HK1060090B - Compensation of cylinder vibration in printing material processing machines - Google Patents

Description

Method and device for compensating or adjusting angular-quantity oscillation, printing device, device set, printing press

Technical Field

The invention relates to a device for compensating for oscillations in an angular variable in a printing material processing machine by means of actuators which are assigned to act on the angular variable, wherein a signal representing the change in the angular variable is supplied to the compensating device and the compensating device generates an output signal for the actuators.

Background

The order of the non-integer period of the oscillation in relation to the machine frequency of an angle variable, a rotation angle or an angle signal of a cylinder in a printing material processing machine, in particular a sheet or web processing printing press, influences the accuracy of the material to be printed in succession. This effect can lead to printing problems, especially so-called "double images" (Dublieren). This effect is particularly acute between mechanically decoupled parts of a printing material processing machine, in particular of two or more printing groups of a printing material processing machine. The oscillation of the oscillation-induced rotational angle difference over the circumference of a first cylinder and a second cylinder leads directly to an increase in the circumferential deflection over the sheet transport angle between the printing couples working separately during sheet transport.

For a printing press driven by electric motors, it is known, for example, from DE 19740153 a1 to regulate each electric motor by means of a regulating circuit, by means of which periodic oscillations can be compensated. In the cyclic compensation controller, a further torque value is applied to a setpoint torque value supplied to a control element, which is determined by a compensation controller that processes the setpoint-actual value difference or is determined from the setpoint torque value and the actual value of the angular velocity or the angle of rotation. In this case, a dynamic process model is required to ensure stability. And the adjustment is associated with high computational costs. Furthermore, the sampling time must be selected so long that a plurality of period durations of the vibrations to be compensated can be achieved, which is problematic when the printing press speed is variable.

In DE10053237.1 and the prior application filed on even 2000, 10/26, a method for compensating mechanical vibrations, in particular for compensating rotational vibrations of a machine shaft, a drum, or for compensating signals calculated from one or more coordinate values of one or more rotating shafts, in particular differences between the coordinates of two actual machine shafts, is disclosed. The rotational vibrations are represented spectrally as discrete frequency components, and each frequency component is compensated by a harmonic torque of substantially the same frequency with a certain amplitude and phase by inputting the harmonic torque directly or indirectly on the machine shaft by means of an actuator. The illustrated method requires knowledge of the amplification and phase shift of the underlying process for the frequency to be compensated in order to be able to apply harmonic torques of appropriate strength and phase.

Disclosure of Invention

The aim of the invention is to reduce or eliminate undesirable vibrations on a printing material processing machine, in particular on one or more cylinders in a printing press.

According to the invention, the device for compensating for vibrations of an angular quantity in a printing material processing machine by means of actuators arranged, preferably downstream of a compensation device, acting on the angular quantity has at least one filter in the form of a transfer function or a sum of transfer functions, the frequency parameters of which correspond to the vibration frequency to be compensated, the output signal of the compensation device for the actuators being obtained from the signal fed to the compensation device by the action of the filter at least one discrete frequency to be compensated, the filter having a transfer function of harmonics in the S-domain or Z-domain. This object is achieved by a compensating device having the features described above.

The signal of the input compensation device represents the change of the angle variable, or rather the change of the curve of the value of the angle variable over time or the angle measurement variable over time. The angular amount may be the angle of rotation of one roller or the difference in the angle of rotation of a first roller and a second roller.

The vibrations that typically occur can be described as discrete, as consisting of the superposition of vibrations having discrete frequencies. A limited number of vibrations can be used to represent the occurring vibrations with sufficient accuracy. It is known that the vibrations occurring are dependent on the operating state of the printing material processing machine. In this case, one parameter that has a particularly strong influence is the printing speed.

The frequency parameters required for the compensation device according to the invention are either preset or adjustable or changeable during operation of the printing material processing machine. The adjustment can be made, for example, on the basis of an operating state, for example an operating state reflected in the machine control. The machine control can be functionally connected to the compensation device according to the invention and influence or change the frequency parameters. In particular, the frequency parameter may be speed-dependent.

The compensation device according to the invention can be used in an advantageous and simple manner to compensate for an integer or non-integer order (order) of vibrations related to the machine frequency. It is not necessary for the compensation device to know the process parameters precisely. Stabilization can thus be achieved even in strongly fluctuating processes (process parameters, process transfer functions). To ensure stability, only the stability region of the process parameters needs to be known. An embodiment of the compensation device comprises a second order filter with little computation effort. The compensation device can be used particularly advantageously for compensating vibrations whose energy is less than the energy of the angular amount of the rotational movement.

According to the invention, in a method for compensating for oscillations in an angular quantity in a printing material processing machine, the angular quantity is acted upon by an actuator in such a way that oscillations in the angular quantity are reduced, wherein a signal representing the change in the angular quantity is determined and the signal is fed to a compensation device in order to generate an output signal for the actuator. The output signal of the compensation device is derived from the input signal at least one discrete frequency to be compensated by the action of at least one filter in the form of a transfer function or a sum of transfer functions, the frequency parameters of which correspond to the vibration frequency to be compensated, wherein the filter has a transfer function of a harmonic in the S-domain or Z-domain.

