to the internal model principle, the compensation
formula according to the present invention having a harmonic
transfer function is also applicable in general for a plurality of
transfer functions G.sub.R for time-continuous or time-discrete
signals which contain a sine or cosine transfer function as a
component, and therefore are able to generate the harmonic signal
component of angular frequency .omega..sub.n necessary for
compensation. In particular, compensation is also possible with the
following cosine transfer functions or with the following sine
transfer functions, optionally with a phase shift element
G.sub.V(z) which ensures stability:
[0048] Cosine transfer function in the s range 4 G K ( s ) = k R s
s 2 + n 2
[0049] with static gain 0; cosine transfer function in the z range
with holding element 5 HG K ( z ) = k R sin n T n z - 1 - z - 2 1 -
2 z - 1 cos n T + z - 2
[0050] with static gain 0 (where HG.sub.K(z){circumflex over
(=)}G.sub.K(s)); cosine transfer function in the z range 6 G K ( z
) = k R T 1 - z - 1 cos n T 1 - 2 z - 1 cos n T + z - 2
[0051] with static gain 7 k R T 2
[0052] (where G.sub.K(z).apprxeq.HG.sub.K(z)); and cosine transfer
function in the z range without a holding element and without
static gain 8 G Ko ( z ) = k R T 2 1 - z - 2 1 - 2 z - 1 cos n T +
z - 2 ( where G Ko ( z ) = G K ( z ) - k R T 2 ) .
[0053] For small sampling intervals T, the compensation effect of
G.sub.K(z) corresponds to that of G.sub.K(s) and HG.sub.K(z).
However, the static gain (for .omega..fwdarw.0) of G.sub.K(z) is
not 0 but instead is 9 k R T 2 ,
[0054] with the possibility of an unwanted influence on regulation
of the machine. By subtracting the static gain from G.sub.K(z),
this yields G.sub.Ko(z) with a static gain of 0.
[0055] Sine transfer function in the s range 10 G S ( s ) = k R n s
2 + n 2
[0056] with static gain 11 k R n ;
[0057] sine transfer function in the s range without static gain 12
G So ( s ) = - k R n s 2 s 2 + n 2 ( where G So ( s ) = G S ( s ) -
k R n ) ;
[0058] sine transfer function in the z range with a holding element
13 H G S ( z ) = k R 1 - cos n T n z - 1 + z - 2 1 - 2 z - 1 cos n
T + z - 2
[0059] with static gain 14 k R n
[0060] (where HG.sub.S(z){circumflex over (=)}G.sub.S(s)); sine
transfer function in the z range with a holding element without
static gain 15 H G So ( z ) = - k R n 1 - z - 1 ( 1 + cos n T ) + z
- 2 cos n T 1 - 2 z - 1 cos n T + z - 2 ( where HG So ( z ) = H G S
( z ) - k R n ) ;
[0061] sine transfer function in the z range without a holding
element 16 G S ( z ) = k R T z - 1 sin n T 1 - 2 z - 1 cos n T + z
- 2
[0062] with static gain 17 k R T 2 cot n T 2
[0063] (where G.sub.S(z).apprxeq.HG.sub.S(z)); and sine transfer
function in the z range without a holding element and without
static gain 18 G So ( z ) = - k R T 2 cot n T 2 1 - 2 z - 1 + z - 2
1 - 2 z - 1 cos n T + z - 2 ( where G So ( z ) = G S ( z ) - k R T
2 cot n T 2 ) .
