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US20030230205A1 - Compensation of cylinder vibration in printing material processing machines - Google Patents

Compensation of cylinder vibration in printing material processing machines Download PDF

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Publication number
US20030230205A1
US20030230205A1 US10/417,284 US41728403A US2003230205A1 US 20030230205 A1 US20030230205 A1 US 20030230205A1 US 41728403 A US41728403 A US 41728403A US 2003230205 A1 US2003230205 A1 US 2003230205A1
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United States
Prior art keywords
cylinder
compensation device
angle variable
compensation
recited
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.)
Abandoned
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US10/417,284
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English (en)
Inventor
Peter Mutschler
Matthias Noell
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Heidelberger Druckmaschinen AG
Original Assignee
Heidelberger Druckmaschinen AG
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Publication date
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Assigned to HEIDELBERGER DRUCKMASCHINEN AG reassignment HEIDELBERGER DRUCKMASCHINEN AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: MUTSCHLER, PETER, NOELL, MATTHIAS
Publication of US20030230205A1 publication Critical patent/US20030230205A1/en
Priority to US11/489,890 priority Critical patent/US7559276B2/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/004—Electric or hydraulic features of drives
    • B41F13/0045—Electric driving devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/08—Cylinders
    • B41F13/085—Cylinders with means for preventing or damping vibrations or shocks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20—Calculating means; Controlling methods
    • B65H2557/264—Calculating means; Controlling methods with key characteristics based on closed loop control
    • B65H2557/2644—Calculating means; Controlling methods with key characteristics based on closed loop control characterised by PID control

