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EP1790601B1 - Control of the web tension of a running web - Google Patents

Control of the web tension of a running web Download PDF

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Publication number
EP1790601B1
EP1790601B1 EP06019736A EP06019736A EP1790601B1 EP 1790601 B1 EP1790601 B1 EP 1790601B1 EP 06019736 A EP06019736 A EP 06019736A EP 06019736 A EP06019736 A EP 06019736A EP 1790601 B1 EP1790601 B1 EP 1790601B1
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EP
European Patent Office
Prior art keywords
web
control
web tension
tension
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP06019736A
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German (de)
French (fr)
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EP1790601A3 (en
EP1790601A2 (en
EP1790601B2 (en
Inventor
Stephan Dr. Schultze
Christian Zentgraf
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Bosch Rexroth AG
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Bosch Rexroth AG
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Application filed by Bosch Rexroth AG filed Critical Bosch Rexroth AG
Priority to EP11006305.4A priority Critical patent/EP2392529B1/en
Priority to EP11006304.7A priority patent/EP2386511B1/en
Publication of EP1790601A2 publication Critical patent/EP1790601A2/en
Publication of EP1790601A3 publication Critical patent/EP1790601A3/en
Publication of EP1790601B1 publication Critical patent/EP1790601B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/1888—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web and controlling web tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/10—Speed
    • B65H2513/11—Speed angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/31—Tensile forces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20—Calculating means; Controlling methods
    • B65H2557/24—Calculating methods; Mathematic models
    • B65H2557/242—Calculating methods; Mathematic models involving a particular data profile or curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20—Calculating means; Controlling methods
    • B65H2557/264—Calculating means; Controlling methods with key characteristics based on closed loop control
    • B65H2557/2644—Calculating means; Controlling methods with key characteristics based on closed loop control characterised by PID control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/30—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof
    • B65H2557/34—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof for analog control, e.g. proportional, integral or differentiated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/60—Details of processes or procedures
    • B65H2557/63—Optimisation, self-adjustment, self-learning processes or procedures, e.g. during start-up