[0064] For compensation, output variable y(k) of the compensation
device may be calculated recursively using the z transfer function
19 G R ( z ) = k R b 0 + b 1 z - 1 + b 2 z - 2 1 + a 1 z - 1 + a 2
z - 2 ( 7 )
[0065] in each sampling step k from the preceding output variables
y(k-1) and y(k-2) as well as current input variable u(k) and
previous input variables u(k-1) and u(k-2) according to the
equation
y(k)=k.sub.R(b.sub.0u(k)+b.sub.1u(k-1)+b.sub.2u(k-2))
-a.sub.1y(k-1)-a.sub.2y(k-2). (8)
[0066] Without the phase shift element G.sub.V(z), stability is
achieved at a small k.sub.R with the cosine transfer function
approximately for phase shifts .phi..sub.P of the process at the
compensation angular frequency of -90.degree. to +90.degree. and
with the sine transfer function approximately for phase shifts
.phi..sub.P of the process at the compensation angular frequency of
0.degree. to +180.degree.. The sine transfer functions without the
phase shift element thus act like the cosine transfer functions
with negative differential quotient 20 G V ( z ) = - 1 - z - 1
T
[0067] generating a phase shift of -90.degree. as the phase shift
element. In other words, the transfer functions may be converted
one into one another by using a suitable phase shift element. For
example, the cosine transfer function without a holding element
with this phase shift element 21 G V ( z ) G K ( z ) = - k R 1 - z
- 1 ( 1 + cos n T ) + z - 2 cos n T 1 - 2 - 1 cos n T + - 2 = n H G
So ( z ) ( 9 )
[0068] corresponds directly to the sine transfer function
HG.sub.So(z) with a holding element without static gain except for
the factor .omega..sub.n. Whether the cosine transfer function or
the sine transfer function is more suitable without the use of an
additional phase shift element depends on the process taking place
on a printing material processing machine.
[0069] Without the use of a phase shift element, stability is also
achievable by selecting cosine or sine transfer functions for
compensation with one of the + and - signs, e.g., by 22 G R ( z ) =
{ G K ( z ) G S ( z ) - G K ( z ) - G S ( z ) for - 45 .degree. ^ P
< + 45 .degree. + 45 .degree. ^ P < + 135 .degree. ^ P < -
135 .degree. or ^ P - 135 .degree. - 135 .degree. ^ P < - 45
.degree. ,
[0070] where {circumflex over (.phi.)}.sub.P is the phase shift
.phi..sub.P of the process measured in the range of -180.degree. to
+180.degree.. Both possibilities ensure stability for small gain
factors k.sub.R. For large k.sub.R factors, whether stability is
achieved will depend on the process.
[0071] In an advantageous refinement of this method, maximum
stability of the process with respect to fluctuations in phase
shift .phi..sub.P of the process is achievable at low gain factors
k.sub.R even without a phase shift element for any desired phase
shifts of the process through a simultaneous application of the
sine and cosine transfer functions which is weighted in accordance
with the measured phase shift {circumflex over (.phi.)}.sub.P of
the process at the compensation frequency. To do so, the cosine
transfer function is weighted with cos {circumflex over
(.phi.)}.sub.P and a respective sine transfer function is weighted
with sin {circumflex over (.phi.)}.sub.p . In this weighting,
stability of the compensation is ensured even with a phase shift
.phi..sub.P of the process fluctuating about .+-.90.degree. at the
compensation frequency in comparison with the measured {circumflex
over (.phi.)}.sub.P , while the compensation reaches a steady state
at a given gain factor at the maximum rate if {circumflex over
(.phi.)}.sub.P=.phi..sub.Pi.e., if the measured phase shift and the
actual phase shift of the process at the compensation frequency are
identical.