Definitions

  • the present invention relates to a compensation device for vibrations of an angle variable in a printing material processing machine, having an associated actuator which affects the angle variable, the compensation device being supplied with a signal which is representative of the angle variable characteristic and the compensation device generating an output signal for the actuator.
  • a regulating means using control circuits for each electric motor is disclosed in German Patent Application No. 197 40 153 A1, for example, for compensating periodic vibrations.
  • a torque setpoint which is sent to a final control element receives an additional torque which is determined by a compensation regulator which processes the setpoint-actual value difference or the difference is determined from the torque setpoint and the actual value of the angular velocity or the angle of rotation.
  • a dynamic process model is necessary to ensure stability.
  • This form of regulating the system is also associated with a high computational complexity.
  • the sampling time must be selected to be so long that a multiple of the period of the vibrations to be compensated may be included, but this is problematic in the case of variable printing press speeds.
  • An object of the present invention is to reduce or eliminate unwanted vibrations of one cylinder or of multiple cylinders in printing material processing machines, in particular in printing presses.
  • the compensation device for vibrations of an angle variable in a printing material processing machine having a respective actuator which affects the angle variable and is preferably downstream from the compensation device has at least one filter in the form of a transfer function or a sum of transfer functions whose frequency parameters correspond to the vibration frequencies to be compensated, through whose effect the output signal of the compensation device is derived for the actuator on at least one of the discrete frequencies to be compensated from the signal which is supplied to the compensation device and is representative of the angle variable characteristic, or more precisely for the time characteristic or change in value of the angle variable over time.
  • the angle variable may be an angle of rotation of a cylinder or an angle of rotation difference between a first cylinder and a second cylinder.
  • the vibrations that occur may be represented discretely in the sense in which they are formed by superimposing vibrations having discrete frequencies.
  • the vibrations that occur may be represented with sufficient accuracy by a finite number of vibrations. It is known that the resulting vibrations depend on the operating condition of the machine that processes the printing material. The printing speed is a parameter which has an especially great influence here.
  • the frequency parameters required for the compensation device according to the present invention are either preset or they are adjustable or variable during operation of the printing material processing machine. An adjustment may be made, for example, on the basis of the operating state as mapped in the machine control.
  • the machine control may be effectively connected to the compensation device according to the present invention and may influence or alter the frequency parameters.
  • the frequency parameters may depend on the speed in particular.
  • the compensation device may be used in a simple and advantageous manner for compensation of integer or noninteger orders of vibrations, based on the machine frequency.
  • a precise knowledge of the process parameters is not necessary for this compensation device. Therefore, stability may be achieved even in the case of highly fluctuating processes (process parameters, process transfer functions). To ensure stability, it is necessary to know only the stability range of the process parameters.
  • One embodiment of the compensation device includes a second-order filter involving a low computation complexity.
  • the compensation device may be used in particular to advantage for compensation of vibrations whose energy is low in comparison with the energy of a rotational movement of the angle variable.
  • the angle variable is acted upon by an actuator in a compensation process for vibrations of an angle variable in a printing material processing machine so that the vibrations of the angle variable are reduced, a signal representative of the angle variable characteristic being determined and sent to the compensation device for generating an output signal for the actuator.
  • the output signal of the compensation device is obtained from the signal at at least one of the discrete frequencies to be compensated by the action of at least one filter in the form of a transfer function or a sum of transfer functions whose frequency parameter corresponds to the vibration frequencies to be compensated.
  • the transfer function is harmonic for each of the frequencies to be compensated, i.e., it is a sine- or cosine-shifted function or a corresponding phase-shifted function.
  • the transfer functions are each represented in the Laplace range (S range for continuous signals) or the Z range.
  • the basic mathematical properties of the Laplace transform and the Z transform are summarized, e.g., in Taschenbuch der Mathematik [Handbook of Mathematics] by I. N. Bronstein and K. A. Semendjajew, 24th edition, Harri Deutsch, Thun and Frankfurt am Main, Germany, 1989.
  • the representative signal for the angle variable characteristic may be a time series, a signal train determined or sampled at certain points in time.
  • the representative signal may be composed of a series (preferably ordered in time) of measured values of the angle variable at different points in time.
  • the instantaneous angle variable characteristic may be known at discrete interpolation points.
  • a continuous representative signal may also be generated.
  • a representative signal may be generated by an angle position transducer. It may be sent to a compensation device either directly or indirectly, i.e., unprocessed and/or unmodified or processed and modified. A processing (modification) may be necessary for example to compensate for systematic errors in measurement (calibration).
  • the sampling interval in the procedure according to the present invention may be independent of the period of the vibration to be compensated and is preferably independent.
  • the compensation device includes in an advantageous embodiment a computing device in which a program runs, this program having at least one section in which the output signal is obtained from the representative signal under the influence of the transfer function on the representative signal.
  • the transfer function may be stored in a memory, and a program has steps according to a computation procedure for how the output signal is to be obtained from the representative signal by transformation.
  • the present invention provides for calculation of the output signal as a differential equation corresponding to the transfer function from values of the input signal at one or more points in time and optionally from values of the output signal at one or more preceding points in time.
