JP4937162B2 - Synchronization control method and synchronization control system - Google Patents

Description

INDUSTRIAL APPLICABILITY The present invention is used in newspapers and commercial shaftless rotary presses, sheet-fed printing presses, sheet-fed printing presses, stretchers for producing high-quality films, and precision transport devices. The present invention relates to a synchronization control method and a synchronization control system that can be matched with high accuracy.
As an example of the synchronous control system, a shaftless rotary printing press includes a virtual rotation command generation device, each rotary printing press, a synchronous driving device of a folding machine, and an electric motor installed in each. In the synchronous control system, the synchronous drive device obtains a speed command and a phase command from the virtual rotation command generator, and obtains a speed feedback and a phase feedback from the attached rotary encoder from the electric motor to obtain a highly accurate synchronous control. Is realized.

In recent years, there has been devised a sectional drive that performs a synchronous control drive that electronically matches a rotational speed and a rotational phase accurately without mutually coupling a plurality of electric motors. As an industrial application of this, for example, in a printing apparatus, a shaftless rotary printing machine in which a line shaft for connecting a printing machine, a folding machine, and various rolls is removed has been put into practical use in Japan since the 1990s.
In the present invention, the disclosure of the invention of the synchronous control is performed by a shaftless rotary printing press as an example, and FIG. 14 is a diagram illustrating a conventional example of a commercial shaftless rotary printing press that prints a brochure, an advertisement, and a booklet.

In FIG. 14, reference numerals 04a, 04, and 05 denote a paper feeding unit, continuous paper, and infeed. The continuous paper 04 is supplied from the paper feeding unit 04a and is sent out to the printing press described later by the infeed 05. .
Reference numerals 10a, 10b, 10c, and 10d denote first to fourth printing machines, which respectively perform, for example, yellow, cyan, magenta, and black color printing. Here, the printing press includes an ink roll, a plate cylinder, and a blanket cylinder. After the ink is supplied from the ink roll to the plate cylinder and the pattern of the printing plate attached to the plate cylinder is transferred to the blanket cylinder, Are printed on the continuous paper 04.
Next, reference numerals 11, 12, and 13 denote dryer, cooling, and drag, respectively. The continuous paper 04 is dried and cooled by heating in the dryer 11 and cooling 12, respectively, and then the folding machine 15f by the drag 13. Is sent out. The folding machine 15f cuts and folds the printed continuous paper.

The first printing machine 10a to the fourth printing machine 10d and the folding machine 15f are each operated by a motor that is individually installed so that the rotation speed and the rotation phase are accurately matched.
The motor group is driven by a central control device or a synchronous drive device. In FIG. 14, 01 and 02 indicate a central control device and a communication line, respectively, and 06a, 07a, and 08a indicate the first printer 10a with high accuracy. They are a synchronous drive device, an electric motor, and a rotary encoder, respectively, that are driven by synchronous control. Similarly, the second to fourth printing presses are individually provided with a synchronous drive device, an electric motor, and a rotary encoder as shown in FIG.
Next, 06f, 07f, and 08f are a synchronous drive device, an electric motor, and a rotary encoder, respectively, for driving the folding machine 15f by synchronous control.

Thus, in FIG. 14 of the conventional example, the central control device 01 sends a speed command and a phase command to the synchronous drive devices 06a to 06f via the communication line 02. If the first printing press is taken as an example of the synchronous driving device group, the synchronous driving device 06a receives a speed command and a phase command from the central control device 01, and receives a speed feedback and a phase from the rotary encoder 08a. Feedback is detected, and the electric motor 07a is driven by synchronous control with high accuracy.
In such a shaftless rotary printing press using synchronous control, yellow, cyan, magenta, black and other printing machines and multiple electric motors that drive the folding machine have the same rotational speed and rotational phase. It runs at least and realizes high-speed color printing.

And this shaftless rotary press is compared with the conventional press with shaft,
(1-1) Installation is easy.
(1-2) A free printing press can be operated.
(1-3) Workability is improved.
(1-4) Waste paper is reduced.
(1-5) Maintenance becomes easy.
It has advantageous features such as.
Here, the infeed 05, the cooling 12 and the drag 13 are individually driven by an electric motor in speed tuning, but these are out of the scope of the present invention, and the description of the drive system such as the electric motor is omitted in FIG. is doing.

Next, if a specific example of the rotary encoder 08a shown in FIG. 14 for explaining the conventional example is shown, an incremental encoder 081 shown in FIG. 15 is conventionally used.
As shown in FIG. 15- (a), the incremental encoder 081 is a plurality of rectangular waves generated according to the rotation, and the A-phase signal and the B-phase signal having a phase difference of 90 degrees and one rectangular wave per rotation. Outputs a Z-phase signal. FIGS. 15B, 15C, and 15D illustrate temporal transitions of the A-phase signal, the B-phase signal, and the Z-phase signal when the incremental encoder 081 rotates.