Definitions

  • the invention relates to a method for regulating the web tension of a web moved by means of a transport device with a web tension controller with determination of control loop parameters.
  • Goods webs are continuous webs of paper, foil or fabric.
  • the web is conveyed within a transport device by drive rollers and printed, for example.
  • the web of a processing stage is supplied via a feeding nip, which consists of a regulated in their speed drive roller with associated pressure roller.
  • the web is removed via a second nip, which consists of a second controlled in their speed drive roller with associated pressure roller.
  • Sufficient processing quality can only be achieved if the web has a certain minimum web tension between the nips, otherwise it is transported inaccurately for processing and tends, for example, to flutter. On the other hand, a certain maximum web tension must not be exceeded, since the web otherwise breaks or stretches inelastic.
  • the web tension In order to ensure a trouble-free operation of the transport device and a good quality of the processed web, the web tension must be kept within a certain range depending on the speed and parameters such as the elastic modulus of the web.
  • the web tension controller used is a PI controller which uses the lead or lag of the drive roller arranged at the incoming or outgoing clamping point as a manipulated variable.
  • the control loop is closed by measuring the actual value of the web tension with a load cell.
  • the control loop parameters of the tension controller with load cell depend on the machine speed and the material.
  • the speed dependency can be modeled by an adaptive characteristic of the P component of the controller.
  • the material dependence of the advantageous web tension control can be taken into account during commissioning by an optimization step.
  • the disadvantage here is that when changing the material of the optimization step must be repeated. If, for example, harder material is inserted, otherwise the control loop may become unstable. If the first optimization is chosen to select suitable parameters for a larger group of materials, the control loop dynamics will not be exploited for more flexible materials, unnecessarily increasing the setting of a suitable web tension and resulting in an increased amount of faulty processed web.
  • an apparatus and a method for dynamically controlling a drive for transport rollers in a web-fed printing press are known.
  • the task was to ensure a desired web tension and a required print quality at different stages of machine operation.
  • it is necessary to control the web tension of a section of a web between an infeed and a discharging nip formed respectively by a transport roller and a pressure roller.
  • the controller operates in a web tension control mode during a first phase of the printing press operation to maintain the web tension at a first desired web tension value.
  • control is effected in a speed control mode in which the ratio of the driving speeds of the feeding and discharging nips are controlled.
  • a regulation for the web speed of a web is known in which a target value for the web speed is determined taking into account the actual value of the web tension and the modulus of elasticity of the web material.
  • the DE 3143545 A1 discloses that in multi-motor drives for continuous webs guide rollers have the task to guide the web in the free area between the terminal points in compliance with certain properties, such as length, elongation or tensile stress.
  • certain properties such as length, elongation or tensile stress.
  • the Leitwalzenfire be regulated.
  • the static gain of the control in the range of small speed control deviations is set to a high value and with larger speed control deviations to a smaller value.
  • the transition point from large to small gain can be specified optionally.
  • the DE 3605168 A1 in that an arrangement for the low-vibration transport of an elastic, under tension fabric over a series of driven or non-driven rollers. It consists in that an adaptation of the controller parameters is carried out to adapt to different moduli of elasticity and cross sections of the fabric both in the speed and in the Bandzugregelung and in that the controller parameters are varied as a function of the geometric modulus of elasticity modulus and cross section, such that the time-determining variables such as time constants and integration times and the gain determining the strip tension control are inversely proportional to the geometric mean and the size determining the gain of the belt speed be adjusted in proportion to the geometric mean.
  • the DE 100 31 529 A1 discloses a method and apparatus for operating a web-fed machine having driven axles for transporting webs.
  • the control of the drives for the axes takes place at least partially by means of time-dependent control parameters.
  • the variation of the control parameters takes place in dependence of the positions and / or speeds of the axes.
  • the EP 0 976 674 A1 discloses a tension control device for a paper web of a printing press having a speed reference setpoint adjuster, a drive motor speed controller coupled to the adjuster, a web tension setpoint adjuster, a web tension sensor, a web tension controller associated with the web tension setpoint adjuster Sensor for measuring the web tension and the setting device for the web tension setpoint is coupled, wherein the speed controller is coupled to an output of the web tension controller.
  • the invention relates to a method for regulating the tension of a paper web of a printing machine, wherein a Drehiereleitsollwert is specified, a web tension setpoint is specified, a first web tension actual value is measured, the difference between the web tension setpoint and the measured web tension Actual value is formed; the difference formed is converted into a lag target value; and from the predetermined Drehiereleitsollwert and the lag setpoint, a variable is formed, which is used for speed control of the drive motor.
  • a disadvantage of the prior art is that the web tension control must be adapted in each case to the web to be used and is not universally applicable.
  • the web tension can be maintained over a wide range of parameters of the material web in the range suitable for a good processing quality.
  • a particularly suitable for a fast and accurate control of the web tension of the web embodiment of the invention provides that the drive of the transport device takes place in at least two drive groups, which are driven by their own drives and their coupling takes place within the control and drive system on an electronic basis.
  • This embodiment also referred to as a "shaftless" drive, does not mechanically couple the at least two drive groups via a rigid shaft but electronically via the web tension controller or another control and regulating device.
  • These can act on servo-synchronous motors and thus provide, for example, a different start-up or control characteristic for two drives. In this way, for example, moments of inertia of components of the transport device for the material web can be taken into account.
  • the control and regulation of the transport device is related to a virtual master axis present only in the parameters of the web tension controller. Inaccuracies in the measured value acquisition and / or movement of the master axis have no influence on the control quality.
  • the time constant of the controlled system is proportional to the reciprocal of the speed of the web. Therefore, it is advantageous if the control loop parameters are determined according to a hyperbolic characteristic as a function of the leading axis speed of the web.
  • control loop parameters are determined according to a characteristic curve composed of functions as a function of the master axis speed, and the drives of the transport device are controlled by means of a virtual master axis.
  • a predetermined target value of the web tension can be achieved faster and thus with less production failure by the control loop parameters are determined according to a predetermined as a function and / or at several nodes characteristic curve in response to a deviation of the web tension of a predetermined setpoint.
  • control loop parameters are determined in accordance with a characteristic curve predefined as a function and / or at a plurality of supporting points as a function of a running length of the material web between a feeding nip and a discharging nip, it can be achieved that, during a retrofitting of the transport device, the length of the web is between the supply and the discharging terminal point is changed, a suitable set of control loop parameters is available for a smooth production start.
  • control loop parameters below a minimum machine, line or web speed and above a maximum machine, line or web speed, it can be achieved that a steep characteristic curve with a good control characteristic can be selected in the normal operating range of the control, without damage to the web and / or the transport device occur during operation outside the usual operating range.
  • control loop parameters are determined as a function of physical characteristics of the web, it can be achieved that a good processing quality is achieved with different materials. In particular, fluctuations of the physical characteristics can be detected and taken into account over time.
  • a high production speed and processing quality with different materials and with different width and / or thickness of the web can be achieved by using as a physical characteristic of the modulus of elasticity of the web. If the modulus of elasticity is measured continuously, it can be achieved that a change in the modulus of elasticity which is dependent on the drying behavior and / or degree of moisture of the material web can also be taken into account.
  • a cost-effective, unclaimed embodiment provides that the modulus of elasticity is determined with the aid of the sensors, rotary encoders and the web tension controller which are already present in the transport device according to the prior art. This can be determined without additional devices, and thus without additional costs, the modulus of elasticity.
  • a particularly simple, unclaimed embodiment provides that the modulus of elasticity is determined from a change in length of the material web as a function of a change in web tension. In this case, it is possible to lengthen the web by a certain fixed amount and to measure the resulting web tension change or to increase the web tension by a certain fixed amount and measure the resulting length change.
  • a high processing quality of a material web can be achieved by determining the control loop parameters as a function of the moment of inertia of non-driven rolls between the feeding nip and the discharging nip. The interference of these non-driven guide rollers on the web tension in the processing area can be reduced.
  • the settling time of the web tension controller can be reduced by specifying default values for the control loop parameters as starting values for the manipulated variable, such as a lead or lag of a drive, and a self-optimization of the PI controller or PID controller. As a result, the proportion of product with good processing quality can be improved.
  • presetting values for the manipulated variables are determined from the determined physical characteristics of the web, a set of presetting values can be determined for different and novel materials and material combinations of the web, which enables a fast achievement of optimal control parameters.
  • FIG. 1 shows a transport device 1 for processing a web 2 between a feeding nip 10 and a laxative nip 30 with a web tension controller 3.
  • the web 2 is clamped between a pinch roller 11 and a drive roller 12 and fed to the processing with a defined speed.
  • the processing may be, for example, a printing operation.
  • the drive roller 12 is driven by a motor 13, the rotational speed and angular position detected by a rotary encoder 14 and the web tension controller 3 are supplied.
  • the web tension controller 3 controls the supply voltage of the motor 13 and is designed as a PI controller.
  • the web 2 is moved at a discharging nip 30 by means of a pressure roller 31 and a drive roller 32.
  • the drive roller 32 is driven by a motor 33 whose shaft is coupled to a rotary encoder 34 which supplies data for the rotational movement of the motor 33 to the web tension controller 3.
  • the drive of the drive rollers 12, 32 take place by servo-synchronous motors, which eliminate the use of rotary encoders 14, 34 due to their operation.
  • the control of the rotational speed and the angle of rotation of the motors 13, 33 takes place in this case on the phase and frequency of the supply voltage.
  • the actual value of the web tension between the feeding nip 10 and the discharging nip 30 is measured by a sensor 21.
  • the web 2 is fed via a deflection roller 20 to the transducer 21 and continued through a second guide roller 22 for further processing.
  • the sensor 21 may be designed, for example, as a load cell. Its output signal is fed to the web tension controller 3 as an actual value of the web tension.
  • the characteristic curve 50 represents the progression of the P-reinforcement 51 over a guide axle speed 54.
  • the guide axle speed 54 is the peripheral speed of a drive roller 12, 22 or a drive roller arranged in the transport device 1 along the material web 2 before or after.
  • the leading axis speed 54 may also refer to an axis that is not actually present, but may be a calculated variable within the web tension controller 3; In this case, the leading axis is called a "virtual master axis".
  • On the Leitachsica 54 of the web tension controller 3 refers to the control and regulation of the other drives.
  • the characteristic curve 50 is chosen so that the P-gain 51 is constant below a first operating point 52 and above a second operating point 53, respectively. This ensures that in the usual operating range between the first operating point 52 and the second operating point 53 a steep characteristic curve with a rapid compensation of deviations can be selected, outside of the range but still for the web 2 harmless values of web tension are met.
  • FIG. 3 shows a characteristic 50, which specifies a dependent of a control deviation 55 P-gain 51.
  • a flat curve 50 is provided for small deviations from the setpoint, while for larger deviations a steep curve 50 is provided. In this way it can be achieved that, with slight deviations, the web 2 runs smoothly and the processing quality is very high. For larger deviations, the web tension is quickly brought to the setpoint.

Landscapes

  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)

Abstract

Method involves determination of the control loop parameters of the web tension controller (3) according to a characteristic curve predetermined as function and predetermined at several sampling points. The web tension controller makes a PI-control or a PID-control.