  • At least one linear phase shift element is provided upstream or downstream from the filter.
  • the filter and the phase shift element may also be integrated.
  • the phase shift element may also be contained in the filter.
  • the phase shift element may act on a discrete frequency, on a plurality of discrete frequencies or on a continuum of frequencies.
  • a phase shift element may be provided for each frequency to be compensated or one phase shift element may act on at least a number of frequencies to be compensated.
  • the stability of the compensation may also be ensured through the choice of the phase of the harmonic transfer function.
  • the compensation device according to the present invention for vibrations of an angle variable may be assigned to the regulating element in such a way that the output signal of the compensation device is superimposed on the output signal of the regulating element.
  • the representative signal may represent the value of the angle variable or the value of the change in the angle variable or the value of the acceleration in the angle variable.
  • the regulating element preferably has an input for actual values of the representative signal of the angle variable and an input for setpoint values of the representative signal of the angle variable.
  • a regulating process according to the present invention for an angle variable in a printing material processing machine by action on the angle variable with an actuator so that differences between the actual values and setpoints of the angle variable are reduced includes compensation for vibrations in the angle variable by a compensation process according to the present invention.
  • a printing unit according to the present invention in a printing material processing machine having at least one cylinder is also related to the compensation device and the regulating device according to the present invention. It is characterized by a compensation device according to the present invention and/or a regulating device according to the present invention which is associated with the cylinder.
  • a printing unit according to the present invention may have a compensation device according to the present invention and/or a regulating device according to the present invention associated with the first cylinder and the second cylinder.
  • a printing unit group includes a plurality of printing units.
  • the printing units of a printing unit group are preferably adjacent to one another. In other words, the printing material goes from one printing unit to the other printing unit along its transport path through the printing press.
  • a printing unit group according to the present invention in a printing material processing machine having at least one first cylinder in a first printing unit and a second cylinder in a second printing unit includes a compensation device according to the present invention and/or a regulating device according to the present invention associated with the first cylinder and the second cylinder.
  • An improved synchronization of the first and second cylinders may be achieved in particular by reducing the vibrations. This is especially advantageous for the sheet transfer between two mechanically separated cylinders of two printing units, between two printing units in a printing unit group or between two printing unit groups in a sheet processing printing press.
  • the compensation device according to the present invention or the regulating device according to the present invention may be used in a printing press having an integrated gear train or in a printing press having a separate gear train.
  • the printing units or the printing unit groups, as seen individually, may have one or more drives.
  • a printing press according to the present invention has at least one printing unit according to the present invention and/or one printing unit group according to the present invention.
  • the printing press may have a compensation device according to the present invention and/or a regulating device according to the present invention which is associated with the first cylinder and the second cylinder.
  • a printing press according to the present invention having at least one first cylinder and one second cylinder which is mechanically separated from the first cylinder is characterized by a compensation device according to the present invention which is associated with the first cylinder and the second cylinder and/or a regulating device according to the present invention which is associated with the first cylinder and the second cylinder.
  • a printing press according to the present invention having at least one first cylinder may be characterized by a compensation device according to the present invention which is associated with the first cylinder and/or a regulating device according to the present invention which is associated with the first cylinder.
  • the printing press may be a web (roll) processing machine or a sheet processing machine.
  • the machine may print by various processes.
  • the printing process may be direct or indirect flatbed printing, offset printing, flexographic printing, or the like.
  • Typical printing materials include paper, paperboard, cardboard, organic polymer films, or the like.
  • FIG. 1 shows a schematic diagram of the structure of a compensation device according to the present invention
  • FIG. 2 shows a schematic diagram of an advantageous refinement of the design of the compensation device according to the present invention
  • FIG. 3 shows a detail of a printing material processing machine having a separate gear train, two regulating devices and a vibration compensation according to the present invention
  • FIG. 4 shows a detail of an embodiment of a printing material processing machine having a separate gear train, two regulating devices and two vibration compensating devices according to the present invention
  • FIG. 5 shows a detail of an alternative embodiment of a printing material processing machine having a separate gear train, two regulating devices and two vibration compensating devices according to the present invention
  • FIG. 6 shows a detail of an alternative embodiment of a printing material processing machine having a regulating device and a vibration compensating device according to the present invention for one cylinder;
  • FIG. 7 shows a detail of an embodiment of a printing material processing machine having two cylinders, each cylinder being assigned a regulating device and a vibration compensation device according to the present invention
  • FIG. 8 shows an embodiment of a regulating device having a vibration compensation device according to the present invention for one cylinder of a rotary printing press
  • FIG. 9 shows a detail of another alternative embodiment of a printing material processing machine having a regulating device and a vibration compensation according to the present invention.
  • FIG. 10 shows another additional embodiment of a printing material processing machine having a regulating device and vibration compensation according to the invention.