  Conventionally, the synchronous drive device 06a of FIG. 14 incorporates a clear feedback up / down counter for the incremental encoder 081 (not shown). The up / down counter for feedback performs up-counting or down-counting according to the rotation direction using the A-phase signal and B-phase signal of the incremental encoder 081 as count inputs, and clears the count value using the Z-phase signal as a clear input. The rotation phase of one rotation is detected.

Next, if a specific example of the prior art is used, when the incremental encoder 081 having 19200ppr (Pulse per Round) per rotation of the A phase signal and the B phase signal is used, each of the A phase signal and the B phase signal is multiplied by two. If processing is performed and the count is input to the feedback up / down counter, the feedback up / down counter detects the rotational phase of the electric motor 07a at the maximum rotational phase Pmax of the following equation (1).
Pmax = 19,200 × 4-1 = 76,799 (1) And, when the rotational speed per minute of the electric motor 07a of FIG. 14 is 1600 min ⁻¹ , the count input of the feedback up / down counter is The frequency F is as shown in the following equation (2).
F = 19200ppr × 4 × 1600 min ⁻¹ ÷ 60 s = 2. 048 MHz (2) equation

When such an incremental encoder 081 is used, the central control device 01 of FIG. 14 incorporates a virtual rotation command generation device (not shown). For example, Patent Literature 1 discloses a speed and position signal generator as the virtual rotation command generation device. The invention is disclosed.
The speed and position signal generator of Patent Document 1 electronically emulates and generates the A phase signal, the B phase signal, and the Z phase signal. The synchronous drive device 06a incorporates a commandable up / down counter (not shown) that performs the same operation as the feedback up / down counter, and the command up / down counter includes the speed and position signal generator. The output A phase signal, B phase signal, and Z phase signal are input to detect the rotational phase of the command.
The above-described synchronous control using the A-phase, B-phase, and Z-phase incremental signals on both the command side and the feedback side can be said to be an incremental synchronous control. Patent Document 2 discloses the invention. .

Next, the absolute encoder 082 shown in FIG. 16 can be used in addition to the incremental encoder 081 shown in FIG. 15 as the rotary encoder 08a shown in FIG. The absolute encoder 082 generates and outputs an absolute rotation phase having a binary k-bit length as shown in FIG.
In recent years, the rotation phase of one rotation, for example, has a high resolution of the following equation (3) such as a 24-bit length.
Pmax = 2 ²⁴ −1 = 16,777,215 (3)

The absolute encoder 082 of FIG. 16- (a) is connected to the synchronous drive device 06a of FIG. 14, but it is not practical to connect in parallel to the synchronous drive device 06a with a 24-bit signal line. Therefore, the connection is usually made by bidirectional serial communication.
As an example of transmission / reception of the absolute rotation phase signal by this communication, FIG. 16- (b) shows that the synchronous drive device 06a sends a request for the rotation phase to the absolute encoder 082 at the request times T1, T4 and the sampling period ΔT. It represents the operation to send. Next, FIG. 16- (c) schematically shows an operation in which the absolute encoder 082 acquires the absolute rotation phase at the detection time T2 and transmits an answer at the time T3. The sampling period ΔT is, for example, 0.1 ms to 1 ms.

Since the absolute encoder 082 detects the absolute rotation phase immediately after the power is turned on, it is widely used for position control with acceleration and deceleration and further stop operation.
Here, the shaftless rotary printing press is continuously operated at the top speed as much as possible in order to improve the productivity of printed matter. Further, there is an indefinite time difference between the request time T1 and the detection time T2 in FIG. 16, and the synchronous driving device 06a must wait for the reception of the rotation phase until the time T3. When the time difference between the times T1 and T2 is 60 μs, for example, when operating at 1600 min ⁻¹ with the resolution of the equation (3), the rotational phase ΔPf transitions between the request time T1 and the detection time T2. Has a value of 37.7 as shown in the following equation (4).
ΔPf = [2 ²⁴ / (1600 min ⁻¹ ÷ 60 s)] × 60 μs × 10 ⁻⁶ = 37.7
... (4) formula

  In other words, the maximum rotation phase Pmax of the absolute encoder 082 has a large resolution such as the equation (3), but the delay corresponding to the equation (4) until the synchronous drive device 06a requests the rotation phase P to obtain the value. And real-time detection becomes difficult. This is estimated to be extremely disadvantageous for synchronous control of a shaftless rotary printing press or the like. When noise enters the communication line and acquisition of the absolute rotation phase fails, it is necessary to make a request again and wait for a time from 0.1 ms to 1 ms again.