[0072] For the cosine transfer function in the z range as given
above without a holding element and the corresponding sine transfer
function, this yields, e.g., the following as the resulting
harmonic transfer function: 23 G ( z ) = G K ( z ) cos ^ P + G S (
z ) sin ^ P = k R T ( 1 - z - 1 cos n T ) cos ^ P + ( z - 1 sin n T
) sin ^ P 1 - 2 z - 1 cos n T + z - 2 ( 10 )
[0073] and for the z transfer function without a holding element
and without a static gain 24 G o ( z ) = G Ko ( z ) cos ^ P + G So
( z ) sin ^ P = k R T 2 ( 1 - z - 2 ) cos ^ P - cot n T 2 ( 1 - 2 z
- 1 + z - 2 ) sin ^ P 1 - 2 z - 1 cos n T + z - 2 . ( 11 )
[0074] For the resulting z transfer functions with holding element,
this yields accordingly 25 HG ( z ) = HG K ( z ) cos ^ P + HG S ( z
) sin ^ P = k R n ( sin n T ) ( z - 1 - z - 2 ) cos ^ P + ( 1 - cos
n T ) ( z - 1 + z - 2 ) sin ^ P 1 - 2 z - 1 cos n T + z - 2 and (
12 ) HG o ( z ) = HG K ( z ) cos ^ P + HG So ( z ) sin ^ P = k R n
( sin n T ) ( z - 1 - z - 2 ) cos ^ P - ( 1 - ( 1 + cos n T ) z - 1
+ ( cos n T ) z - 2 ) sin ^ P 1 - 2 z - 1 cos n T + z - 2 ( 13
)
[0075] and for the transfer functions in the s range for continuous
signals 26 G ( s ) = G K ( s ) cos ^ P + G S ( s ) sin ^ P = k R s
cos ^ P + n sin ^ P s 2 + n 2 and ( 14 ) G o ( s ) = G K ( s ) cos
^ P + G So ( s ) sin ^ P = k R s cos ^ P - s 2 n sin ^ P s 2 + n 2
. ( 15 )
[0076] The ratio of the sine and cosine transfer functions
belonging together 27 lim -> n G K ( s ) G S ( s ) = lim -> n
G K ( s ) G So ( s ) = lim -> n HG K ( z ) HG S ( z ) = lim
-> n HG K ( z ) HG So ( z ) = lim -> n G K ( z ) G S ( z )
lim -> n G Ko ( z ) G So ( z ) = i
[0077] at the compensation frequency is imaginary unit i, so that
these functions are mutually orthogonal there and have the same
absolute value. Harmonic total transfer functions are obtained
through the selected weighted addition of these functions and are
coordinated for a process having phase shift {circumflex over
(.phi.)}.sub.P at the compensation frequency.
[0078] For the decay constant T.sub.A, which indicates how much
time elapses before the amplitude of the interference has dropped
to e.sup.-1.apprxeq.37%, it then holds that 28 T A 2 k R k P
[0079] for k.sub.R when the gain {circumflex over
(k)}.sub.P=k.sub.P is known precisely and with phase shift
{circumflex over (.phi.)}.sub.P=.phi..sub.P of the process.
[0080] However, when using the cosine transfer functions given
above, the equation 29 T AK 2 k R k P cos P
[0081] holds with asymptotic stability, and when using the sine
transfer functions given above, the equation 30 T AS 2 k R k P sin
P
[0082] holds.
[0083] These equations allow an unambiguous parameterization of
compensation as a function of measured gain {circumflex over
(k)}.sub.P and phase shift {circumflex over (.phi.)}.sub.P of the
process as well as selectable decay constant T.sub.A.
[0084] FIG. 1 shows an embodiment of a compensation device 9 having
a plurality of filters 13 that operate in parallel and have
harmonic transfer functions, each having different frequency
parameters corresponding to a vibration to be compensated. The
signal representing an angle variable characteristic and having
vibrations to be compensated is sent to the input of this filter
13. The outputs of filters 13 are added up. The sum thus forms the
total output of compensation device 9. Controller 14 of the
printing material processing machine is connected to filters 13.
The orders to be compensated are, if necessary, predetermined
and/or calculated by controller 14 as a function of the speed. The
parameters of the harmonic transfer functions, in particular the
b.sub.n parameters according to equation (3), may be determined in
controller 14 or in a processor of compensation device 9. It is
also possible for controller 14 to specify fixed angular
frequencies instead of orders and/or to determine the angular
frequencies using measurement equipment on the printing material
processing machine, if fixed-frequency interference occurs.
[0085] FIG. 2 shows a schematic diagram of an advantageous
refinement of the design of a compensation device according to the
present invention. Phase shift elements 12 are connected upstream
from filters 13 having a transfer function. A phase shift element
12 is preferably a linear element, which influences the phase at
the angular frequency of filter 13 downstream from the phase shift
element 12. It should be pointed out here that the phase shift
element 12 is able to influence the phase only at the angular
frequency which is to be compensated or is able to influence phases
for any angular frequencies, depending on the design. Of course,
only the phase shift for the angular frequency which is to be
compensated is relevant. Controller 14 determines the structure or
parameters of the phase shift element 12, in particular the angular
frequency and the absolute value and direction of the phase shift.