In a preferred embodiment of the compensation device according to the invention, the transfer function for each frequency to be compensated is harmonic, i.e. a sine or cosine function or a function of the respective phase shift. The transfer functions are described in the laplacian domain (S domain, for continuous signals) or in the Z domain. The basic mathematical properties of the laplace transform and the Z transform are summarized, for example, in "math manual" by i.n. bronstein and k.a. semendjajew, 24 th edition, 1989, germany, Harri Deutsch, Thun and Frankfurt am Main.

The signal representing the change in the angular quantity may be a time sequence, i.e. a sequence of signals determined or sampled at various instants in time. In other words, the representative signal may consist of a series of (preferably time-aligned) angle quantity measurements at various times. The actual angular magnitude change can be known over discrete samples. Alternatively, a continuous representative signal can also be generated. A representative signal may be generated by the angle transmitter. The signals can also be input to the compensation device directly or indirectly, i.e. without processing or modification, or with processing or modification. For example, processing (modification) is required to compensate for systematic errors in the measurements (calibration). The sampling time may be independent of the period of the vibration to be compensated for in the solution according to the invention and is preferably independent.

In an advantageous embodiment, the compensation device comprises a computing device, in which a program is executed, which program has at least one program section, in which the output signal is obtained from the representative signal by the action of the transfer function on the representative signal. In other words, the transfer function may be stored in a memory and a program having steps according to the calculation rule, such as obtaining the output signal from the representative signal by conversion. In particular, the calculation of the output signal as a difference equation corresponding to the transfer function will be performed from the input signal values at one or more time instants and optionally from the output signal values at one or more previous time instants.

Advantageously, 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.

In one embodiment of the invention, in order to ensure stability, at least one linear phase-shifting element is arranged upstream or downstream of the filter in the compensation device. Filters and phase shifting elements may also be combined. In other words, the phase shift element may be included in the filter. The phase shifting element may act on one discrete frequency, on a plurality of discrete frequencies or on a continuous frequency. In other words, one phase shift element may be provided for a frequency to be compensated, or one phase shift element may act on at least a plurality of frequencies to be compensated.

Instead of using phase shifting elements, the stability of the compensation can also be ensured by the choice of the phase of the harmonic transfer function.

The compensation device according to the invention for compensating angular value oscillations can be assigned to the control unit in the control device for the angular value of the printing material processing machine in such a way that the output signal of the compensation device is superimposed on the output signal of the control unit. The adjusting device is provided with an angle quantity transmitter, an adjusting unit, and an actuator acting on the angle quantity. In the case of the adjusting device according to the invention, the representative signal is an angle measure or an angle change or an angle acceleration. Preferably, the control unit has an input for an actual value of the representative signal of the angle variable and an input for a setpoint value of the representative signal of the angle variable.

In other words, the method according to the invention for adjusting an angular quantity in a printing material processing machine, which method comprises compensating for vibrations of the angular quantity by the compensation method according to the invention, acts on the angular quantity by means of an actuator in such a way that the difference between the actual value of the angular quantity and the set value is reduced.

In connection with the compensating device according to the invention and the adjusting device according to the invention, there is also a printing unit according to the invention in a printing material processing machine having at least one cylinder. It is characterized in that: a compensating device according to the invention and/or an adjusting device according to the invention are provided, which adjusting device is assigned to the drum. Alternatively, the printing unit according to the invention in a printing material processing machine having at least one first cylinder and one second cylinder may be provided with a compensation device according to the invention and/or with an adjustment device according to the invention, which is assigned to the first cylinder and the second cylinder.

The printing device group includes a plurality of printing devices. Preferably, the printing units of the printing unit group are adjacent to each other. In other words, the printing material is transported through the printing press along its transport path from one printing unit to another. The printing group according to the invention in a printing material processing machine having at least one first cylinder in a first printing unit and one second cylinder in a second printing unit comprises: a compensating device according to the invention and/or an adjusting device according to the invention, which adjusting device is assigned to the first roller and the second roller.

An improvement in the synchronization of the first and second drum is achieved in particular by the reduction of the vibrations. This can be particularly advantageous in a sheet-fed printing press between two mechanically uncoupled cylinders of two printing couples, between two printing couples of a printing couple group or between two printing couple groups.

The compensating device according to the invention or the adjusting device according to the invention can be used in printing presses with continuous wheel trains or in printing presses with separate wheel trains. In other words, in a printing press there can be separating points between the printing couples or groups of printing couples, the drives of which are separate from one another. These printing units or printing unit groups can each be considered to have one or more drives.

The printing press according to the invention has at least one printing couple according to the invention and/or a printing couple according to the invention. Alternatively thereto, the printing press according to the invention has one or more separating points which each form a boundary between the printing couples or printing couples and by means of which the printing material can be transported between the mechanically non-precisely synchronized cylinders, in each separating point a first cylinder and a second cylinder being provided, the separating point being located between the cylinders, in which printing press a compensating device according to the invention and/or an adjusting device according to the invention can be provided, which adjusting device is assigned to the first cylinder and the second cylinder.

In other words, a printing press according to the invention, having at least a first cylinder and a second cylinder, wherein the second cylinder is mechanically decoupled from the first cylinder, is characterized in that: a compensating device according to the invention is provided, which is assigned to the first and second drum, and/or an adjusting device according to the invention, which is assigned to the first and second drum. The printing press according to the invention, having at least one first cylinder, is characterized in that: a compensating device according to the invention is provided, which compensating device is assigned to the first cylinder, and/or an adjusting device according to the invention, which adjusting device is assigned to the first cylinder.