  Next, as the rotary encoder 08a shown in FIG. 14, the hybrid encoder 083 shown in FIG. 17 is used in addition to the incremental encoder 081 shown in FIG. 15 or the absolute encoder 082 shown in FIG. The hybrid encoder 083 has functions of both an absolute encoder with a coarse resolution and an incremental encoder that outputs a SIN signal and a COS signal instead of a rectangular wave. FIG. 17 shows an outline of the hybrid encoder.

In FIG. 17- (a), the absolute encoder unit detects an absolute rotational phase with a coarse resolution of n bits from binary 0 to (n-1) bits, and the absolute rotational phase is transmitted in two-way communication 02e. Is transmitted to the synchronous drive device 06a. In the figure, the incremental encoder section outputs a SIN signal and a COS signal having a number of cycles equal to or less than 2 n per revolution from terminals S and C, which are also output to the synchronous drive device 06a through a signal line 02f.
FIG. 17- (b) illustrates one rotation phase detected by the hybrid encoder 083. FIG. In FIG. 17- (b), the upper phase value Pfh is the rotational phase of the n-bit coarse resolution output from the absolute encoder unit, and the intermediate phase value Pfm is the SIN signal and COS signal output from the incremental encoder unit. The four divisions from the first quadrant to the fourth quadrant obtained from the above are indicated by 0 to 3. The lower phase value Pfl is an m-bit rotation phase that is interpolated by changing one quadrant of the SIN signal and the COS signal from 0 degrees to 90 degrees.

Next, FIG. 18 is a diagram for visually explaining a conventional example in which a rotational phase is detected from a signal output from the hybrid encoder 083.
First, if the resolution n of the absolute encoder unit is 10 bits, that is, 1024 as an example, the upper phase value Pfh transitions in the range of 0 to 1023. At this time, for example, the SIN signal and the COS signal are signals of 1024 cycles per rotation of the hybrid encoder 083, and the upper phase value Pfh is the SIN signal and COS signal at the current position of the Pfh cycle in one rotation of the encoder 083. Indicates that

In addition, the phase within one cycle is interpolated by the SIN signal and the COS signal, and the intermediate phase value Pfm that becomes a value from 0 to 3 from the first polarity to the fourth quadrant from the mutual polarity of the SIN signal and the COS signal is obtained. obtain. Further, the SIN signal and the COS signal are A / D converted as the lower phase value Pfl, and the resolution of m bits, for example, 12 bits, that is, 4096 can be obtained by changing from 0 degrees to 90 degrees in each quadrant. At this time, a rotational phase exceeding about 16 million can be obtained from the hybrid encoder 083 as shown in the following equation (5).
P = 1024 × 4 × 4096 = 16,777,216 (5)

  Such a hybrid system using the hybrid encoder 083 has the advantages of the incremental encoder 081 and the absolute encoder 082, and the feature is that the resolution of the rotational phase of one rotation is 1 million or more. The rotation phase can be detected immediately after the power is turned on, the rotation phase can be detected in real time without any delay time, and the like. Patent Document 3 discloses an invention using the hybrid encoder.

Next, instead of the incremental virtual rotation command generator shown in Patent Document 1, when using the absolute or hybrid rotary encoder, a virtual rotation command generator corresponding to this is required. For this reason, SERCOS standardized in Europe and Patent Document 4 are published, and the present inventor has filed a Japanese Patent Application No. 2007-248586 first.
The SERCOS is a communication standard mainly for position control of a plurality of electric motors, and has been applied to synchronous control that can be called special positioning control. The SERCOS is a communication standard, and a virtual rotation command generator for generating a phase command and a rotation command must be prepared separately.

  Thus, although the SERCOS is a communication standard originally intended for position control as well as synchronous control, the Japanese Patent Application No. 2007-248586 focuses on the synchronous control of a plurality of electric motors, Invented. In Patent Document 4, an absolute rotary encoder is used for synchronous drive control of the motor, and a reference data for mechanical axis phase alignment is calculated by a virtual master of the master station 5d provided in the folding machine as a virtual rotation command generator. The invention is disclosed.

This SERCOS, Patent Document 4, and Japanese Patent Application No. 2007-248586 send phase commands and speed commands as numerical data to a synchronous drive device, and perform synchronous control in combination with the absolute or hybrid rotary encoders. It can be said that the synchronous control of the system and the synchronous control of the hybrid system.
The present invention provides a simple device for the incremental synchronous control, the absolute synchronous control, particularly the hybrid synchronous control, and when the rotary printing press starts the printing operation, the continuous paper is jammed or broken. The purpose is to quickly complete the origin alignment and shift to synchronous control.