  • FIG. 1 shows a schematic diagram of the design of a compensation device according to the present invention. Before describing this simple embodiment, a few basic remarks should be made.
  • a signal is influenced.
  • the compensation device preferably contains a harmonic transfer function whose angular frequency corresponds to the angular frequency ⁇ n to be compensated.
  • the harmonic transfer function may be a cosine transfer function or a sine transfer function or a weighted sum of a cosine transfer function and a sine transfer function.
  • output variable y(k) of the compensation device may be determined from input variable u(k) of time increments k and k ⁇ 1 and from output variable y(k) of time increments k ⁇ 1 and k ⁇ 2 according to the calculation procedure
  • the order of the angular frequency to be compensated may be either integer or noninteger.
  • the respective angular frequency is
  • v denotes the average machine speed in prints per hour and the order r indicates the ratio of the vibration frequency to be compensated to the printing frequency of the machine.
  • a printing material processing machine typically has a regulator which has the average machine speed as the setpoint speed.
  • parameter b n must be recalculated according to equation (3) in equations (1), (2) and/or (4) when there is a change in the average machine speed and/or the speed setpoint.
  • the compensation device succeeds in eliminating sinusoidal interference without a complex calculation of trigonometric functions and may therefore be used in conjunction with simple regulating processors.
  • phase shift element When using a harmonic transfer function having a fixed phase such as the cosine or sine transfer function, stability is achieved with small gain factors in a 180° range of the process phase.
  • the process phase may be adapted to always be in this stable range.
  • the transfer function has an infinitely high gain for angular frequency on ⁇ n and a gain which is a function of k n for other frequencies, this gain decreasing with the difference between the angular frequency to be compensated and the frequency in question. Therefore, for a sufficiently small k n , the analysis may be reduced to the angular frequency to be compensated. If the phase shift of the process is in a range of ⁇ 90° to +90° for this frequency to be compensated, then stability is ensured by the reversal of signs in the compensation circuit. With a relatively rigid coupling of the actuator to the compensation shaft, this condition is usually met for small orders.
  • a +90° phase increase may be achieved by connecting a differentiating element upstream or downstream from the compensation device. This is expedient for higher orders in particular, because for them the process typically has a phase shift with a negative sign.
  • Using a differentiating element corresponds to using a speed signal instead of an angle signal for compensation. Due to the connection of a phase shift element for the angular frequency to be compensated, it is possible to work in the stable range of ⁇ 90° to +90° regardless of the order. Only an approximate knowledge of the frequency-dependent phase shift of the process is necessary for selection of the phase shift element. Fluctuations in the process parameters are therefore non-critical.
  • phase ⁇ n of a harmonic transfer function of the form G Rn ⁇ ( s ) k n ⁇ s ⁇ ⁇ cos ⁇ ⁇ ⁇ n + ⁇ n ⁇ sin ⁇ ⁇ ⁇ n ⁇ s 2 + ⁇ n 2 . ( 6 )
  • Stability is achieved even when the phase of the process fluctuates by ⁇ 90° for small values of k n and selection of ⁇ n according to the measured phase ⁇ circumflex over ( ⁇ ) ⁇ p of the process at the compensation frequency.
  • the phase of the harmonic transfer function as a function of the phase of the process at the compensation frequency, it is possible to locate the stable range of 180° in such a way that the measured phase of the process is within this range. If the phase of the harmonic transfer function is selected to be equal to the measured phase of the process at the compensation frequency, then this is in the middle of the stable range of 180°.
  • the compensation formula according to the present invention having a harmonic transfer function is also applicable in general for a plurality of transfer functions G R for time-continuous or time-discrete signals which contain a sine or cosine transfer function as a component, and therefore are able to generate the harmonic signal component of angular frequency ⁇ n necessary for compensation.
  • compensation is also possible with the following cosine transfer functions or with the following sine transfer functions, optionally with a phase shift element G V (z) which ensures stability:
  • the compensation effect of G K (z) corresponds to that of G K (s) and HG K (z).
  • the static gain (for ⁇ 0) of G K (z) is not 0 but instead is k R ⁇ T 2 ,
  • y ( k ) k R ( b 0 u ( k )+ b 1 u ( k ⁇ 1)+ b 2 u ( k ⁇ 2)) ⁇ a 1 y ( k ⁇ 1) ⁇ a 2 y ( k ⁇ 2).
  • phase shift element G V (z) Without the phase shift element G V (z), stability is achieved at a small k R with the cosine transfer function approximately for phase shifts ⁇ P of the process at the compensation angular frequency of ⁇ 90° to +90° and with the sine transfer function approximately for phase shifts ⁇ P of the process at the compensation angular frequency of 0° to +180°.
  • the transfer functions may be converted one into one another by using a suitable phase shift element.
  • [0068] corresponds directly to the sine transfer function HG So (z) with a holding element without static gain except for the factor ⁇ n .
  • the cosine transfer function or the sine transfer function is more suitable without the use of an additional phase shift element depends on the process taking place on a printing material processing machine.
  • ⁇ circumflex over ( ⁇ ) ⁇ P is the phase shift ⁇ P of the process measured in the range of ⁇ 180° to +180°. Both possibilities ensure stability for small gain factors k R . For large k R factors, whether stability is achieved will depend on the process.
  • T A For the decay constant T A , which indicates how much time elapses before the amplitude of the interference has dropped to e ⁇ 1 ⁇ 37%, it then holds that T A ⁇ 2 k R ⁇ k P
  • FIG. 1 shows an embodiment of a compensation device 9 having a plurality of filters 13 that operate in parallel and have harmonic transfer functions, each having different frequency parameters corresponding to a vibration to be compensated.
  • the signal representing an angle variable characteristic and having vibrations to be compensated is sent to the input of this filter 13 .
  • the outputs of filters 13 are added up. The sum thus forms the total output of compensation device 9 .
  • Controller 14 of the printing material processing machine is connected to filters 13 .
  • the orders to be compensated are, if necessary, predetermined and/or calculated by controller 14 as a function of the speed.