Description

Stand der TechnikState of the art

Die Erfindung betrifft ein Verfahren zur Regelung der Bahnspannung einer mittels einer Transporteinrichtung bewegten Warenbahn mit einem Bahnspannungsregler unter Bestimmung von Regelkreisparametern.The invention relates to a method for regulating the web tension of a web moved by means of a transport device with a web tension controller with determination of control loop parameters.

Bei Warenbahnen handelt es sich um fortlaufende Materialbahnen aus Papier, Folie oder Stoff. Zur Bearbeitung wird die Warenbahn innerhalb einer Transporteinrichtung durch Antriebswalzen befördert und beispielsweise bedruckt. Gemäß dem Stand der Technik wird die Warenbahn einer Bearbeitungsstufe dabei über eine zuführende Klemmstelle zugeführt, die aus einer in ihrer Drehzahl geregelten Antriebswalze mit zugehöriger Andruckwalze besteht. Nach der Bearbeitungsstufe wird die Warenbahn über eine zweite Klemmstelle abgeführt, die aus einer zweiten in ihrer Drehzahl geregelten Antriebswalze mit zugehöriger Andruckwalze besteht. Eine ausreichende Bearbeitungsqualität kann nur erreicht werden, wenn die Warenbahn zwischen den Klemmstellen eine gewisse Mindest-Bahnspannung besitzt, da sie ansonsten für die Bearbeitung ungenau transportiert wird und beispielsweise zum Flattern neigt. Andererseits darf eine gewisse Maximal-Bahnspannung nicht überschritten werden, da die Warenbahn ansonsten reißt oder sich unelastisch dehnt.Goods webs are continuous webs of paper, foil or fabric. For processing, the web is conveyed within a transport device by drive rollers and printed, for example. According to the prior art, the web of a processing stage is supplied via a feeding nip, which consists of a regulated in their speed drive roller with associated pressure roller. After the processing stage, the web is removed via a second nip, which consists of a second controlled in their speed drive roller with associated pressure roller. Sufficient processing quality can only be achieved if the web has a certain minimum web tension between the nips, otherwise it is transported inaccurately for processing and tends, for example, to flutter. On the other hand, a certain maximum web tension must not be exceeded, since the web otherwise breaks or stretches inelastic.

Um einen problemlosen Betrieb der Transporteinrichtung sowie eine gute Qualität der bearbeiteten Warenbahn zu gewährleisten, muss die Bahnspannung in Abhängigkeit von der Geschwindigkeit und Parametern wie dem Elastizitätsmodul der Warenbahn innerhalb eines bestimmten Bereichs gehalten werden.In order to ensure a trouble-free operation of the transport device and a good quality of the processed web, the web tension must be kept within a certain range depending on the speed and parameters such as the elastic modulus of the web.

Als Bahnspannungsregler dient ein PI-Regler, der als Stellgröße die Voreilung bzw. Nacheilung der an der zu- oder abführenden Klemmstelle angeordneten Antriebswalze verwendet. Der Regelkreis wird dabei über die Messung des Istwertes der Bahnspannung mit einer Kraftmessdose geschlossen. Die Regelkreisparameter des Zugspannungsreglers mit Kraftmessdose sind von der Maschinengeschwindigkeit und vom Material abhängig. Die Geschwindigkeitsabhängigkeit kann durch eine adaptive Kennlinie des P-Anteils des Reglers modelliert werden. Die Materialabhängigkeit der vorteilhaften Bahnspannungsregelung kann während der Inbetriebnahme durch einen Optimierungsschritt berücksichtigt werden. Nachteilig ist hierbei, dass bei einem Materialwechsel der Optimierungsschritt wiederholt werden muss. Wird beispielsweise härteres Material eingelegt, kann ansonsten der Regelkreis instabil werden. Wird die erste Optimierung so gewählt, dass für eine größere Gruppe von Materialien geeignete Parameter gewählt werden, wird für flexiblere Materialien die Regelkreisdynamik nicht ausgenutzt, was die Einstellung einer geeigneten Bahnspannung unnötig verlängert und eine erhöhte Menge fehlerhaft bearbeiteter Warenbahn zur Folge hat.The web tension controller used is a PI controller which uses the lead or lag of the drive roller arranged at the incoming or outgoing clamping point as a manipulated variable. The control loop is closed by measuring the actual value of the web tension with a load cell. The control loop parameters of the tension controller with load cell depend on the machine speed and the material. The speed dependency can be modeled by an adaptive characteristic of the P component of the controller. The material dependence of the advantageous web tension control can be taken into account during commissioning by an optimization step. The disadvantage here is that when changing the material of the optimization step must be repeated. If, for example, harder material is inserted, otherwise the control loop may become unstable. If the first optimization is chosen to select suitable parameters for a larger group of materials, the control loop dynamics will not be exploited for more flexible materials, unnecessarily increasing the setting of a suitable web tension and resulting in an increased amount of faulty processed web.

Aus der DE 198 34 725 A1 ist eine Regeleinrichtung und ein Verfahren zum Regeln der Spannung einer Papierbahn einer Druckmaschine bekannt, bei der innerhalb der Regelstrecke ein gemessener Bahnspannungs-Istwert erfasst wird. Ein Drehzahlleit-Sollwert und ein Bahnspannungs-Sollwert werden vorgegeben. Aus dem Bahnspannungs-Sollwert und dem Bahnspannungs-Istwert wird ein Vor- bzw. Nacheilungs-Sollwert ermittelt, der zusammen mit dem Drehzahlleit-Sollwert die einzustellende Drehzahl ergibt. Mit dieser Bahnspannungsregelung kann die Abweichung der einzelnen Bahnspannungen an unterschiedlichen Stellen des Papierweges innerhalb gewisser Grenzen gehalten werden. Auf den Einfluss des Elastizitätsmoduls der Warenbahn auf die Druckeigenschaften wird in der Schrift zwar eingegangen, eine Lehre zur Beseitigung des Einflusses durch Berücksichtigung in den Regelparametern wird jedoch nicht angegeben.From the DE 198 34 725 A1 is a control device and a method for regulating the tension of a paper web of a printing press, in which a measured web tension actual value is detected within the controlled system. A speed reference value and a web tension setpoint are specified. From the web tension setpoint and the web tension actual value, a pre-set or lag setpoint is determined which, together with the speed reference, results in the set speed. With this web tension control, the deviation of the individual web tension at different points of the paper path can be kept within certain limits. On the influence of the modulus of elasticity of the web on the printing properties is in the Although writing has been received, a doctrine for eliminating the influence by taking into account in the control parameters is not specified.