The printing press can be a web-material processing machine (web-fed rotary processing machine) or a sheet processing machine. The machine can print by different methods. In particular, these printing processes may involve direct or indirect lithographic printing, offset printing, flexographic printing, and the like. Typical printed materials are paper, cardboard, carton board, organic polymer films, etc.

Drawings

Further advantages and advantageous embodiments and further configurations of the invention will now be explained with the aid of the following figures and their description. The attached drawings are as follows:

FIG. 1: a schematic diagram of the structure of the compensating device according to the invention,

FIG. 2: a schematic diagram of an advantageous further development of the structure of the compensating device according to the invention,

FIG. 3: a section of a printing material processing machine having a divided wheel train, two adjusting devices and a vibration compensation device according to the invention,

FIG. 4: a section of an embodiment of a machine for processing printing material having separate wheel trains, two adjusting devices and two vibration-compensating devices according to the invention,

FIG. 5: a section of another embodiment of a machine for processing printing material having a separate wheel train, two adjusting devices and two vibration-compensating devices according to the invention,

FIG. 6: in a further embodiment of a section of a printing material processing machine having an adjusting device and a vibration compensating device for a cylinder according to the invention,

FIG. 7: in one section of an embodiment of a printing material processing machine having two cylinders, one adjusting device for each cylinder and one vibration compensation device according to the invention,

FIG. 8: embodiments of the adjusting device with the vibration compensating device according to the invention for a cylinder of a web-fed rotary printing press,

FIG. 9: in another embodiment of the printing material processing machine, a section of the printing material processing machine has an adjusting device and a vibration compensating device according to the invention, and

FIG. 10: in another embodiment of the printing material processing machine, the adjusting device and the vibration compensating device according to the invention are provided.

Detailed Description

Fig. 1 shows a schematic diagram of the structure of a compensating device according to the invention. Before describing this simple embodiment, some rationale will be explained.

In the compensation arrangement according to the invention an influence will be exerted on a signal. The compensation means preferably comprise a harmonic transfer function whose angular frequency corresponds to the angular frequency ω to be compensated_n. In particular, the harmonic 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. There is no specific limitation on the generalized transfer function but the cosine function is first observed for simplicity. The cosine function of the compensation means in the laplace domain is expressed as:

img id="idf0001" file="C0311035700131.GIF" wi="447" he="52" img-content="drawing" img-format="GIF"/

at the angular frequency omega to be compensated_nHaving two stable-boundary poles S_1/2＝±i·ω_nAnd is thus based on an internal interference model (i is an imaginary unit). And therefore does not require precise process knowledge. The process is referred to herein as the transfer function from the output of the compensation means 9 to the input of the compensation means 9. When the angular frequency is more than 100S in a suitable typical design^-1A phase shift of-90 deg. is achieved. According to the Internal disturbance Model Principle (Internal Model Principle), sinusoidal disturbances are only completely eliminated when a disturbance Model is included in the compensation device and the closed compensation loop is stabilized-in other words, the setpoint value 0 is adapted. The cosine transfer function is expressed in the Z-domain as

img id="idf0002" file="C0311035700132.GIF" wi="429" he="57" img-content="drawing" img-format="GIF"/

And is provided with

b_n＝cos(ω_nT). (3)

Where one holding mechanism is not modeled in equation (2). For each sampling step k, the output y (k) of the compensation means can be determined from the input u (k) of the time steps k and k-1 and from the output y (k) of the time steps k-1 and k-2 according to the following calculation rule:

y(k)＝k_n(u(k)-b_nu(k-1))+2b_ny(k-1)-y(k-2) (4)

as is clear from this relation, the order of the angular frequency to be compensated can be integer or non-integer. For the speed-dependent compensation of the machine order r, the associated angular frequency is expressed as:

ω_n＝2π·r·v/3600， (5)

where v represents the average machine speed, in units of printed sheets per hour, and the order r represents the ratio of the vibration frequency to be compensated to the machine printing frequency. Typically, a printing material processing machine has a regulator which takes the average machine speed as a given speed. To compensate for the fixed order r, the parameter b according to equation (3) is used when the average speed or a given speed is changed_nIt must be recalculated with equation (1), (2) or (4). The compensation device allows the elimination of sinusoidal disturbances without complex trigonometric calculations and can therefore be used in connection with simple regulation calculators. When using harmonic transfer functions with a fixed phase, for example cosine or sine transfer functions, the stability is effective over a large range of process phases of 180 ° with small amplification factors. The phase of the process can always be adapted by suitable phase-shifting elements so that it lies in this stable region.

In terms of the required stability of the closed compensation loop, it should be noted that the transfer function is for the angular frequency ω_nWith infinite amplification factor and with k for other frequencies_nThe relative amplification factor, which decreases with the difference between the angular frequency to be compensated and the frequency under consideration. Thus for a sufficiently small k_nThe consideration of the angular frequency to be compensated will be reduced. When is paired withWhen the phase shift is in the range of-90 to +90 during the angular frequency to be compensated, the stability will be guaranteed by the sign change of the sign in the compensation loop. This is generally satisfied for small steps when the actuator is connected relatively rigidly to the compensation shaft. If the phase shift is in the range-180 to 0, a phase rise of +90 can be achieved by connecting a differential mechanism before or after the compensation device. This is suitable in particular for higher orders, since the process typically has a phase shift of the negative sign for this purpose. The use of one differentiating mechanism corresponds to the use of a velocity signal instead of an angle signal for compensation. By switching in a phase-shifting element for the angular frequency to be compensated, a stable range of-90 DEG to +90 DEG can be achieved for any order of operation. The selection of the phase-shifting element requires only a general knowledge of the frequency-dependent phase shift of the process. The vibration of the process parameter is therefore not important.