  • the parameters of the harmonic transfer functions, in particular the b n parameters according to equation (3), may be determined in controller 14 or in a processor of compensation device 9 . It is also possible for controller 14 to specify fixed angular frequencies instead of orders and/or to determine the angular frequencies using measurement equipment on the printing material processing machine, if fixed-frequency interference occurs.
  • FIG. 2 shows a schematic diagram of an advantageous refinement of the design of a compensation device according to the present invention.
  • Phase shift elements 12 are connected upstream from filters 13 having a transfer function.
  • a phase shift element 12 is preferably a linear element, which influences the phase at the angular frequency of filter 13 downstream from the phase shift element 12 .
  • the phase shift element 12 is able to influence the phase only at the angular frequency which is to be compensated or is able to influence phases for any angular frequencies, depending on the design. Of course, only the phase shift for the angular frequency which is to be compensated is relevant.
  • Controller 14 determines the structure or parameters of the phase shift element 12 , in particular the angular frequency and the absolute value and direction of the phase shift.
  • Simple transfer functions of the phase shift may be, for example, the identity, i.e., factor 1 (no phase shift) or a differentiation (phase shift by +90°) or an inversion (phase shift by +180°) or an inversion of the differentiation (phase shift by ⁇ 90°).
  • factor 1 no phase shift
  • differentiation phase shift by +90°
  • inversion phase shift by +180°
  • inversion of the differentiation phase shift by ⁇ 90°
  • the choice of the two possibilities namely factor 1 or differentiation
  • phase shift elements 12 for any desired phase shifts are adjustable in the entire angular range between 0° and 360°, depending on the phase shift generated by the process.
  • a phase shift element having a phase shift adjustable from 0° to +90° is preferred.
  • FIG. 3 relates schematically to a detail of a printing material processing machine 1 having a separate gear train, two regulating devices and a vibration compensation according to the present invention.
  • the advantageous embodiment shown here relates to a transfer point between two sheet-carrying cylinders, first cylinder 4 and second cylinder 5 in a sheet-fed printing press having a plurality of printing units 2 and cylinders 3 .
  • the gear train between first cylinder 4 and second cylinder 5 is separate.
  • First cylinder 4 has angle regulation by a regulating element 8 and a first actuator 6 , in a simple embodiment having one motor.
  • Second cylinder 5 also has angle regulation by a regulating element 8 and a second actuator 7 , in a simple embodiment having one motor.
  • Representative signals for the angle variable characteristics (value of the angle variable) of the respective cylinders are sent to regulating elements 8 .
  • Regulating elements 8 may be simple differential regulators or regulators that include complex transformations (integrations, differentiations and the like).
  • Actuators 6 , 7 which act on the angle variables of the respective cylinders may in a first embodiment be the single drives of the respective cylinders, in a second embodiment they may be additional auxiliary drives for the respective cylinders which are moved by a main drive.
  • a setpoint of the representative signal, angle variable setpoint 10 is sent to regulating elements 8 . In conjunction with the description of the embodiments, only one angle variable setpoint is mentioned here and below.
  • this output signal may also be superimposed on the output signal of regulating element 8 of first cylinder 4 .
  • this output signal may also be superimposed on the output signal of regulating element 8 of first cylinder 4 .
  • only one compensation element 9 is needed in the embodiment presented here; with this compensation element, the interfering orders of vibrations may be removed directly from the target variable. This may be accomplished with a high precision.
  • FIG. 4 shows a schematic diagram of a detail of one embodiment of a printing material processing machine 1 which has a plurality of printing units 2 and a plurality of cylinders 3 , each having separate gear trains, two regulating devices and two vibration compensation devices according to the present invention.
  • the embodiment in this FIG. 4 has separate compensation of vibrations at the transfer point between first cylinder 4 and second cylinder 5 in the individual angle variables.
  • the reduction or elimination of absolute angle variable vibrations of cylinders 4 , 5 is advantageous, optionally even of the two machine parts including the first and/or second cylinder in contrast with reduction or elimination of the relative angle variable vibrations in the embodiment according to FIG. 3.
  • Compensation takes place directly in the target variables via two compensation elements 9 , each being assigned to regulating element 8 .
  • This embodiment is symmetrical for first cylinder 4 and second cylinder 5 .
  • a regulating element 8 is assigned to each cylinder 4 , 5 and receives a representative signal for the angle variable of the cylinder (value of the angle variable) and an angle variable setpoint 10 .
  • a compensation element 9 whose output signal is superimposed on the output signal of the regulating element (subtraction points after regulating elements 8 ) is provided in parallel with each regulating element 8 .
  • the superimposed signals are sent to first actuator 6 and/or second actuator 7 .
  • FIG. 5 shows a detail of an alternative embodiment of a printing material processing machine 1 which includes a plurality of printing units 2 and cylinders 3 , having separate gear trains, two regulating devices and two vibration compensation devices according to the present invention.
  • this embodiment for compensation of vibrations at a transfer point between two sheet-carrying cylinders, there is separate compensation for first cylinder 4 and second cylinder 5 , but there is also a relative compensation for the angular difference, shown here for second cylinder 5 as an example.
  • This embodiment combines in an advantageous manner an absolute reduction in vibrations with the relative reduction in vibrations (relative angle variable for sheet transfer).
  • a regulating element assigned to first cylinder 4 receives a representative signal for the angle variable of first cylinder 4 (value of the angle variable) and an angle variable setpoint 10 .
  • a compensation element 9 provided in parallel with regulating element 8 supplies an output signal, which is superimposed on the output signal of the regulating element at the subtraction point downstream from regulating elements. The superimposed signal is sent to first actuator 6 .
  • a regulating element 8 also provided for second cylinder 5 receives a representative signal for the angle variable of second cylinder (value of the angle variable) and an angle variable setpoint 10 .
  • the differential angle between cylinder 4 and cylinder 5 or a linear dependent variable which is a measure of the differential angle, is sent to compensation element 9 at a subtraction point.