Aus der DE 10201 993 A1 sind eine Vorrichtung und ein Verfahren zur dynamischen Steuerung eines Antriebes für Transportwalzen in einer Rollendruckmaschine bekannt. Dabei bestand die Aufgabe darin, bei unterschiedlichen Phasen des Maschinenbetriebes eine gewünschte Bahnspannung sowie eine geforderte Druckqualität zu gewährleisten. Hierbei gilt es, die Bahnspannung eines Abschnittes einer Warenbahn zwischen einer zuführenden und einer abführenden Klemmstelle zu steuern, die jeweils aus einer Transportwalze und einer Andruckwalze gebildet sind. Die Steuervorrichtung arbeitet während einer ersten Phase des Druckmaschinenbetriebes in einem Bahnspannungskontrollmodus, um die Bahnspannung auf einem ersten gewünschten Bahnspannungswert zu halten. In einer zweiten Phase des Betriebes der Druckmaschine erfolgt Steuerung in einem Geschwindigkeitskontrollmodus in dem das Verhältnis der Antriebsgeschwindigkeiten der zuführenden und der abführenden Klemmstelle gesteuert werden.From the DE 10201 993 A1 For example, an apparatus and a method for dynamically controlling a drive for transport rollers in a web-fed printing press are known. The task was to ensure a desired web tension and a required print quality at different stages of machine operation. In this case, it is necessary to control the web tension of a section of a web between an infeed and a discharging nip formed respectively by a transport roller and a pressure roller. The controller operates in a web tension control mode during a first phase of the printing press operation to maintain the web tension at a first desired web tension value. In a second phase of operation of the printing machine, control is effected in a speed control mode in which the ratio of the driving speeds of the feeding and discharging nips are controlled.

Aus der DE 103 22 098 ist eine Regelung für die Bahngeschwindigkeit einer Warenbahn bekannt, bei der ein Sollwert für die Bahngeschwindigkeit unter Berücksichtigung des Istwertes der Bahnspannung und des Elastizitätsmoduls des Bahnmaterials ermittelt wird.From the DE 103 22 098 is a regulation for the web speed of a web is known in which a target value for the web speed is determined taking into account the actual value of the web tension and the modulus of elasticity of the web material.

Die DE 3143545 A1 offenbart, dass bei Mehrmotorenantrieben für durchlaufende Bahnen Leitwalzen die Aufgabe haben, die Bahn im freien Bereich zwischen den Klemmstellen unter Einhaltung bestimmter Eigenschaften, wie Länge, Dehnung oder Zugspannung, zu führen. Um von den Leitwalzen keine nennenswerten Kräfte auf die Bahnen auszuüben, werden die Leitwalzendrehzahlen geregelt. Hierbei wird die statische Verstärkung der Regelung im Bereich kleiner Drehzahlregelabweichungen auf einen hohen Wert und bei größeren Drehzahlregelabweichungen auf einen kleineren Wert eingestellt. Die Übergangsstelle von großer zu kleiner Verstärkung kann wahlweise vorgegeben werden.The DE 3143545 A1 discloses that in multi-motor drives for continuous webs guide rollers have the task to guide the web in the free area between the terminal points in compliance with certain properties, such as length, elongation or tensile stress. To exert no significant forces on the tracks of the guide rollers, the Leitwalzendrehzahlen be regulated. Here, the static gain of the control in the range of small speed control deviations is set to a high value and with larger speed control deviations to a smaller value. The transition point from large to small gain can be specified optionally.

Ferner offenbart die DE 3605168 A1 , dass eine Anordnung zum schwingungsarmen Transport einer elastischen, unter Zugspannung stehenden Stoffbahn über eine Reihe von angetriebenen bzw. nicht angetriebenen Rollen. Sie besteht darin, dass zur Anpassung an unterschiedliche Elastizitätsmoduln und Querschnitte der Stoffbahn sowohl in der Drehzahlwie in der Bandzugregelung eine Anpassung der Regler-Parameter vorgenommen wird und dass die Regler-Parameter in Abhängigkeit vom geometrischen Mittel aus Elastizitätsmodul und Querschnitt verändert werden, und zwar derart, dass das Zeitverhalten bestimmende Großen wie Zeitkonstanten und Integrationszeiten sowie die Verstärkung der Bandzugregelung bestimmende Größe umgekehrt proportional zum geometrischen Mittel und die die Verstärkung der Bandgeschwindigkeit bestimmende Größe proportional zum geometrischen Mittel eingestellt werden.Further, the DE 3605168 A1 in that an arrangement for the low-vibration transport of an elastic, under tension fabric over a series of driven or non-driven rollers. It consists in that an adaptation of the controller parameters is carried out to adapt to different moduli of elasticity and cross sections of the fabric both in the speed and in the Bandzugregelung and in that the controller parameters are varied as a function of the geometric modulus of elasticity modulus and cross section, such that the time-determining variables such as time constants and integration times and the gain determining the strip tension control are inversely proportional to the geometric mean and the size determining the gain of the belt speed be adjusted in proportion to the geometric mean.

Die DE 100 31 529 A1 offenbart ein Verfahren und eine Vorrichtung zum Betrieb einer bahnverarbeitenden Maschine mit angetriebenen Achsen zum Transport von Bahnen. Die Regelung der Antriebe für die Achsen erfolgt zumindest teilweise mittels zeitabhängiger Regelparameter. Die Variation der Regelparameter erfolgt in Abhängigkeit der Positionen und/oder Geschwindigkeiten der Achsen.The DE 100 31 529 A1 discloses a method and apparatus for operating a web-fed machine having driven axles for transporting webs. The control of the drives for the axes takes place at least partially by means of time-dependent control parameters. The variation of the control parameters takes place in dependence of the positions and / or speeds of the axes.

Die EP 0 976 674 A1 offenbarteine Regeleinrichtung für die Spannung einer Papierbahn einer Druckmaschine mit einer Einstellvorrichtung für einen Drehzahlleitsollwert, einem Drehzahlregler für einen Antriebsmotor, der mit der Einstellvorrichtung gekoppelt ist, einer Einstellvorrichtung für einen Bahnspannungs- Sollwert, einem Sensor zum Messen der Bahnspannung, einem Bahnspannungsregler, welcher mit dem Sensor zum Messen der Bahnspannung und der Einstellvorrichtung für den Bahnspannungs-Sollwert gekoppelt ist, wobei der Drehzahlregler mit einem Ausgang des Bahnspannungsreglers gekoppelt ist. Ferner bezieht sich die Erfindung auf ein Verfahren zum Regeln der Spannung einer Papierbahn einer Druckmaschine, wobei ein Drehzahlleitsollwert vorgegeben wird, ein Bahnspannungs-Sollwert vorgegeben wird, ein erster Bahnspannungs-Istwert gemessen wird, die Differenz aus dem Bahnpannungs-Sollwert und dem gemessenen Bahnspannungs-Istwert gebildet wird; die gebildete Differenz in einen Nacheilungs-Soll- Wert umgerechnet wird; und aus dem vorgegebenen Drehzahlleitsollwert und dem Nacheilungs-Sollwert eine Größe gebildet wird, welche zur Drehzahlregelung des Antriebsmotors dient.The EP 0 976 674 A1 discloses a tension control device for a paper web of a printing press having a speed reference setpoint adjuster, a drive motor speed controller coupled to the adjuster, a web tension setpoint adjuster, a web tension sensor, a web tension controller associated with the web tension setpoint adjuster Sensor for measuring the web tension and the setting device for the web tension setpoint is coupled, wherein the speed controller is coupled to an output of the web tension controller. Furthermore, the invention relates to a method for regulating the tension of a paper web of a printing machine, wherein a Drehzahlleitsollwert is specified, a web tension setpoint is specified, a first web tension actual value is measured, the difference between the web tension setpoint and the measured web tension Actual value is formed; the difference formed is converted into a lag target value; and from the predetermined Drehzahlleitsollwert and the lag setpoint, a variable is formed, which is used for speed control of the drive motor.