Instead of using a combination of fixed phase harmonic transfer functions and phase shifting elements to shift the process phase in the stable region, the phase * of the harmonic transfer function can be passed without using phase shifting elements in the form of_nTo achieve stability:

for small kn and according to process phase measured at compensation frequency* performed_nThe selection of (2) can also result in stability in the case of process phase oscillations of ± 90 °. In other words, by selecting the phase of the harmonic transfer function as a function of the process phase at the compensation frequency, it is possible to set the phase in the 180 ° stability range in such a way that the measured phase of the process also lies in this range. If the phase of the harmonic transfer function is chosen to be equal to the process measurement phase at the compensation frequency, this phase is located in the middle of the 180 deg. stability range.

Compensation method using harmonic transfer function according to the present inventionThe transfer functions G of a plurality of temporally continuous or discrete signals are very generally adapted according to an Internal interference Model (Internal Model Principle)_RWhich comprise as components a sine or cosine transfer function and from which the angular frequency ω required for compensation can be generated_nOf the harmonic signal component of (a). In particular, compensation can be achieved with the following cosine transfer function or the following sine transfer function, if appropriate with the use of a phase-shifting element gv (z) which ensures stability:

cosine transfer function in the s-domain with a static amplification factor of 0img id="idf0005" file="C0311035700161.GIF" wi="134" he="33" img-content="drawing" img-format="GIF"/

Cosine transfer function in the z-domain with holding means and with a static amplification factor of 0img id="idf0006" file="C0311035700162.GIF" wi="284" he="42" img-content="drawing" img-format="GIF"/(whereinimg id="idf0007" file="C0311035700163.GIF" wi="99" he="15" img-content="drawing" img-format="GIF"/)；

With a static amplification factor k_RCosine transfer function in z-domain of T/2img id="idf0008" file="C0311035700164.GIF" wi="223" he="41" img-content="drawing" img-format="GIF"/(wherein G is_K(z)≈HG_K(z))；

And cosine transfer function without holding mechanism and without static amplification factor in z-domainimg id="idf0009" file="C0311035700165.GIF" wi="230" he="41" img-content="drawing" img-format="GIF"/(wherein G is_Ko(z)＝G_K(z)-k_RT/2). For small sampling times T, G_K(z) the compensation function corresponds to G_K(s) and HG_K(z) compensation function. But G_KThe static magnification factor of (z) (for ω → 0) is not 0, but ratherWith the possibility of undesired effects on the machine regulation. By starting from G_K(z) subtracting the static multiplying factor to obtain G with a static multiplying factor of 0_Ko(z)。

Having a static amplification factorOf (2) a sinusoidal transfer function in the s-domainimg id="idf0012" file="C0311035700168.GIF" wi="132" he="36" img-content="drawing" img-format="GIF"/Sinusoidal transfer function in the s-domain without static amplification factorimg id="idf0013" file="C0311035700169.GIF" wi="147" he="42" img-content="drawing" img-format="GIF"/(whereinimg id="idf0014" file="C03110357001610.GIF" wi="129" he="37" img-content="drawing" img-format="GIF"/)；

With holding means and having static amplification factorIn the z-domainimg id="idf0016" file="C0311035700172.GIF" wi="301" he="41" img-content="drawing" img-format="GIF"/(whereinimg id="idf0017" file="C0311035700173.GIF" wi="100" he="15" img-content="drawing" img-format="GIF"/)；

Sinusoidal transfer function in the z-domain without static amplification factor with holding meansimg id="idf0018" file="C0311035700174.GIF" wi="291" he="38" img-content="drawing" img-format="GIF"/(whereinimg id="idf0019" file="C0311035700175.GIF" wi="155" he="37" img-content="drawing" img-format="GIF"/)；

Without holding mechanism having static amplification factorIn the z-domainimg id="idf0021" file="C0311035700177.GIF" wi="210" he="39" img-content="drawing" img-format="GIF"/(wherein G is_S(z)≈HG_S(z))；

And a sinusoidal transfer function in the z-domain without a holding mechanism and without a static amplification factorimg id="idf0022" file="C0311035700178.GIF" wi="298" he="41" img-content="drawing" img-format="GIF"/(whereinimg id="idf0023" file="C0311035700179.GIF" wi="158" he="28" img-content="drawing" img-format="GIF"/)。

For compensation, the output quantity y (k) of the compensation device can use the z transfer function:

img id="idf0024" file="C03110357001710.GIF" wi="541" he="54" img-content="drawing" img-format="GIF"/

in each sampling step k, the preceding output quantities y (k-1) and y (k-2) and the current input quantity u (k) and the preceding input quantities u (k-1) and u (k-2) are based on

y(k)＝k_R(b₀u(k)+b₁u(k-1)+b₂u(k-2))-a₁y(k-1)-a₂y(k-2) (8)

Are calculated recursively.