Simple transfer functions of the phase shift may be, for example,
the identity, i.e., factor 1 (no phase shift) or a differentiation
(phase shift by +90.degree.) or an inversion (phase shift by
+180.degree.) or an inversion of the differentiation (phase shift
by -90.degree.). In a very simple refinement, the choice of the two
possibilities, namely factor 1 or differentiation, is provided by
the controller. In an extensive refinement, phase shift elements 12
for any desired phase shifts are adjustable in the entire angular
range between 0.degree. and 360.degree., depending on the phase
shift generated by the process. When using a cosine transfer
function, a phase shift element having a phase shift adjustable
from 0.degree. to +90.degree. is preferred.
[0086] FIG. 3 relates schematically to a detail of a printing
material processing machine 1 having a separate gear train, two
regulating devices and a vibration compensation according to the
present invention. The advantageous embodiment shown here relates
to a transfer point between two sheet-carrying cylinders, first
cylinder 4 and second cylinder 5 in a sheet-fed printing press
having a plurality of printing units 2 and cylinders 3. The gear
train between first cylinder 4 and second cylinder 5 is separate.
First cylinder 4 has angle regulation by a regulating element 8 and
a first actuator 6, in a simple embodiment having one motor. Second
cylinder 5 also has angle regulation by a regulating element 8 and
a second actuator 7, in a simple embodiment having one motor.
Representative signals for the angle variable characteristics
(value of the angle variable) of the respective cylinders, e.g.,
obtained by angle position sensors, are sent to regulating elements
8. Regulating elements 8 may be simple differential regulators or
regulators that include complex transformations (integrations,
differentiations and the like). Actuators 6, 7 which act on the
angle variables of the respective cylinders may in a first
embodiment be the single drives of the respective cylinders, in a
second embodiment they may be additional auxiliary drives for the
respective cylinders which are moved by a main drive. A setpoint of
the representative signal, angle variable setpoint 10, is sent to
regulating elements 8. In conjunction with the description of the
embodiments, only one angle variable setpoint is mentioned here and
below. However, it is clear that different setpoints may be
predetermined for the individual angle variables of the cylinders
for each cylinder and sent to regulating elements 8 accordingly. To
reduce or eliminate interfering orders of vibrations which have a
negative effect on the reproducibility of sheet transfer between
first cylinder 4 and second cylinder 5, the differential angle
between cylinder 4 and cylinder 5 or a variable which depends
thereon in a linear manner, being a measure of the differential
angle, is sent to compensation element 8 (see subtraction point
upstream from compensation element 9). The output signal of
compensation element 9 is superimposed on the output signal of
regulating element 8 (see subtraction point downstream from
regulating element 8 of second cylinder 5). It is clear that as an
alternative, this output signal may also be superimposed on the
output signal of regulating element 8 of first cylinder 4. In the
context presented here, it is clear that there are partial
additions and partial subtractions of the individual signals. In an
advantageous manner, only one compensation element 9 is needed in
the embodiment presented here; with this compensation element, the
interfering orders of vibrations may be removed directly from the
target variable. This may be accomplished with a high
precision.
[0087] FIG. 4 shows a schematic diagram of a detail of one
embodiment of a printing material processing machine 1 which has a
plurality of printing units 2 and a plurality of cylinders 3, each
having separate gear trains, two regulating devices and two
vibration compensation devices according to the present invention.
In contrast with compensation of the angle difference in the
embodiment illustrated in FIG. 3, the embodiment in this FIG. 4 has
separate compensation of vibrations at the transfer point between
first cylinder 4 and second cylinder 5 in the individual angle
variables. In this embodiment, the reduction or elimination of
absolute angle variable vibrations of cylinders 4, 5 is
advantageous, optionally even of the two machine parts including
the first and/or second cylinder in contrast with reduction or
elimination of the relative angle variable vibrations in the
embodiment according to FIG. 3. Compensation takes place directly
in the target variables via two compensation elements 9, each being
assigned to regulating element 8. This embodiment is symmetrical
for first cylinder 4 and second cylinder 5. A regulating element 8
is assigned to each cylinder 4, 5 and receives a representative
signal for the angle variable of the cylinder (value of the angle
variable) and an angle variable setpoint 10. A compensation element
9 whose output signal is superimposed on the output signal of the
regulating element (subtraction points after regulating elements 8)
is provided in parallel with each regulating element 8. The
superimposed signals are sent to first actuator 6 and/or second
actuator 7.