Nachteilig beim Stand der Technik ist, dass die Bahnspannungsregelung jeweils an die zu verwendende Warenbahn angepasst werden muss und nicht universell einsetzbar ist.A disadvantage of the prior art is that the web tension control must be adapted in each case to the web to be used and is not universally applicable.

Es ist Aufgabe der Erfindung, ein Verfahren für die Regelung der Bahnspannung einer Warenbahn zu schaffen, das eine Erhöhung der Produktqualität bei gleichzeitig hohemIt is an object of the invention to provide a method for controlling the web tension of a web, which increases the product quality at the same time high

Produktionsvolumen und geringem Aufwand bei der Umstellung des Typs der Warenbahn ermöglicht.Production volume and little effort in the conversion of the type of web allows.

Vorteile der ErfindungAdvantages of the invention

Die Aufgabe wird gelöst, durch die Merkmale des Anspruchs 1.The object is achieved by the features of claim 1.

Wird mit dem Bahnspannungsregler eine PI-Regelung oder PID-Regelung vorgenommen, kann eine einfache und kostengünstige Bahnspannungsregelung verwirklicht werden, die dennoch eine gute Bearbeitungsqualität ermöglicht.If a PI control or PID control is carried out with the web tension controller, a simple and inexpensive web tension control can be realized, which still allows a good processing quality.

Werden als Regelkreisparameter der Proportional- und/oder der Integral- und/oder der Differential-Anteil des PI-Reglers oder PID-Reglers verwendet, kann die Bahnspannung über einen weiten Bereich von Parametern der Warenbahn im für eine gute Bearbeitungsqualität geeigneten Bereich gehalten werden.If the proportional and / or the integral and / or the differential component of the PI controller or PID controller are used as control loop parameters, the web tension can be maintained over a wide range of parameters of the material web in the range suitable for a good processing quality.

Eine für eine schnelle und genaue Regelung der Bahnspannung der Warenbahn besonders geeignete Ausgestaltung der Erfindung sieht vor, dass der Antrieb der Transporteinrichtung in zumindest zwei Antriebsgruppen erfolgt, die von eigenen Antrieben angetrieben werden und deren Kopplung innerhalb des Steuerungs- und Antriebssystems auf elektronischer Basis erfolgt. Diese auch als "wellenloser" Antrieb bezeichnete Ausführungsform koppelt die zumindest zwei Antriebsgruppen nicht mechanisch über eine starre Welle sondern elektronisch über den Bahnspannungsregler oder eine andere Regel- und Steuereinrichtung. Diese können auf Servosynchronmotore wirken und so beispielsweise auch eine für zwei Antriebe unterschiedliche Anlauf- oder Regel-Charakteristik vorsehen. Auf diese Weise können beispielsweise Trägheitsmomente von Komponenten der Transporteinrichtung für die Warenbahn berücksichtigt werden.A particularly suitable for a fast and accurate control of the web tension of the web embodiment of the invention provides that the drive of the transport device takes place in at least two drive groups, which are driven by their own drives and their coupling takes place within the control and drive system on an electronic basis. This embodiment, also referred to as a "shaftless" drive, does not mechanically couple the at least two drive groups via a rigid shaft but electronically via the web tension controller or another control and regulating device. These can act on servo-synchronous motors and thus provide, for example, a different start-up or control characteristic for two drives. In this way, for example, moments of inertia of components of the transport device for the material web can be taken into account.

Werden die Antriebe mittels einer virtuellen Leitachse gesteuert, wird die Steuerung und Regelung der Transporteinrichtung auf eine nur in den Parametern des Bahnspannungsreglers vorhandene virtuelle Leitachse bezogen. Dann haben Ungenauigkeiten in der Messwerterfassung und/oder Bewegung der Leitachse keinen Einfluss auf die Regelgüte.If the drives are controlled by means of a virtual master axis, the control and regulation of the transport device is related to a virtual master axis present only in the parameters of the web tension controller. Inaccuracies in the measured value acquisition and / or movement of the master axis have no influence on the control quality.

Die Zeitkonstante der Regelstrecke ist proportional zu dem Kehrwert der Geschwindigkeit der Warenbahn. Daher ist es vorteilhaft, wenn die Regelkreisparameter gemäß einer hyperbolischen Kennlinie in Abhängigkeit von der Leitachsgeschwindigkeit der Warenbahn bestimmt werden.The time constant of the controlled system is proportional to the reciprocal of the speed of the web. Therefore, it is advantageous if the control loop parameters are determined according to a hyperbolic characteristic as a function of the leading axis speed of the web.

Eine besonders einfache zu realisierende Ausführungsform sieht vor, dass die Regelkreisparameter gemäß einer stückweise aus Funktionen zusammengesetzten Kennlinie in Abhängigkeit von der Leitachsgeschwindigkeit bestimmt werden, und die Antriebe der Transporteinrichtung mittels einer virtuellen Leitachse gesteuert werden.A particularly simple embodiment to be implemented provides that the control loop parameters are determined according to a characteristic curve composed of functions as a function of the master axis speed, and the drives of the transport device are controlled by means of a virtual master axis.

Ein vorgegebener Sollwert der Bahnspannung kann schneller und damit mit weniger Produktionsausfall erreicht werden, indem die Regelkreisparameter gemäß einer als Funktion und/oder an mehreren Stützstellen vorgebbaren Kennlinie in Abhängigkeit von einer Abweichung der Bahnspannung von einem vorgegebenen Sollwert bestimmt werden.A predetermined target value of the web tension can be achieved faster and thus with less production failure by the control loop parameters are determined according to a predetermined as a function and / or at several nodes characteristic curve in response to a deviation of the web tension of a predetermined setpoint.