Without phase-shifting elements gv (z) and small k_RUsing a cosine transfer function approximately for a process phase shift * from-90 to +90 at the compensation angular frequency_pStability can be obtained while phase shifting * approximately for processes from 0 to +180 at the compensation angular frequency using a sinusoidal transfer function_pStability can be obtained. The sine transfer function without phase-shifting elements therefore has a negative quotient of the difference between the sine transfer function and the sine transfer function with a phase shift of-90 DEGimg id="idf0025" file="C0311035700181.GIF" wi="107" he="35" img-content="drawing" img-format="GIF"/Similarly used as phase shifting elements. In other words, the transfer functions can be switched with respect to one another by means of suitable phase-shifting elements. For example, without a holding mechanism and with a cosine transfer function of the phase shift element:

img id="idf0026" file="C0311035700182.GIF" wi="604" he="42" img-content="drawing" img-format="GIF"/

up to angular frequency omega_nDirectly corresponding to a sinusoidal transfer function HG with holding mechanism without static amplification factor_So(z). Depending on the process on the printing material processing machine, cosine or sine transfer functions are more suitable without the use of additional phase-shifting elements.

Stability can also be achieved without the use of phase shifting elements by selecting cosine or sine transfer functions, compensated by the signs + and-, respectively, for example by:

whereinIs a process phase shift * measured in the-180... +180 ° range at the compensation frequency_P. For small amplification factors k_RBoth possibilities are guaranteedStability was confirmed. For large k_RWhether stability is obtained depends on the process.

In an advantageous further development of the method, the magnification factor k is small_RIn the case, also without the use of phase-shifting elements, the phase is shifted according to the process measured at the compensation frequencyWeighted juxtaposition of sine and cosine transfer functions for any phase shift of the process, the method may be implemented to phase shift * for the process_PMaximum stability of the vibration. To this end, is provided withAnd a cosine transfer function ofIs weighted. On the one hand, in the case of weighting, even relatively measured at the compensation frequencyProcess phase shift *_PThe compensated stability can be obtained when the fluctuation reaches +/-90 degrees. On the other hand, if at a given amplification factorThe measured phase shift of the process at the compensation frequency corresponds to the actual phase shift, and the compensation is carried out at maximum speed.

The cosine transfer function in the z-domain and the corresponding sine transfer function for the above-described holderless mechanism are available as the resultant harmonic transfer function, for example:

for a z-transfer function without a holding mechanism and without a static amplification factor, one can obtain:

for the resulting z-transfer function with the holding mechanism, the following are correspondingly obtained:

and

whereas the transfer function for a continuous signal in the s-domain can be derived:

and

ratio of the sine and cosine transfer functions synthesized at the compensation frequency:

img id="idf0042" file="C0311035700205.GIF" wi="628" he="47" img-content="drawing" img-format="GIF"/

always in imaginary units i, so that the functions are mutually orthogonal and have the same magnitude there. The harmonic total transfer functions are formed by the selective weighted addition of these functions, which are adjusted to have a phase shift at the compensation frequencyThe process of (1).

For decay time constant T_AIt indicates after how much time the interference amplitude decays to e^-137% in process amplification factorimg id="idf0044" file="C0311035700207.GIF" wi="46" he="20" img-content="drawing" img-format="GIF"/And phase shiftFor small k in the fully known case_R， img id="idf0046" file="C0311035700209.GIF" wi="72" he="36" img-content="drawing" img-format="GIF"/The method is applicable. In contrast, the relationship is such that the above cosine transfer function is used with the stability of the approximationAnd when using the above-mentioned sinusoidal transfer functionThese relations allow to measure the amplification factorAnd process phase shiftAnd optionally a decay time constant T_ATo determine a compensated single value parameter.

Fig. 1 shows an embodiment of a compensating device 9 with a plurality of parallel-acting filters 13, each provided with a harmonic transfer function having a different frequency parameter corresponding to the vibration to be compensated. At the input of the filter 13 a signal is input representing the change in the angular quantity with the vibration to be compensated. The outputs of the filters 13 are added to each other. The sum thereof thus constitutes the total output of the compensating device 9. The control device 14 of the printing material processing machine is connected to the filter 13. The step to be compensated can be predefined and/or calculated by the control device 14 as required, depending on the speed. Parameters of harmonic transfer function, in particular b in formula (3)_nCan be determined in the control device 14 or in the calculation device of the compensation device 9. It is also conceivable that the control device 14 does not have a predetermined order but a predetermined angular frequency and/or is determined by a measuring device on the printing material processing machine if a disturbance of a fixed frequency occurs.

Fig. 2 is a diagrammatic view of an advantageous configuration of the structure of the compensating device according to the invention. The filters 13 with transfer function are each preceded by a phase-shifting element 12. The phase shifting element 12 is preferably a linear mechanism which will influence the phase at the angular frequency of the post-filter 13. It should be noted here that the phase shifting elements, depending on the design, may only influence the phase at the angular frequency to be compensated or may influence the phase at any angular frequency. Of course, only the phase shift for the angular frequency to be compensated is important. The control device 14 determines the structure or parameters of the phase-shifting element, in particular the angular frequency and amplitude and the direction of the phase shift. Simple transfer functions for the phase shift are, for example, congruent, i.e. a factor of 1 (no phase shift), or differential (phase shift +90 °) or inverse (phase shift +180 °) or differential re-inverse (phase shift-90 °). In an extremely simple embodiment, two possibilities are selected, namely the factor 1 or the differentiation by the control device. In one general configuration, the phase-shifting element 12 for any phase shift can be adjusted over the entire angular range between 0 ° and 360 ° depending on the phase shift produced by the process. Phase-shifting elements whose phase shift can be adjusted from 0 to +90 are preferably used when cosine transfer functions are used.