[0088] FIG. 5 shows a detail of an alternative embodiment of a
printing material processing machine 1 which includes a plurality
of printing units 2 and cylinders 3, having separate gear trains,
two regulating devices and two vibration compensation devices
according to the present invention. In this embodiment for
compensation of vibrations at a transfer point between two
sheet-carrying cylinders, there is separate compensation for first
cylinder 4 and second cylinder 5, but there is also a relative
compensation for the angular difference, shown here for second
cylinder 5 as an example. This embodiment combines in an
advantageous manner an absolute reduction in vibrations with the
relative reduction in vibrations (relative angle variable for sheet
transfer). A regulating element assigned to first cylinder 4
receives a representative signal for the angle variable of first
cylinder 4 (value of the angle variable) and an angle variable
setpoint 10. A compensation element 9 provided in parallel with
regulating element 8 supplies an output signal, which is
superimposed on the output signal of the regulating element at the
subtraction point downstream from regulating elements. The
superimposed signal is sent to first actuator 6. A regulating
element 8 also provided for second cylinder 5 receives a
representative signal for the angle variable of second cylinder
(value of the angle variable) and an angle variable setpoint 10.
The differential angle between cylinder 4 and cylinder 5, or a
linear dependent variable which is a measure of the differential
angle, is sent to compensation element 9 at a subtraction point.
The output signal of compensation element 9 is superimposed on the
output signal of regulating element 8 at a subtraction point
downstream from regulating element 8 of second cylinder 5. The
superimposed signal is sent to second actuator 7.
[0089] FIG. 6 shows a detail of an alternative embodiment of a
printing material processing machine 1 having a plurality of
printing units and cylinders 3, a regulating device and a vibration
compensation device according to the present invention for one
cylinder. Printing material processing machine 1 of this embodiment
may either have a continuous gear train or an interrupted gear
train. Use of a compensation device 9 according to the present
invention and use of a regulating device according to the present
invention having regulating element 8 and compensation device 9 is
not limited to reducing vibrations at the transfer points between
sheet carrying cylinders but instead may be used in general for
improved regulation, i.e., compensation of vibration of cylinders,
e.g., printing block cylinders, transfer cylinders or rubber
blanket cylinders or backpressure cylinders, as well as rolls and
rollers in inking and/or damping systems. FIG. 6 shows an example
of regulation having parallel compensation for a first cylinder 4.
A representative signal for the angle variable characteristic
(characteristic of the value of the angle variable over time) is
generated by an angle position sensor and sent to regulating
element 8 together with an angle variable setpoint 10. Regulating
element 8 may be a simple differential regulator or a regulator
which includes complex transformations (integrations,
differentiations and the like). The signal representative of the
angle variable characteristic is also sent in parallel to
compensation element 9, whose output signal is superimposed on the
output signal of regulating element 8 at the subtraction point
downstream from regulating element 8. The superimposed signal is
sent to first actuator 6. Since the frequency or frequencies of
compensation element 9 to be compensated is/are adjustable,
vibrations of an integer order may also be compensated in addition
to vibrations of a noninteger order in comparison with the machine
frequency.
[0090] FIG. 7 shows a detail of an embodiment of a printing
material processing machine 1 having at least two printing units 2,
each of which is assigned a regulating element 8 and a vibration
compensation device according to the present invention in the form
of a compensation element 9 for one cylinder. With such an
embodiment, vibrations in the gear train may be reduced or even
eliminated in an advantageous manner. Actuators 6, e.g., individual
motors, are provided at various locations in the gear train to act
on cylinders 4. To prevent an edge or flank change on gear wheels
in the gear train, actuators 6 are to be regulated, e.g., through
the choice of the average motor torque so that the flow of energy
in printing material processing machine 1 does not change its plus
or minus sign (direction) at any point. A regulating element 8 is
assigned to each cylinder 4 and receives a representative signal
for the angle variable of respective cylinder 4 (value of the angle
variable) and an angle variable setpoint 10. In parallel with
regulating element 8, a compensation element 9 is also provided,
its output signal being superimposed on the output signal of
regulating element 8 at the subtraction point downstream from
regulating element 8. The superimposed signal is then sent to
actuator 6.