Further, in FIG. 14, in order to perform color printing without color misregistration, the first printing machine 10a to the fourth printing machine 10d need to perform printing at intervals of an integral multiple of the circumference of the blanket cylinder, Further, in order to cut every predetermined page by the folding machine 15f, the path length of the continuous paper 04 from the folding machine 15f to the first, second, third, and fourth printing machines 10d is also blanket. Must be an integral multiple of the circumference of the trunk.
For this reason, offset adjustment (also referred to as register adjustment) has been conventionally performed, and FIG. 19 illustrates this, and those denoted by the same reference numerals as those in FIG. 14 have the same functions and description thereof is omitted. . In FIG. 19, L1 is a first path length of the continuous paper 04 from the first printing machine 10a to a cutting device (not shown) built in the folding machine 15f, and L2, L3, and L4 are also the same. The respective path lengths of the continuous paper 04 from the second printing machine 10b, the third printing machine 10c, and the fourth printing machine 10d to the cutting apparatus. Then, in order to obtain an offset adjustment amount, a remainder R1 obtained by dividing the circumference of the blanket cylinder by L0 and dividing the first path length L1 by the circumference L0 is obtained by the following equation (6).
R1 = L1% L0 (6) formula

Next, in order to set the offset adjustment amount r in the conventional synchronous drive device 06a, for example, when the remainder R1 is (circumferential length L0 / 2) or less as shown in the following equation (7), the offset adjustment amount r Is set to (-R1), and when the remainder R1 exceeds (circumferential length L0 / 2) as shown in equation (8), the phase offset adjustment amount r is corrected to (L0-R1).
if {R1 ≦ (circumference L0 / 2)}
then r = −R1 (7)
else r = (L0−R1) (8) Here, the present inventor has not found any patent document or non-patent document related to offset adjustment such as the expressions (7) and (8), but shaftless rotary printing. Adjustments corresponding to the above formulas (7) and (8) are indispensable for color printing by a printing machine having a shaft as well as a printing machine and cutting by a folding machine, which can be said to be known.

In the conventional example of FIG. 19, when the operation is started with the power of the shaftless rotary printing press turned on, the rotation phases of the respective motors are not aligned, so the origin alignment (rotation phase alignment during rotation) is first performed. In FIG. 19, the central control device 01 incorporates a virtual rotation command generation device (not shown), and performs the home alignment with the rotation command of the virtual rotation command generation device as a common target.
For this reason, first, the blanket cylinders of the first printing machine 10a to the fourth printing machine 10d are opened, the continuous paper 04 is sequentially fed to the infeed 05, and from the first printing machine 10a to the folding machine 15f. Pass the paper and set. Then, while the infeed 05, the drag 13 and the folding machine 15f are operated slowly, the origins of the printing machines 10a to 10d and the folding machine 15f are aligned while pulling the continuous paper 04 to the folding machine 15f. . When the origin adjustment is completed, each of the printing presses performs the offset adjustment of the formula (7) or (8), and then the blanket cylinder is closed and the rotary printing press increases the speed to start printing. It becomes.

Japanese Patent No. 2938844 JP 2001-309681 A JP 2006-194766 A Japanese Patent No. 3546159

The background art of synchronous control has been described above, but the problem to be solved by the present invention will be described below with reference to FIG.
In FIG. 19, the first printing machine 10a to the folding machine 15f perform the acceleration and deceleration operations with the rotation command generated by the virtual rotation command generating device built in the centralized control device 01 as the target to adjust the origin. I do. For this reason, when the folding machine 15f performs acceleration / deceleration, the continuous paper 04 is slackened or abnormally stretched between the drag roll 13 and the fourth printing machine 10d from the folding machine 15f. If the continuous paper 04 is wound around various driving rolls or guide rolls due to slackness or tension, the continuous paper 04 will be broken. At this time, it takes a long time to restore the continuous paper 04, and damage to an expensive printing roll or the like may occur.

Conventionally, in order to solve such a problem, the virtual rotation command generation device is configured to be capable of presetting the rotation phase generated by the externally applied phase, and when the origin is aligned, the rotation phase of the folding machine 15f is A method for presetting the rotation phase of the virtual rotation command generator has been proposed (for example, Japanese Patent Application No. 2007-248586).
As a result, when the origin is aligned, the folding machine 15f, on the contrary, accurately matches the rotation phase output from the virtual rotation command generator, and the origin alignment is completed without increasing or decreasing the speed. Become. In this case, however, the virtual rotation command generating device has to be prepared in advance with a high-functionality device such as one that can preset the rotation phase from the outside or one that can be cleared.