Fig. 3 shows schematically a section of a printing material processing machine 1 with separate wheel trains, two adjusting devices and a vibration compensation device according to the invention. The illustrated advantageous embodiment relates to a transfer position between two sheet-guiding cylinders, namely a first cylinder 4 and a second cylinder 5, of a sheet printing press having a plurality of printing units and a plurality of cylinders 3. The train of wheels is divided between the first roller 4 and the second roller 5. The first cylinder 4 is angularly adjusted by means of an adjustment unit 8 and a first actuator 6, which in a simple embodiment is an electric motor. The second cylinder 5 is likewise angularly adjusted by means of an adjusting unit 8 and a second actuator 7, which in the simple embodiment is an electric motor. These adjusting units 8 are fed with signals representing the variation of the angular quantity (angular parameter value) of the belonging cylinder, obtained for example by an angular position transmitter. The adjusting unit 8 may be a simple differential adjuster or an adjuster comprising a complex transformation (integration, differentiation, etc.). The actuators 6, 7 acting on the angle measure of the associated cylinder are in the first embodiment dedicated drives of the associated cylinder and in the second embodiment additional auxiliary drives of the associated cylinder, which are driven by a main drive. The control unit 8 is supplied with a setpoint value representing a signal, namely an angular value setpoint 10. In this case and in the following, in connection with the illustrated embodiment, only the angular quantity setpoint value is referred to. It is, however, obvious that for each roller a different setpoint value for the specific angular amount of the roller can be predefined and correspondingly input into the regulating unit 8. In order to reduce or eliminate the disturbance step (stopend order) of the vibrations that affects the repeat accuracy of the sheet transport between the first cylinder 4 and the second cylinder 5, the angular difference between the cylinders 4 and 5 or a quantity linearly related thereto, i.e. a measure for the angular difference, is input to the compensation unit 9 (see the difference point before the compensation unit 9). The output signal of the compensation unit 9 is superimposed with the output signal of the adjustment unit 8 (see the difference point after the adjustment unit 8). Obviously, the superposition can be performed, alternatively, on the output signal of the control unit 8 of the first drum 4. In the case of the illustration, it is clear that the individual signals are added and subtracted partially. Advantageously, the embodiment proposed here requires only one compensation unit 9, by means of which interfering vibration orders can be directly eliminated from the target quantity. This can be achieved with high accuracy.

Fig. 4 shows a section of an embodiment of a printing material processing machine 1 with printing units 2 and cylinders 3, with separate wheel trains, two adjusting devices and two vibration compensation devices according to the invention. In contrast to the compensation of the angular difference of the embodiment shown in fig. 3, the vibrations at the transmission points between the first drum 4 and the second drum 5 are compensated separately in the embodiment of fig. 4 by a dedicated angular amount. In this embodiment, the absolute angular vibration of the drums 4, 5 is advantageously reduced or eliminated, if necessary even for the two machine parts comprising the first or second drum, unlike the reduction or elimination of the angular vibration in the embodiment of fig. 3. The compensation takes place directly in the target quantity by means of two compensation units 9, each compensation unit 9 being assigned to one control unit 8. This embodiment is symmetrical for the first roller 4 and the second roller 5: an adjusting unit 8 is assigned to each roller 4, 5, to which a signal representing the angular value of the roller (value of the angular value) and an angular value setpoint 10 are supplied. In parallel with the individual control units 8, a compensation unit 9 is provided, the output signal of which is superimposed on the output signal of the control unit (difference point after the control unit 8). The superimposed signal will be input to the first actuator 6 or the second actuator 7.

Fig. 5 shows a section of a further embodiment of a printing material processing machine 1 comprising a plurality of printing couples 2 and cylinders 3, with separate wheel trains, two adjusting devices and two vibration compensation devices according to the invention. In this embodiment for compensating vibrations at the transfer point between the two sheet-guiding cylinders, on the one hand, the first cylinder 4 and the second cylinder 5 are separately compensated and, on the other hand, the angle difference, here, for example, the second cylinder 5, is compensated for in relation to each other. This embodiment advantageously combines an absolute reduction of the oscillation with a relative reduction of the oscillation (important angular amount of sheet transport). An adjusting unit 8 is associated with the first cylinder 4, to which adjusting unit 8 a signal representing an angle variable (angle variable) of the first cylinder 4 and an angle variable setpoint value 10 are supplied. A compensation unit 9 is arranged in parallel with the control unit 8, the output signal of which is superimposed on the output signal of the control unit at the difference point after the control unit 8. The superimposed signal is to be input to the first actuator 6. An adjusting unit 8 is also associated with the second cylinder 5, to which adjusting unit 8 signals representing the angle variable of the second cylinder 5 (angle variable) and an angle variable setpoint value 10 are supplied. The angular difference between the cylinder 4 and the cylinder 5 or a quantity linearly related thereto, i.e. a measure for the angular difference, is input to the compensation unit 9 at a difference point. The output signal of the compensation unit 9 is superimposed on the output signal of the adjustment unit 8 at the difference point after the adjustment unit 8 of the second drum 5. The superimposed signal will be input to the second actuator 7.