[0091] FIG. 8 shows a schematic diagram of one embodiment of a
regulating device having a vibration compensation device according
to the present invention for a cylinder 5 of a rotary web printing
press printing a web 11. This embodiment should illustrate the fact
that use of the present invention is not limited to
sheet-processing printing presses. A regulating element 8 is
provided for cylinder 5 and receives a representative signal for
the angle variable of cylinder 5 (value of the angle variable) and
an angle variable setpoint 10. In parallel with regulating element
8, a compensation element 9 is also provided, its output signal
being superimposed on the output signal of regulating element 8 at
the subtraction point downstream from regulating element 8. The
superimposed signal is sent to actuator 7. In addition to
vibrations of noninteger order in comparison with the machine
frequency, vibrations of an integer order may also be reduced or
eliminated by compensation element 9 according to the present
invention.
[0092] FIG. 9 shows a detail of another alternative embodiment of a
printing material processing machine 1 having a regulating device
and a vibration compensation device according to the present
invention. This embodiment is especially advantageous for
performing compensation of vibrations close to the first natural
frequency in printing material processing machines without a
separate gear train, because the first natural frequency (vibration
antipodes at the open ends and a vibration node in between) may be
largely eliminated here in the machine as a whole. The cylinders
equipped with rotation sensors are situated in the vicinity of the
ends of the machine. Printing material processing machine 1, having
a plurality of printing units 2 and a plurality of cylinders 3, has
a compensation device 9 to whose input the difference in the
rotational angle position signals of the rotation sensors of first
cylinder 4 and of second cylinder 5 is applied. The output signal
of compensation device 9 is subtracted from the output signal of
regulating element 8, to which the angle position signal of a third
cylinder 15 to be compensated and an angle variable setpoint are
sent. Regulation is accomplished via a first actuator 6, which acts
on third cylinder 5. With an arrangement according to FIG. 9, the
compensation result already intended in the embodiment according to
FIG. 7 may be achieved with only one control element, e.g., the
main motor in an advantageous manner using certain compensation
arrangements, e.g., compensation arrangements having compensation
frequencies in the vicinity of the first natural frequency.
[0093] FIG. 10 shows another embodiment of a printing material
processing machine 1 having a regulating device and a vibration
compensation device according to the present invention. This
embodiment is advantageous for compensation of interference of
orders not in the vicinity of the first natural frequency, in
particular for lower frequencies than the first natural frequency.
Printing material processing machine 1, having a plurality of
printing units 2 and plurality of cylinders 3, has a compensation
device 9 to whose input the rotational angle position signal of the
rotation sensor of first cylinder 4 is applied. The output signal
of compensation device 9 is subtracted from the output signal of
regulating element 8, which received the angle position signal of a
cylinder 5 to be compensated and an angle variable setpoint. The
regulation is performed by a first actuator 6 which acts on
cylinder 5.
[0094] It should be emphasized again that embodiments having
different arrangements may be advantageous to different extents
depending on the frequency to be compensated. A modal analysis of
the total vibration observed permits conclusions to be drawn
regarding advantageous arrangements. Measurement and/or
compensation of vibration is difficult at those points where the
vibration has a node or has a low amplitude.
List of Reference Numbers
[0095]
1 1 Printing material processing machine 2 Printing unit 3 Cylinder
4 First cylinder 5 Second cylinder 6 First actuator for regulating
the first cylinder 7 Second actuator for regulating the second
cylinder 8 Regulating element 9 Compensation device 10 Angle
variable setpoint 11 Web of printing material 12 Phase shift
element 13 Filter with transfer function 14 Control device 15 Third
cylinder
* * * * *