  Conventionally, in Patent Document 4, a virtual master station that calculates machine axis phase alignment reference data is provided in a folding machine, a master station is provided in each of a plurality of printing machines, and the master station of the folding machine is virtual master axis data. Is transferred to the master station of the plurality of printing presses. Therefore, it is presumed that the driving device for the folding machine and the printing machine prepares an excellent device having the function of the master station in addition to the function of driving the electric motor with high accuracy.

As described above, conventionally, in order to perform the origin alignment smoothly, the virtual rotation command generator must have a relatively complicated configuration, such as a device capable of presetting or clearing the rotation phase.
The present invention has been made based on the above circumstances, and as a virtual rotation command generation device, a device having a relatively simple configuration can be provided without using a rotation phase presettable or clearable device. An object of the present invention is to make a synchronous drive device of a plurality of printing presses and folding machines simple and compatible with the drive of synchronous control.
In addition, the folding machine pulls the continuous paper without accelerating or decelerating at the time of origin adjustment, and immediately after the origin adjustment of each printing machine is completed, it shifts to the printing operation, leading to dead time, lost paper, It is an object of the present invention to realize a synchronous control method and system that do not cause damage.
In addition, the rotary encoder attached to the motor can use any of an incremental encoder, absolute encoder, or hybrid encoder, and the offset adjustment of each printing press can be performed quickly without special time. It aims at realizing the synchronous control method and system which can transfer to a driving | operation.