Werden die Regelkreisparameter gemäß einer als Funktion und/oder an mehreren Stützstellen vorgebbaren Kennlinie in Abhängigkeit von einer Lauflänge der Warenbahn zwischen einer zuführenden Klemmstelle und einer abführenden Klemmstelle bestimmt, kann erreicht werden, dass bei einer Umrüstung der Transporteinrichtung, bei der die Länge der Warenbahn zwischen der zuführenden und der abführenden Klemmstelle verändert wird, ein für einen reibungslosen Produktionsanlauf geeigneter Satz von Regelkreisparametern zur Verfügung steht.If the control loop parameters are determined in accordance with a characteristic curve predefined as a function and / or at a plurality of supporting points as a function of a running length of the material web between a feeding nip and a discharging nip, it can be achieved that, during a retrofitting of the transport device, the length of the web is between the supply and the discharging terminal point is changed, a suitable set of control loop parameters is available for a smooth production start.

Werden für die Regelkreisparameter unterhalb einer minimalen Maschinen-, Anlagen- oder Warenbahngeschwindigkeit und oberhalb einer maximalen Maschinen-, Anlagen- oder Warenbahngeschwindigkeit konstante Werte vorgegeben, kann erreicht werden, dass im normalen Betriebsbereich der Regelung eine steile Kennlinie mit einer guten Regelcharakteristik gewählt werden kann, ohne dass bei einem Betrieb außerhalb des üblichen Betriebsbereichs Schäden an der Warenbahn und/oder der Transporteinrichtung auftreten.If constant values are specified for the control loop parameters below a minimum machine, line or web speed and above a maximum machine, line or web speed, it can be achieved that a steep characteristic curve with a good control characteristic can be selected in the normal operating range of the control, without damage to the web and / or the transport device occur during operation outside the usual operating range.

Werden die Regelkreisparameter in Abhängigkeit von physikalischen Kenngrößen der Warenbahn bestimmt, kann erreicht werden dass bei unterschiedlichen Materialien eine gute Bearbeitungsqualität erreicht wird. Insbesondere können Schwankungen der physikalischen Kenngrößen über die Zeit erfasst und berücksichtigt werden.If the control loop parameters are determined as a function of physical characteristics of the web, it can be achieved that a good processing quality is achieved with different materials. In particular, fluctuations of the physical characteristics can be detected and taken into account over time.

Werden die physikalischen Kenngrößen innerhalb der Transporteinrichtung bestimmt, kann eine schnelle Berücksichtigung von Änderungen während des laufenden Betriebs erfolgen und somit der Anteil von zu verwerfender Warenbahn verringert werden.If the physical parameters are determined within the transport device, rapid consideration of changes during ongoing operation can take place and thus the proportion of web to be rejected can be reduced.

Eine hohe Produktionsgeschwindigkeit und Bearbeitungsqualität bei unterschiedlichen Materialien sowie bei unterschiedlicher Breite und/oder Dicke der Warenbahn kann erreicht werden, indem als physikalische Kenngröße der Elastizitätsmodul der Warenbahn verwendet. Wird der Elastizitätsmodul kontinuierlich gemessen, kann erreicht werden, dass auch eine vom Trocknungsverhalten und/oder Feuchtegrad der Warenbahn abhängige Änderung des Elastizitätsmoduls berücksichtigt werden kann.A high production speed and processing quality with different materials and with different width and / or thickness of the web can be achieved by using as a physical characteristic of the modulus of elasticity of the web. If the modulus of elasticity is measured continuously, it can be achieved that a change in the modulus of elasticity which is dependent on the drying behavior and / or degree of moisture of the material web can also be taken into account.

Eine kostengünstige nicht beanspruchte Ausführungsform sieht vor, dass der Elastizitätsmodul mit Hilfe der in der Transporteinrichtung nach dem Stand der Technik bereits vorhandenen Elemente Messwertgeber, Drehwinkelgeber und dem Bahnspannungsregler ermittelt wird. Hiermit kann ohne zusätzliche Vorrichtungen, und damit ohne Zusatzkosten, der Elastizitätsmodul bestimmt werden.A cost-effective, unclaimed embodiment provides that the modulus of elasticity is determined with the aid of the sensors, rotary encoders and the web tension controller which are already present in the transport device according to the prior art. This can be determined without additional devices, and thus without additional costs, the modulus of elasticity.

Eine besonders einfache nicht beanspruchte Ausführungsform sieht vor, dass der Elastizitätsmodul aus einer Längenänderung der Warenbahn in Abhängigkeit einer Bahnspannungsänderung ermittelt wird. Hierbei ist es möglich, die Warenbahn um einen bestimmten festen Betrag zu längen und die sich daraus ergebende Bahnspannungsänderung zu messen oder man erhöht die Bahnspannung um einen bestimmten festen Betrag und misst die sich ergebende Längenänderung.A particularly simple, unclaimed embodiment provides that the modulus of elasticity is determined from a change in length of the material web as a function of a change in web tension. In this case, it is possible to lengthen the web by a certain fixed amount and to measure the resulting web tension change or to increase the web tension by a certain fixed amount and measure the resulting length change.

Eine hohe Bearbeitungsqualität einer Warenbahn, auch bei Beschleunigungs- und Abbremsvorgängen, kann erreicht werden, indem die Regelkreisparameter in Abhängigkeit vom Trägheitsmoment von nicht angetriebenen Walzen zwischen der zuführenden Klemmstelle und der abführenden Klemmstelle bestimmt werden. Der Störeinfluss dieser nicht angetriebenen Umlenkwalzen auf die Bahnspannung im Bearbeitungsbereich kann so vermindert werden.A high processing quality of a material web, even during acceleration and deceleration processes, can be achieved by determining the control loop parameters as a function of the moment of inertia of non-driven rolls between the feeding nip and the discharging nip. The interference of these non-driven guide rollers on the web tension in the processing area can be reduced.

Die Einschwingdauer des Bahnspannungsreglers kann vermindert werden, indem Voreinstellwerte für die Regelkreisparameter als Startwerte für die Stellgröße, wie beispielsweise eine Vor- oder Nacheilung eines Antriebs, und eine Selbstoptimierung des PI-Reglers oder PID-Reglers angegeben werden. Hierdurch kann der Anteil an Produkt mit guter Bearbeitungsqualität verbessert werden.The settling time of the web tension controller can be reduced by specifying default values for the control loop parameters as starting values for the manipulated variable, such as a lead or lag of a drive, and a self-optimization of the PI controller or PID controller. As a result, the proportion of product with good processing quality can be improved.

Werden die Voreinstellwerte für die Stellgrößen aus den ermittelten physikalischen Kenngrößen der Warenbahn bestimmt, kann auch für unterschiedliche und neuartige Materialien und Materialkombinationen der Warenbahn ein Satz von Voreinstellwerten bestimmt werden, der ein schnelles Erreichen optimaler Regelparameter ermöglicht.If the presetting values for the manipulated variables are determined from the determined physical characteristics of the web, a set of presetting values can be determined for different and novel materials and material combinations of the web, which enables a fast achievement of optimal control parameters.