  • the output signal of compensation element 9 is superimposed on the output signal of regulating element 8 at a subtraction point downstream from regulating element 8 of second cylinder 5 .
  • the superimposed signal is sent to second actuator 7 .
  • FIG. 6 shows a detail of an alternative embodiment of a printing material processing machine 1 having a plurality of printing units and cylinders 3 , a regulating device and a vibration compensation device according to the present invention for one cylinder.
  • Printing material processing machine 1 of this embodiment may either have a continuous gear train or an interrupted gear train.
  • a compensation device 9 according to the present invention and use of a regulating device according to the present invention having regulating element 8 and compensation device 9 is not limited to reducing vibrations at the transfer points between sheet carrying cylinders but instead may be used in general for improved regulation, i.e., compensation of vibration of cylinders, e.g., printing block cylinders, transfer cylinders or rubber blanket cylinders or backpressure cylinders, as well as rolls and rollers in inking and/or damping systems.
  • FIG. 6 shows an example of regulation having parallel compensation for a first cylinder 4 .
  • a representative signal for the angle variable characteristic (characteristic of the value of the angle variable over time) is generated by an angle position sensor and sent to regulating element 8 together with an angle variable setpoint 10 .
  • Regulating element 8 may be a simple differential regulator or a regulator which includes complex transformations (integrations, differentiations and the like).
  • the signal representative of the angle variable characteristic is also sent in parallel to compensation element 9 , whose output signal is superimposed on the output signal of regulating element 8 at the subtraction point downstream from regulating element 8 .
  • the superimposed signal is sent to first actuator 6 . Since the frequency or frequencies of compensation element 9 to be compensated is/are adjustable, vibrations of an integer order may also be compensated in addition to vibrations of a noninteger order in comparison with the machine frequency.
  • FIG. 7 shows a detail of an embodiment of a printing material processing machine 1 having at least two printing units 2 , each of which is assigned a regulating element 8 and a vibration compensation device according to the present invention in the form of a compensation element 9 for one cylinder.
  • vibrations in the gear train may be reduced or even eliminated in an advantageous manner.
  • Actuators 6 e.g., individual motors, are provided at various locations in the gear train to act on cylinders 4 .
  • actuators 6 are to be regulated, e.g., through the choice of the average motor torque so that the flow of energy in printing material processing machine 1 does not change its plus or minus sign (direction) at any point.
  • a regulating element 8 is assigned to each cylinder 4 and receives a representative signal for the angle variable of respective cylinder 4 (value of the angle variable) and an angle variable setpoint 10 .
  • a compensation element 9 is also provided, its output signal being superimposed on the output signal of regulating element 8 at the subtraction point downstream from regulating element 8 . The superimposed signal is then sent to actuator 6 .
  • FIG. 8 shows a schematic diagram of one embodiment of a regulating device having a vibration compensation device according to the present invention for a cylinder 5 of a rotary web printing press printing a web 11 .
  • a regulating element 8 is provided for cylinder 5 and receives a representative signal for the angle variable of cylinder 5 (value of the angle variable) and an angle variable setpoint 10 .
  • a compensation element 9 is also provided, its output signal being superimposed on the output signal of regulating element 8 at the subtraction point downstream from regulating element 8 . The superimposed signal is sent to actuator 7 .
  • vibrations of an integer order may also be reduced or eliminated by compensation element 9 according to the present invention.
  • FIG. 9 shows a detail of another alternative embodiment of a printing material processing machine 1 having a regulating device and a vibration compensation device according to the present invention.
  • This embodiment is especially advantageous for performing compensation of vibrations close to the first natural frequency in printing material processing machines without a separate gear train, because the first natural frequency (vibration antipodes at the open ends and a vibration node in between) may be largely eliminated here in the machine as a whole.
  • the cylinders equipped with rotation sensors are situated in the vicinity of the ends of the machine.
  • Printing material processing machine 1 having a plurality of printing units 2 and a plurality of cylinders 3 , has a compensation device 9 to whose input the difference in the rotational angle position signals of the rotation sensors of first cylinder 4 and of second cylinder 5 is applied.
  • the output signal of compensation device 9 is subtracted from the output signal of regulating element 8 , to which the angle position signal of a third cylinder 15 to be compensated and an angle variable setpoint are sent. Regulation is accomplished via a first actuator 6 , which acts on third cylinder 5 .
  • the compensation result already intended in the embodiment according to FIG. 7 may be achieved with only one control element, e.g., the main motor in an advantageous manner using certain compensation arrangements, e.g., compensation arrangements having compensation frequencies in the vicinity of the first natural frequency.
  • FIG. 10 shows another embodiment of a printing material processing machine 1 having a regulating device and a vibration compensation device according to the present invention.
  • This embodiment is advantageous for compensation of interference of orders not in the vicinity of the first natural frequency, in particular for lower frequencies than the first natural frequency.
  • Printing material processing machine 1 having a plurality of printing units 2 and plurality of cylinders 3 , has a compensation device 9 to whose input the rotational angle position signal of the rotation sensor of first cylinder 4 is applied.
  • the output signal of compensation device 9 is subtracted from the output signal of regulating element 8 , which received the angle position signal of a cylinder 5 to be compensated and an angle variable setpoint.
  • the regulation is performed by a first actuator 6 which acts on cylinder 5 .
  • Printing material processing machine 2 Printing unit 3 Cylinder 4 First cylinder 5 Second cylinder 6 First actuator for regulating the first cylinder 7 Second actuator for regulating the second cylinder 8 Regulating element 9 Compensation device 10 Angle variable setpoint 11 Web of printing material 12 Phase shift element 13 Filter with transfer function 14 Control device 15 Third cylinder