In the present invention, the above problem is solved as follows.
(1) Consists of a centralized control device incorporating a virtual rotation command generation device, a plurality of sets of synchronous drive devices and motors, and a shaftless rotary printing press, and the shaftless rotary printing press includes a plurality of printing presses and folding machines. The central control device sends a rotation command composed of a phase command and a speed command generated by the virtual rotation command generation device to the synchronous drive device, and the central control device and the synchronous drive device mutually perform various sequences. Signals, control and monitoring data are transmitted and received, and the synchronous drive unit and the shaftless rotary printing press are controlled in an integrated manner. The multiple printing presses and folding machines are each provided with a synchronous drive unit and a rotary encoder. The synchronous drive device receives a rotation command output from the central control device and detects a phase command and a speed command. In addition, phase feedback and speed feedback are detected from the output of the rotary encoder, and two types of phase deviations, instantaneous phase deviation and accumulated phase deviation, are detected from the phase command and phase feedback by a phase deviation detector. Speed control and phase control are performed based on the speed feedback and the phase deviation output from the phase deviation detector, and phase adjustment based on the phase deviation is added to perform origin adjustment and synchronization control, and the speed and phase of the motor are set to the virtual In the control method of the synchronous control system that performs control so as to follow the rotation command of the rotation command generator, the folding machine and the printing press are shifted to synchronous control as follows.
The synchronous drive device of the folding machine causes the folding machine to perform a slow motion operation by speed control when phase control is off, and when the slow motion operation is stabilized, the instantaneous phase deviation immediately before shifting to the phase control is It memorize | stores as an initial phase deviation, and transfers to phase control.
Then, the folding machine initial phase deviation is output to a phase command corrector provided in the folding machine, and sent to a synchronous driving device of a plurality of printing presses. After shifting to phase control, speed control is performed based on the accumulated phase deviation. And phase control.
On the other hand, the synchronous drive device of the printing press causes the printing press to perform slow operation by speed control when phase control is off, and when the printing press synchronous drive device shifts to phase control during the slow motion, Calculates the printing press correction phase command from the phase command, the initial phase deviation of the folding machine, and the offset adjustment amount for adjusting the printing position to a predetermined position, and calculates the accumulated phase deviation from the printing press correction phase command and the printing press phase feedback. Output, perform phase control based on the accumulated phase deviation to perform origin adjustment, and then shift to synchronous control to start a printing operation.
(2) A synchronous control system according to the present invention includes a centralized control device having a built-in virtual rotation command generator, a plurality of sets of synchronous drive devices, an electric motor, and a shaftless rotary printing press. Consists of a plurality of printing machines and folding machines.
The central control device sends a rotation command composed of a phase command and a speed command generated by the virtual rotation command generation device to a synchronous drive device, and the central control device and the synchronous drive device communicate with each other various sequence signals by general-purpose communication. Control and monitoring data are transmitted and received, and the synchronous drive device and the shaftless rotary printing press are controlled in an integrated manner.
Each of the printing press and the folding machine is individually driven by an electric motor having a synchronous drive device and a rotary encoder, and the synchronous drive device receives a rotation command output from the central control device, and receives a phase command and a speed command. Phase velocity command detector for detecting commands, phase velocity FB detector for detecting phase feedback and velocity feedback from the output of the rotary encoder, and two types of phases, instantaneous phase deviation and cumulative phase deviation from the phase commands and phase feedback A phase deviation detector for detecting a deviation; and a phase control based on a phase deviation output from the phase deviation detector to a speed control based on the speed command and speed feedback, and the virtual rotation command generating device for determining the speed and phase of the motor. Control means that controls to follow the rotation command and performs home position alignment and synchronous control Provided.
And the synchronous drive device of the folding machine incorporates a folding machine initial phase deviation memory and a folding machine phase command corrector, and when shifting to synchronous control, the control means of the folding machine, when the phase control is off, The speed command is compared with the speed feedback, and the electric motor is driven according to the deviation, thereby controlling the speed and causing the folding machine to operate slowly.
The folding machine initial phase deviation memory stores the instantaneous phase deviation output from the phase deviation detector as a folding machine initial phase deviation immediately before the phase control is turned on, and the folding machine initial phase deviation is stored in the folding machine. Output to the machine phase command corrector, and sent to the synchronous drive device of a plurality of printing presses via the central control device by the general-purpose communication, when the phase control is turned on, the control means of the folding machine, Speed control and phase control are performed based on the accumulated phase deviation.
On the other hand, a synchronous drive device of a printing press includes a path length corrector and a printing press phase command corrector, and the path length corrector outputs an offset adjustment amount for adjusting the printing position to a predetermined position.
When the phase control is off, the control means of the printing press compares the speed command with the speed feedback, and performs the speed control by driving the electric motor according to the deviation, and the printing press phase command corrector is The phase command, the initial phase deviation of the folding machine, and the offset adjustment amount are input to calculate and output a printing press correction phase command, and the phase deviation detector replaces the phase command with the printing press correction phase command. And calculates the instantaneous phase deviation from the printing press phase feedback.
When phase control is turned on, the phase deviation detector calculates and outputs a cumulative phase deviation from the printing press correction phase command and printing press phase feedback instead of the phase command, and the control means of the printing press Then, after performing phase control based on the accumulated phase deviation and performing origin adjustment, the control shifts to synchronous control, and printing operation is started.
(3) In the above (2), the phase deviation detector of the folding machine and the printing machine obtains a simple phase deviation by subtracting phase feedback from the phase command when obtaining the instantaneous phase deviation. When the deviation is less than half of the resolution of the phase of one revolution, the rotational speed difference is initialized to 1. When the deviation of the simple phase deviation exceeds half of the resolution of one revolution, the rotational speed difference is initialized. (-1), and when the simple phase deviation exceeds a value obtained by inverting half the resolution of one rotation phase other than the above and is less than half of the resolution of one rotation phase, the rotation speed difference is set to 0. , And the instantaneous phase deviation is calculated by adding the simple phase deviation to the resolution of the phase of one rotation and the rotational speed difference.
Further, when obtaining the cumulative phase deviation, a phase feedback is subtracted from the phase command to obtain a simple phase deviation, and the rotation speed difference is incremented by 1 every time the phase command makes one rotation in the forward direction, Every time the phase feedback rotates in the forward direction, the rotation speed difference is decremented by 1 and updated, and the accumulated phase deviation is multiplied by the simple phase deviation to the resolution of one rotation and the rotation speed difference. Calculate by adding.
When the phase control is off, the detection of the accumulated phase deviation is paused, the rotation speed difference is initialized to detect the instantaneous phase deviation, and this is used as the phase deviation. When the phase control is on The detection of the instantaneous phase deviation is suspended, the rotation speed difference is updated, the accumulated phase deviation is detected, and this is set as the phase deviation.

In the present invention, the following effects can be obtained.
(2-1) When starting operation by turning on the power of the shaftless rotary printing press, the rotation phases of the electric motors of the folding machine are not aligned from the printing press, so the origin is adjusted first. In that case, the synchronous drive device of the folding machine according to the present invention stores the instantaneous phase deviation immediately before shifting to the phase control as the folding machine initial phase deviation, and the folding machine initial phase deviation is synchronously driven by a plurality of printing machines. In addition to the phase control, the speed control and the phase control are performed based on the accumulated phase deviation. The synchronous drive device of the printing press sets the phase command, the initial phase deviation of the folding machine, and the printing position to a predetermined position. After calculating the printing press correction phase command from the offset adjustment amount to be adjusted, calculating the cumulative phase deviation from the printing press correction phase command and the printing press phase feedback, performing phase control based on the cumulative phase deviation and performing origin adjustment Shift to synchronous control and start printing operation.
For this reason, the electric motor of the folding machine does not accelerate or decelerate for the origin adjustment, and can shift to the synchronous control, so that the continuous paper does not become jammed or broken.
(2-2) As a result, in a shaftless rotary printing press, there is no loss of paper, no loss time is generated, and damage to expensive printing rolls is prevented, and the operating rate of the rotary press improves and costs are reduced. it can.
(2-3) When realizing the item (2-1), a virtual rotation command generator having a simple function can be used.
As a result, the cost of the newly installed shaftless rotary printing press can be reduced, and the existing shaftless rotary press can be easily modified to add the function of the item (2-1). .
(2-4) Since a plurality of printing presses perform offset adjustment at the same time when performing origin adjustment, quick operation is possible when printing is started.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram for explaining the overall configuration of a synchronous control system applied to a shaftless rotary printing press using the present invention, and FIGS. 2 to 13 are diagrams for explaining an embodiment of the synchronous control system of the present invention.