Wird als Stellgröße ein additiver Geschwindigkeitssollwert, ein Drehzahlsollwert, ein Geschwindigkeitsfaktor oder ein Drehzahlfaktor der Transporteinrichtung verwendet, kann eine besonders einfach ausgerührte Bahnspannungsregelung verwirklicht werden, die dennoch den Erfordernissen an eine hohe Bearbeitungsqualität genügt.If an additive speed setpoint, a speed setpoint, a speed factor or a speed factor of the transport device is used as the manipulated variable, a particularly simple web tension control can be realized, which nevertheless satisfies the requirements of a high quality of machining.

Wird in dem Bahnspannungsregler eine maschinengeschwindigkeitsbezogene Zykluszeit berücksichtigt, kann erreicht werden, dass auch bei niedrigen Geschwindigkeiten der Warenbahn die Bahnspannung innerhalb der für eine hohe Bearbeitungsqualität erforderlichen Grenzen bleibt. Hiermit wird der Effekt eines kontinuierlichen PI-Reglers vermieden, dass bei geringen Geschwindigkeiten und auch bei Stillstand der Integralanteil weiter wirkt und die Stellgröße aus dem geeigneten Bereich treiben kann.If a machine speed-related cycle time is taken into account in the web tension controller, it is possible to ensure that the web tension remains within the limits required for a high quality of processing even at low speeds of the web. This avoids the effect of a continuous PI controller that at low speeds and even at standstill, the integral component continues to act and can drive the manipulated variable from the appropriate range.

Zeichnungendrawings

Die Erfindung wird im Folgenden anhand der in den Figuren dargestellten Ausführungsbeispiele näher erläutert. Es zeigen:

  • Figur 1 eine Transporteinrichtung für eine Warenbahn,
  • Figur 2 eine Kennlinie für eine geschwindigkeitsadaptive Regelung,
  • Figur 3 eine Kennlinie für eine regelabweichungsabhängige Regelung.
The invention will be explained in more detail below with reference to the exemplary embodiments illustrated in the figures. Show it:
  • FIG. 1 a transport device for a web,
  • FIG. 2 a characteristic curve for a speed-adaptive control,
  • FIG. 3 a characteristic curve for a control deviation-dependent control.

Beschreibung der AusführungsbeispieleDescription of the embodiments

Figur 1 zeigt eine Transporteinrichtung 1 zur Bearbeitung einer Warenbahn 2 zwischen einer zuführenden Klemmstelle 10 und einer abführenden Klemmstelle 30 mit einem Bahnspannungsregler 3. An der zuführenden Klemmstelle 10 wird die Warenbahn 2 zwischen einer Andruckwalze 11 und einer Antriebswalze 12 geklemmt und mit definierter Geschwindigkeit der Bearbeitung zugeführt. Bei der Bearbeitung kann es sich beispielsweise um einen Druckvorgang handeln. Die Antriebswalze 12 wird von einem Motor 13 angetrieben, dessen Umdrehungsgeschwindigkeit und Winkelstellung mit einem Drehwinkelgeber 14 erfasst und dem Bahnspannungsregler 3 zugeführt werden. Der Bahnspannungsregler 3 steuert die Versorgungsspannung des Motors 13 und ist als PI-Regler ausgeführt. FIG. 1 shows a transport device 1 for processing a web 2 between a feeding nip 10 and a laxative nip 30 with a web tension controller 3. At the feeding nip 10, the web 2 is clamped between a pinch roller 11 and a drive roller 12 and fed to the processing with a defined speed. The processing may be, for example, a printing operation. The drive roller 12 is driven by a motor 13, the rotational speed and angular position detected by a rotary encoder 14 and the web tension controller 3 are supplied. The web tension controller 3 controls the supply voltage of the motor 13 and is designed as a PI controller.

Nach der Bearbeitung wird die Warenbahn 2 an einer abführenden Klemmstelle 30 mittels einer Andruckwalze 31 und einer Antriebswalze 32 bewegt. Die Antriebswalze 32 wird von einem Motor 33 angetrieben, dessen Welle mit einem Drehwinkelgeber 34 gekoppelt ist, der Daten zur Umdrehungsbewegung des Motors 33 dem Bahnspannungsregler 3 zuführt. In einer anderen Ausführungsform kann der Antrieb der Antriebswalzen 12, 32 durch Servosynchronmotore erfolgen, die aufgrund ihrer Funktionsweise die Verwendung von Drehwinkelgebern 14, 34 erübrigen. Die Steuerung der Umdrehungsgeschwindigkeit und des Drehwinkels der Motore 13, 33 erfolgt in diesem Fall über die Phase und Frequenz der Versorgungsspannung.After processing, the web 2 is moved at a discharging nip 30 by means of a pressure roller 31 and a drive roller 32. The drive roller 32 is driven by a motor 33 whose shaft is coupled to a rotary encoder 34 which supplies data for the rotational movement of the motor 33 to the web tension controller 3. In another embodiment, the drive of the drive rollers 12, 32 take place by servo-synchronous motors, which eliminate the use of rotary encoders 14, 34 due to their operation. The control of the rotational speed and the angle of rotation of the motors 13, 33 takes place in this case on the phase and frequency of the supply voltage.

Der Istwert der Bahnspannung zwischen der zuführenden Klemmstelle 10 und der abführenden Klemmstelle 30 wird mit einem Messwertgeber 21 gemessen. Hierzu wird die Warenbahn 2 über eine Umlenkwalze 20 dem Messwertgeber 21 zugeführt und über eine zweite Umlenkwalze 22 zur weiteren Bearbeitung weitergeführt. Der Messwertgeber 21 kann beispielsweise als Kraftmessdose ausgeführt sein. Sein Ausgangssignal wird dem Bahnspannungsregler 3 als Istwert der Bahnspannung zugeführt.The actual value of the web tension between the feeding nip 10 and the discharging nip 30 is measured by a sensor 21. For this purpose, the web 2 is fed via a deflection roller 20 to the transducer 21 and continued through a second guide roller 22 for further processing. The sensor 21 may be designed, for example, as a load cell. Its output signal is fed to the web tension controller 3 as an actual value of the web tension.