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Auxiliary Devices For Machine Tools (AREA)
  • Rotary Presses (AREA)
  • Feedback Control In General (AREA)
  • Vibration Prevention Devices (AREA)
  • Rolls And Other Rotary Bodies (AREA)
US10/417,284 2002-04-17 2003-04-16 Compensation of cylinder vibration in printing material processing machines Abandoned US20030230205A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US11/489,890 US7559276B2 (en) 2002-04-17 2006-07-20 Compensation of cylinder vibration in printing material processing machines

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10217707A DE10217707A1 (de) 2002-04-17 2002-04-17 Kompensation von Zylinderschwingungen in bedruckstoffverarbeitenden Maschinen
DEDE10217707.4 2002-04-17

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US11/489,890 Continuation US7559276B2 (en) 2002-04-17 2006-07-20 Compensation of cylinder vibration in printing material processing machines

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US20030230205A1 true US20030230205A1 (en) 2003-12-18

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US11/489,890 Expired - Fee Related US7559276B2 (en) 2002-04-17 2006-07-20 Compensation of cylinder vibration in printing material processing machines

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US (2) US20030230205A1 (de)
EP (1) EP1355211B1 (de)
CN (1) CN100358715C (de)
AT (1) ATE433143T1 (de)
DE (2) DE10217707A1 (de)

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US6805053B2 (en) * 2001-11-20 2004-10-19 Heidelberger Druckmaschinen Ag Method and device for suppressing vibrations in a printing press
US20060263311A1 (en) * 2005-05-19 2006-11-23 Scavone Timothy A Consumer noticeable improvement in wetness protection using solid antiperspirant compositions
US20060292098A1 (en) * 2005-05-19 2006-12-28 Scavone Timothy A Consumer noticeable improvement in wetness protection
US20070006762A1 (en) * 2005-07-01 2007-01-11 Upm-Kymmene Corporation Method and a device for controlling the quality of print
US20070120514A1 (en) * 2005-02-01 2007-05-31 Heidelberger Druckmaschinen Ag Method for active compensation of oscillations in a machine which processes printing material, and a machine which processes printing material
US20070221086A1 (en) * 2006-03-24 2007-09-27 Heidelberger Druckmaschinen Ag Method for compensating for an oscillation in a printing press
US20070248553A1 (en) * 2005-05-19 2007-10-25 Scavone Timothy A Consumer noticeable improvement in wetness protection
US20070248552A1 (en) * 2005-05-19 2007-10-25 Scavone Timothy A Consumer noticeable improvement in wetness protection using solid antiperspirant compositions
US20080098920A1 (en) * 2006-10-25 2008-05-01 Heidelberger Druckmaschinen Ag Method of Compensating for Vibration-Induced Circumferential Register Errors in a Sheet-Fed Printing Press and Sheet-Fed Printing Press Carrying out the Method
US8895041B2 (en) 2012-03-23 2014-11-25 The Procter & Gamble Company Compositions for delivering perfume to the skin
US20160146132A1 (en) * 2014-11-24 2016-05-26 Ge Jenbacher Gmbh & Co Og Method for controlling an internal combustion engine