1. Overall Configuration In order to facilitate the description of the present invention, the overall configuration of the synchronous control system is first shown in FIG. 1 by taking a shaftless rotary printing machine as an example, and the configuration of each device in the system of the present invention will be described.
In FIG. 1, 01 and 0101 are a centralized control device and a virtual rotation command generating device, respectively. The virtual rotation command generating device 0101 is built in the centralized control device 01 and generates and outputs a phase command Ps and a speed command Vs.
Reference numeral 02 denotes a rotation command communication path, and a rotation command composed of the phase command Ps and the speed command Vs generated by the virtual rotation command generation device 0101 is transmitted from the printing press synchronous drive device 06a described later via the rotation command communication 02. It is output to the folding machine synchronous drive device 06f. The rotation command communication 02 is performed at an early cycle such as a refresh cycle of 0.2 ms, for example.

  Reference numerals 06a, 07a, and 08a denote a printing press synchronous drive device, an electric motor, and a rotary encoder, respectively, which constitute a drive unit of the first printing press 10a. The printing press synchronous drive device 06a is a phase speed command detection device. 0601 and a phase velocity FB detection device 0602 are incorporated. The phase speed command detection device 0601 is connected to the rotation command communication path 02 to detect the phase command Ps and the speed command Vs, and the phase speed FB detection device 0602 is connected to the rotary encoder 08a through an encoder communication path 09. The printing press phase feedback Pfa and the printing press speed feedback Vfa are detected.

Similarly, 06b, 07b, and 08b are a printing press synchronous drive device, an electric motor, and a rotary encoder, respectively, which constitute a drive unit of the second printing press 10b, and 06f, 07f, and 08f are also folding machine synchronous drive devices, respectively. An electric motor and a rotary encoder, which constitute the drive unit of the folding machine 15f and have the same numbers as those of the first printing machine 10a, have the same functions as those described above and will not be described.
Reference numeral 03 denotes a general-purpose communication path such as DEVICE-NET, PROFIBUS, or OPCN1, and normal sequence signals and controls between the central control device 01 and the printing press synchronous drive device 06a to the folding machine synchronous drive device 06f. Used for sending and receiving monitoring data. The general-purpose communication path 03 has a normal cycle in which the refresh cycle exceeds 10 ms, for example.
Here, as the rotary encoders 08a to 08f, an incremental encoder, an absolute encoder, or a hybrid encoder can be used. In the following description, a case where a hybrid encoder is used will be described.
As shown in FIG. 1, the main apparatuses related to the present invention are the printing press synchronous drive devices 06a and 06b and the folding machine synchronous drive device 06f of a printing press or a folding machine.

2. Example (Configuration of Synchronous Drive Device for Printing Machine and Folding Machine)
Next, a configuration example of the embodiment of the present invention is shown in FIG.
FIG. 2 is a block diagram for explaining the configuration of the synchronous control system according to the present invention, and shows a configuration example of the synchronous control system by the printing press synchronous drive device 06a and the folding machine synchronous drive device 06f shown in FIG. Other printing press synchronous drive devices have the same functions and configurations as those of the 06a, and those given the same reference numerals in FIG. 2 as those in FIG. 1 have the same functions and will not be described.
Here, in the block diagram of FIG. 2, a thick signal line indicates a flow of numerical data (integer data or real number data) and a thin signal line indicates a flow of bit data (ON / OFF signal). The same applies to the drawings.