Fig. 6 shows a section of another embodiment of a printing material processing machine 1 comprising a plurality of printing couples 2 and cylinders 3, with an adjusting device and a vibration compensation device according to the invention for a cylinder. The printing material processing machine 1 of this embodiment can have a continuous wheel train or an interrupted wheel train. The use of the compensating device 9 according to the invention and of the adjusting device according to the invention with the adjusting unit 8 and the compensating device 9 is not restricted to the reduction of vibrations at the transfer point between the sheet-guiding cylinders, but can be used generally for the improvement of the adjustment or compensation of the vibrations of cylinders, such as, for example, plate cylinders, transport cylinders or blanket cylinders or impression cylinders, and also rollers and rollers in inking and/or dampening units. Fig. 6 shows an example with an adjusting device for the parallel compensation of the first cylinder 4: a signal representing the change in the angular quantity (change in the value of the angular quantity over time) is generated by means of an angular position transmitter and is fed together with an angular quantity setpoint 10 to the regulating unit 8. The adjusting unit may be a simple differential adjuster or an adjuster comprising a complex transformation (integration, differentiation, etc.). The signals representing the change in the angular quantity are also fed in parallel to the compensation unit 9. The output signal of the compensation unit is superimposed on the output signal of the adjustment unit 8 at the difference point after the adjustment unit 8. The superimposed signal is to be input to the first actuator 6. Since the frequency to be compensated or the frequency to be compensated of the compensation unit 9 is adjustable, not only non-integer orders of vibrations compared to the machine frequency but also integer orders of vibrations can be compensated.

Fig. 7 shows a section of an embodiment of a printing material processing machine 1 with at least two printing couples 2, with an adjustment unit 8 for each printing couple and with the vibration compensation of the compensation unit 9 according to the invention for a cylinder. With this embodiment, vibrations in the wheel train can advantageously be reduced or even eliminated. Actuators 6, for example, electric motors, which act on the drum 4 in each case, are arranged at different positions of the wheel train. In order to avoid a change of the tooth flanks on the gears in the train, the actuator 6 is adjusted, for example, by selecting the mean torque of the electric motor such that the energy flow of the printing material processing machine 1 never changes sign. An adjusting unit 8 is associated with each roller 4, to which a signal representing the angle variable of the associated roller 4 (angle variable) and an angle variable setpoint value 10 are supplied. A compensation unit 9 is connected in parallel to each control unit 8, the output signal of which is superimposed on the output signal of the control unit 8 at the difference point downstream of the control unit 8. The superimposed signal is to be input to the first actuator 6.

Fig. 8 is a schematic illustration of an embodiment of the vibration-compensated control device according to the invention for a cylinder 5 of a web-fed rotary printing press. This embodiment is intended to illustrate, but the application of the invention is not limited to sheet-fed printing presses. An adjusting unit 8 is assigned to the drum 5, to which a signal representing an angle variable of the drum 5 (angle variable) and an angle variable setpoint value 10 are supplied. A compensation unit 9 is arranged in parallel with the control unit 8, the output signal of which is superimposed on the output signal of the control unit 8 at the difference point after the control unit 8. The superimposed signal is to be input to the actuator 7. By means of the compensation unit 9 according to the invention, not only vibrations of non-integer order compared to the machine frequency can be reduced or eliminated, but also vibrations of integer order can be compensated.

Fig. 9 shows a section of a further embodiment of a printing material processing machine 1 with an adjusting device and a vibration compensation device according to the invention. This embodiment is particularly advantageous in printing material processing machines without a separate train of wheels for vibration compensation in the vicinity of the first natural frequency, since the first natural frequency (amplitude of the vibrations at the open end and the vibration nodes between them) can be largely eliminated in the entire machine. Here, the drum provided with the rotation angle transmitter is in the vicinity of the end of the machine. The printing material processing machine 1 provided with a plurality of printing units 2 and a plurality of cylinders 3 has a compensation device 9, at the input of which the signal difference of the rotational angle position of the rotational angle transmitters of the first cylinder 4 and the second cylinder 5 is input. The output signal of the compensation device 9 is subtracted from the output signal of the regulating unit 8, to which regulating unit 8 the angular position signal of the third cylinder 15 to be compensated and an angular quantity setpoint value are input. Adjustment is effected by means of the first actuator 6, which acts on the third roller 15. The device according to fig. 9 advantageously allows the compensation result to be achieved in the embodiment according to fig. 7 in a defined compensation configuration, in particular with a compensation frequency in the vicinity of the first natural frequency, using only one adjusting means, for example a main motor.

Fig. 10 shows a further embodiment of a printing material processing machine 1 with an adjusting device and a vibration compensation device according to the invention. This embodiment is advantageous for interference compensation of orders close to the non-first natural frequency, in particular for frequencies lower than the first natural frequency. The printing material processing machine 1, which is provided with a plurality of printing units 2 and a plurality of cylinders 3, has a compensation device 9, to the input of which the signal of the rotational angle position of the rotational angle transmitter of the first cylinder 4 is input. The output signal of the compensation device 9 is subtracted from the output signal of the regulating unit 8, to which regulating unit 8 the angular position signal of the cylinder 5 to be compensated and an angular quantity setpoint value are input. The adjustment is performed by means of a first actuator 6, which acts on the roller 5.

It should be emphasized again that the embodiments with different configurations can advantageously be different, depending on the frequency to be compensated. The case-dependent consideration of the entire vibration under consideration allows conclusions to be drawn about the advantageous structure: the measurement and/or compensation of a vibration is difficult at those points where the vibration has nodes or only small amplitudes.