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DE102007035476A1 (de) * 2007-07-26 2009-01-29 Windmöller & Hölscher Kg Verfahren zum Betreiben einer Druckmaschine
DE102010036249A1 (de) * 2009-10-01 2011-04-07 Heidelberger Druckmaschinen Ag Verfahren und Vorrichtung zur Ermittlung von Passerabweichungen mittels Rekursionsanalyse
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Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6805053B2 (en) * 2001-11-20 2004-10-19 Heidelberger Druckmaschinen Ag Method and device for suppressing vibrations in a printing press
US20070120514A1 (en) * 2005-02-01 2007-05-31 Heidelberger Druckmaschinen Ag Method for active compensation of oscillations in a machine which processes printing material, and a machine which processes printing material
US8632755B2 (en) 2005-05-19 2014-01-21 The Procter & Gamble Company Consumer noticeable improvement in wetness protection
US20060292098A1 (en) * 2005-05-19 2006-12-28 Scavone Timothy A Consumer noticeable improvement in wetness protection
US20060263312A1 (en) * 2005-05-19 2006-11-23 Scavone Timothy A Consumer noticeable improvement in wetness protection using solid antiperspirant compositions
US20060263311A1 (en) * 2005-05-19 2006-11-23 Scavone Timothy A Consumer noticeable improvement in wetness protection using solid antiperspirant compositions
US8147808B2 (en) 2005-05-19 2012-04-03 The Procter & Gamble Company Consumer noticeable improvement in wetness protection using solid antiperspirant compositions
US20070248553A1 (en) * 2005-05-19 2007-10-25 Scavone Timothy A Consumer noticeable improvement in wetness protection
US20070248552A1 (en) * 2005-05-19 2007-10-25 Scavone Timothy A Consumer noticeable improvement in wetness protection using solid antiperspirant compositions
US20070006762A1 (en) * 2005-07-01 2007-01-11 Upm-Kymmene Corporation Method and a device for controlling the quality of print
US7453223B2 (en) 2006-02-01 2008-11-18 Heidelberger Druckmaschinen Ag Method for active compensation of oscillations in a machine which processes printing material, and a machine which processes printing material
EP1815979A3 (de) * 2006-02-01 2010-09-08 Heidelberger Druckmaschinen AG Verfahren zur aktiven Kompensation von Schwingungen in einer Bedruckstoff verarbeitenden Maschine und Bedruckstoff verarbeitende Maschine
DE102006004967A1 (de) * 2006-02-01 2007-08-02 Heidelberger Druckmaschinen Ag Verfahren zur aktiven Kompensation von Schwingungen in einer Bedruckstoff verarbeitenden Maschine und Bedruckstoff verarbeitende Maschine
US20070221086A1 (en) * 2006-03-24 2007-09-27 Heidelberger Druckmaschinen Ag Method for compensating for an oscillation in a printing press
US8375856B2 (en) * 2006-03-24 2013-02-19 Heidelberger Druckmaschinen Ag Method for compensating for an oscillation in a printing press
US20080098920A1 (en) * 2006-10-25 2008-05-01 Heidelberger Druckmaschinen Ag Method of Compensating for Vibration-Induced Circumferential Register Errors in a Sheet-Fed Printing Press and Sheet-Fed Printing Press Carrying out the Method
US8763529B2 (en) * 2006-10-25 2014-07-01 Heidelberger Druckmaschinen Ag Method of compensating for vibration-induced circumferential register errors in a sheet-fed printing press and sheet-fed printing press carrying out the method
US8895041B2 (en) 2012-03-23 2014-11-25 The Procter & Gamble Company Compositions for delivering perfume to the skin
US9161899B2 (en) 2012-03-23 2015-10-20 The Procter & Gamble Company Compositions for delivering perfume to the skin
US9364417B2 (en) 2012-03-23 2016-06-14 The Procter & Gamble Company Compositions for delivering perfume to the skin
US20160146132A1 (en) * 2014-11-24 2016-05-26 Ge Jenbacher Gmbh & Co Og Method for controlling an internal combustion engine
US10563603B2 (en) * 2014-11-24 2020-02-18 Innio Jenbacher Gmbh & Co Og Method for controlling an internal combustion engine

Also Published As

Publication number Publication date
ATE433143T1 (de) 2009-06-15
EP1355211B1 (de) 2009-06-03
US7559276B2 (en) 2009-07-14
CN100358715C (zh) 2008-01-02
HK1060090A1 (zh) 2004-07-30
DE10217707A1 (de) 2003-11-06
US20060254442A1 (en) 2006-11-16
CN1451535A (zh) 2003-10-29
EP1355211A2 (de) 2003-10-22
DE50311564D1 (de) 2009-07-16
EP1355211A3 (de) 2006-09-20

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