In Figur 2 ist eine Kennlinie 50 für eine geschwindigkeitsadaptive Regelung dargestellt. Die Kennlinie 50 stellt den Verlauf der P-Verstärkung 51 über einer Leitachsgeschwindigkeit 54 dar. Die Leitachsgeschwindigkeit 54 ist dabei die Umfangsgeschwindigkeit einer Antriebswalze 12, 22 oder einer in der Transporteinrichtung 1 entlang der Warenbahn 2 davor oder danach angeordnete Antriebswalze. Die Leitachsgeschwindigkeit 54 kann sich in einer anderen Ausführungsform auch auf eine nicht real vorhandene Achse beziehen, sondern eine Rechengröße innerhalb des Bahnspannungsreglers 3 sein; in diesem Fall wird die Leitachse als "virtuelle Leitachse" bezeichnet. Auf die Leitachsgeschwindigkeit 54 bezieht der Bahnspannungsregler 3 die Steuerung und Regelung der anderen Antriebe. Die Kennlinie 50 ist so gewählt, dass die P-Verstärkung 51 unterhalb eines ersten Betriebspunktes 52 und oberhalb eines zweiten Betriebspunktes 53 jeweils konstant ist. Hierdurch wird erreicht, dass im üblichen Betriebsbereich zwischen dem ersten Betriebspunkt 52 und dem zweiten Betriebspunkt 53 eine steile Kennlinie mit einer schnellen Ausregelung von Abweichungen gewählt werden kann, außerhalb des Bereiches aber dennoch für die Warenbahn 2 unschädliche Werte der Bahnspannung eingehalten werden.In FIG. 2 is shown a characteristic curve 50 for a speed-adaptive control. The characteristic curve 50 represents the progression of the P-reinforcement 51 over a guide axle speed 54. The guide axle speed 54 is the peripheral speed of a drive roller 12, 22 or a drive roller arranged in the transport device 1 along the material web 2 before or after. In another embodiment, the leading axis speed 54 may also refer to an axis that is not actually present, but may be a calculated variable within the web tension controller 3; In this case, the leading axis is called a "virtual master axis". On the Leitachsgeschwindigkeit 54 of the web tension controller 3 refers to the control and regulation of the other drives. The characteristic curve 50 is chosen so that the P-gain 51 is constant below a first operating point 52 and above a second operating point 53, respectively. This ensures that in the usual operating range between the first operating point 52 and the second operating point 53 a steep characteristic curve with a rapid compensation of deviations can be selected, outside of the range but still for the web 2 harmless values of web tension are met.

Figur 3 zeigt eine Kennlinie 50, die eine von einer Regelabweichung 55 abhängige P-Verstärkung 51 vorgibt. In dieser Ausführung ist bei kleinen Abweichungen vom Sollwert eine flache Kennlinie 50 vorgesehen, während bei größeren Abweichungen eine steile Kennlinie 50 vorgesehen ist. Hierdurch kann erreicht werden dass bei geringen Abweichungen die Warenbahn 2 ruhig läuft und die Bearbeitungsqualität sehr hoch ist. Bei größeren Abweichungen wird die Bahnspannung schnell an den Sollwert herangeführt. FIG. 3 shows a characteristic 50, which specifies a dependent of a control deviation 55 P-gain 51. In this embodiment, a flat curve 50 is provided for small deviations from the setpoint, while for larger deviations a steep curve 50 is provided. In this way it can be achieved that, with slight deviations, the web 2 runs smoothly and the processing quality is very high. For larger deviations, the web tension is quickly brought to the setpoint.

Claims (4)

  1. Method for regulating the web tension of a material web (2) which is moved by means of a transport device (1), having a web-tension regulator (3) with the determination of regulating-circuit parameters, the regulating-circuit parameters of the web-tension regulator (3) being determined according to a characteristic curve (50) which can be predefined as a function and/or at a plurality of nodes, characterized in that drives of the transport device (1) are controlled by means of a virtual line shaft.
  2. Method according to Claim 1, characterized in that a PI regulation or PID regulation is performed by way of the web-tension regulator (3).
  3. Method according to Claim 2, characterized in that the proportional and/or the integral and/or the differential portion of the PI regulator or PID regulator are/is used as regulating-circuit parameter/parameters.
  4. Method according to one of Claims 1 to 3, characterized in that the transport device (1) is driven in at least two drive groups which are driven by dedicated drives and which are coupled on an electronic basis within the control and drive system.
EP06019736.5A 2005-11-29 2006-09-21 Control of the web tension of a running web Active EP1790601B2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP11006305.4A EP2392529B1 (en) 2005-11-29 2006-09-21 Tension control of w material web
EP11006304.7A EP2386511B1 (en) 2005-11-29 2006-09-21 Tension control for a running web

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005056802A DE102005056802A1 (en) 2005-11-29 2005-11-29 Regulation of the web tension of a web

Related Child Applications (6)

Application Number Title Priority Date Filing Date
EP11006304.7A Division EP2386511B1 (en) 2005-11-29 2006-09-21 Tension control for a running web
EP11006304.7A Division-Into EP2386511B1 (en) 2005-11-29 2006-09-21 Tension control for a running web
EP11006305.4A Division EP2392529B1 (en) 2005-11-29 2006-09-21 Tension control of w material web
EP11006305.4A Division-Into EP2392529B1 (en) 2005-11-29 2006-09-21 Tension control of w material web
EP11006304.7 Division-Into 2011-07-30
EP11006305.4 Division-Into 2011-07-30

Publications (4)

Publication Number Publication Date
EP1790601A2 EP1790601A2 (en) 2007-05-30
EP1790601A3 EP1790601A3 (en) 2009-04-01
EP1790601B1 true EP1790601B1 (en) 2011-11-09
EP1790601B2 EP1790601B2 (en) 2019-04-24

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Family Applications (3)

Application Number Title Priority Date Filing Date
EP11006305.4A Active EP2392529B1 (en) 2005-11-29 2006-09-21 Tension control of w material web
EP11006304.7A Active EP2386511B1 (en) 2005-11-29 2006-09-21 Tension control for a running web
EP06019736.5A Active EP1790601B2 (en) 2005-11-29 2006-09-21 Control of the web tension of a running web

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EP11006305.4A Active EP2392529B1 (en) 2005-11-29 2006-09-21 Tension control of w material web
EP11006304.7A Active EP2386511B1 (en) 2005-11-29 2006-09-21 Tension control for a running web

Country Status (5)

Country Link
US (1) US7798382B2 (en)
EP (3) EP2392529B1 (en)
JP (1) JP2007145607A (en)
AT (1) ATE532727T1 (en)
DE (1) DE102005056802A1 (en)

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Also Published As

Publication number Publication date
JP2007145607A (en) 2007-06-14
DE102005056802A1 (en) 2007-05-31
EP2386511B1 (en) 2015-12-02
EP1790601A3 (en) 2009-04-01
EP1790601A2 (en) 2007-05-30
EP2386511A1 (en) 2011-11-16
US7798382B2 (en) 2010-09-21
EP2392529B1 (en) 2015-11-11
US20070119894A1 (en) 2007-05-31
EP2392529A1 (en) 2011-12-07
ATE532727T1 (en) 2011-11-15
EP1790601B2 (en) 2019-04-24

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