Claims (18)

1. Compensation means (9) for compensating for angular-quantity vibrations in a printing material processing machine (1) by means of actuators (6) arranged to act on the angular quantity, wherein a signal representing a change in the angular quantity is input to the compensation means (9) and the compensation means (9) generates an output signal for the actuators (6), characterized in that:

the compensation device (9) has at least one filter (13) in the form of a transfer function or a sum of transfer functions, the frequency parameters of which correspond to the vibration frequency to be compensated, the output signal of the compensation device (9) being derived from the input signal at least one discrete frequency to be compensated by the action of the filter, the filter having a transfer function of a harmonic in the S-domain or Z-domain.

2. A compensating device (9) for the compensation of oscillations of angular quantities in a printing material processing machine (1) according to claim 1, characterized in that: the angular amount is the angle of rotation of one roller (4, 5) or the difference in the angle of rotation of a first roller (4) and a second roller (5).

3. The compensation device (9) for the compensation of oscillations of angular quantities in a printing material processing machine (1) according to claim 1 or claim 2, characterized in that: the transfer function for each frequency to be compensated is harmonic and is always described in the Z domain or in the S domain.

4. A compensating device (9) for the compensation of oscillations of angular quantities in a printing material processing machine (1) according to claim 3, characterized in that: 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.

5. The compensation device (9) for the compensation of oscillations of angular quantities in a printing material processing machine (1) according to claim 1 or 2, characterized in that: the signal representing the change in the angular quantity is a time series, i.e. a signal series determined at each time instant.

6. The compensation device (9) for the compensation of oscillations of angular quantities in a printing material processing machine (1) according to claim 1 or 2, characterized in that: the compensation device (9) comprises a computing device by means of which the output signal is derived from the representative signal by the action of a transfer function on the representative signal.

7. The compensation device (9) for the compensation of oscillations of angular quantities in a printing material processing machine (1) according to claim 1 or 2, characterized in that: in the compensation device (9), at least one linear phase-shifting element (12) is arranged upstream or downstream of the filter (13) or a linear phase-shifting element (12) is contained in the filter (13).

8. Adjustment device for an angle variable in a printing material processing machine (1), having an angle variable transmitter, an adjustment unit (8), an actuator (6) acting on the angle variable, characterized in that: the adjustment device has a compensation device (9) for diagonally measured vibrations according to one of the preceding claims, wherein the output signal of the compensation device (9) is superimposed with the output signal of the adjustment unit (8).

9. Adjusting device for the amount of angle in a printing material processing machine (1) according to claim 8, characterized in that: the representative signal is an angle measure or an angle change or an angle acceleration.

10. The adjustment device for the angular amount in a printing material processing machine (1) according to claim 8 or claim 9, characterized in that: the regulating device (8) has an input for the actual value of the representative signal of the angle variable and an input for the setpoint value of the representative signal of the angle variable.

11. Printing device (2) in a printing material processing machine (1) having at least one cylinder (4), characterized in that: a compensating device (9) according to one of claims 1 to 7 and/or an adjusting device according to one of claims 8 to 10 are provided, which is assigned to the drum (4).

12. Printing device (2) in a printing material processing machine (1) having at least one first cylinder (4) and one second cylinder (5), characterized in that: a compensation device (9) according to one of claims 1 to 7 and/or an adjustment device according to one of claims 8 to 10 are provided, which are assigned to the first roller (4) and the second roller (5).

13. Printing group in a printing material processing machine having at least one first cylinder (4) in a first printing unit (2) and one second cylinder (5) in a second printing unit (2), characterized in that: a compensation device (9) according to one of claims 1 to 7 and/or an adjustment device according to one of claims 8 to 10 are provided, which are assigned to the first roller (4) and the second roller (5).

14. Printing machine (1), characterized in that: having a printing unit (2) according to claim 11 or 12 and/or a printing unit group according to claim 13.

15. Printing press (1) having at least one first cylinder (4) and one second cylinder (5), wherein the second cylinder is mechanically decoupled from the first cylinder (4), characterized in that: a compensation device (9) according to one of claims 1 to 7 and/or an adjustment device according to one of claims 8 to 10 are provided, which are assigned to the first roller (4) and the second roller (5).

16. Printing machine (1) having at least one first cylinder (4), characterized in that: a compensating device (9) according to one of claims 1 to 7 and/or an adjusting device according to one of claims 8 to 10 are provided, which is assigned to the first drum (4).

17. Method for compensating for oscillations in an angular quantity in a printing material processing machine (1), in which the angular quantity is acted upon by an actuator (6) in such a way that the oscillations in the angular quantity are reduced, in which a signal representing the change in the angular quantity is determined and the signal is processed in a compensation device (9) in order to generate an output signal for the actuator (6), characterized in that:

the output signal of the compensation device (9) is obtained at least one discrete frequency to be compensated by the action of at least one filter in the form of a transfer function or a sum of transfer functions on the input signal, the frequency parameters of the transfer function corresponding to the vibration frequency to be compensated, wherein the filter has a transfer function of a harmonic in the S-domain or Z-domain.

18. Method for adjusting an angle quantity in a printing material processing machine (1), in which the difference between the actual value of the angle quantity and a given value is reduced by acting on the angle quantity with an actuator, characterized in that:

compensating for a diagonally measured vibration by a compensation method according to claim 17.