Next, in FIG. 2, the folding machine synchronous driving device 06f will be described first, and then the printing press synchronous driving device 06a will be described in order.
(A) Folding machine synchronous drive device In FIG. 2, the phase speed command detector 0601 incorporated in the folding machine synchronous drive device 06f outputs a phase command Ps and a speed command Vs from output terminals Ps and Vs, respectively, and the phase speed FB. A detector 0602 outputs a folding machine phase feedback Pff and a folding machine speed feedback Vff from output terminals Pff and Vff, respectively. Both 0603 and 0604 are adders / subtracters, and 0605 and 0606 are an arithmetic controller and a power converter, respectively.
The speed command Vs is added / subtracted by the folding machine speed feedback Vff and the adder / subtractor 0604 via the adder / subtractor 0603, and the calculation result is input to the calculation controller 0605. Thereby, the arithmetic controller 0605 generates a torque command and becomes a command of the power converter 0606 to drive the electric motor 07f. Thus, the folding machine synchronous drive device 06f mainly drives the electric motor 07f with the speed command Vs output from the virtual rotation command generation device 0101.

Further, in the folding machine synchronous drive device 06f, 0621, 0622, and 0623 are a communication interface, a folding machine initial phase deviation memory, and a folding machine phase command corrector, respectively, which are devices that perform phase control and are schematically shown in FIG. Details will be described with reference to FIGS. 3 to 13 described later.
The communication interface 0621 is a communication port of the general-purpose communication 03 connected to the centralized control device 01, and is used for sending and receiving normal sequence signals, control, and monitoring data. However, in the communication interface 0621 in FIG. 2 for explaining the embodiment, the folding machine initial phase deviation ΔPf10, which will be described later, is mainly represented as a device for sending to the centralized control device 01.

  The folding machine initial phase deviation memory 0622 stores and outputs a folding machine initial phase deviation ΔPf10, which will be described later, immediately before the phase control is turned on, and the ΔPf10 is output from the folding machine phase command corrector 0623 and the communication interface 0621. Is input. The folding machine phase command corrector 0623 receives the phase command Ps output from the phase velocity command detector 0601 and the folding machine initial phase deviation ΔPf10, and outputs the folding machine correction phase command Psf.

Next, reference numerals 0607 and 0608 incorporated in the folding machine synchronous drive device 06f of FIG. 2 are a phase deviation detector and a selector, respectively.
The phase deviation detector 0607 receives the folding machine correction phase command Psf and the folding machine phase feedback Pff output from the phase velocity FB detector 0602, and has two types of folding machine instantaneous phase deviation ΔPf1 and folding machine accumulated phase deviation ΔPf2. Output phase deviation.
That is, when the phase control is off, the phase deviation detector 0607 outputs the folding machine instantaneous phase deviation ΔPf1, and the folding machine instantaneous phase deviation ΔPf1 immediately before the phase control is turned on is the folding machine initial phase deviation ΔPf10. Stored in the machine initial phase deviation memory 0622.
When the phase control is on, the phase deviation detector 0607 outputs the folding machine accumulated phase deviation ΔPf2 and inputs it to the selector 0608.

  The selector 0608 inputs two data to the a terminal and the b terminal, selects one of them and outputs it to the c terminal. In the figure, the a terminal and the b terminal respectively have the folding machine accumulated phase deviation. ΔPf2 and the value 0 are input, and the phase control enable signal of 0 (phase control is OFF) or 1 (phase control is ON) is input to the s terminal as a 1-bit length value. When the phase control enable signal is 0 or 1, 0 or the folding machine accumulated phase deviation ΔPf2 is output from the c terminal, and is input to the adder / subtractor 0603. Here, in the present invention, when the phase control enable signal is 0, the phase control is expressed as OFF, and when the phase control enable signal is 1, the phase control is expressed as ON.

As described above, when the phase control is OFF, the selector 0608 outputs a value 0 and adds it to the adder / subtracter 0603. Thus, the folding machine synchronous drive unit 06f drives the electric motor 07f by speed control by the adder / subtracters 0603 and 0604, the arithmetic controller 0605, and the power converter 0606.
When the phase control is on, the selector 0608 adds the folding machine accumulated phase deviation ΔPf2 to the adder / subtractor 0603 as an output. As a result, the folding machine synchronous drive device 06f performs phase control in addition to speed control to perform origin adjustment or synchronous control.

In this way, the folding machine synchronous drive device 06f of FIG. 2 always uses speed control together even when performing phase control. This is necessary for speeding up or slowing down, continuing operation at the rated speed, or making a sudden stop while accurately aligning the rotational phases between the plurality of electric motors of the rotary printing press. That is, if the speed control is turned off and the phase control is turned on in the printing operation and the synchronous control is performed, the followability to the speed command Vs is extremely deteriorated, which is different from the positioning control by the phase control.
Here, when the phase control is performed in addition to the speed control in the description of the present invention, when the value of the folding machine accumulated phase deviation ΔPf2 is large and the printing operation is not performed, this is referred to as origin adjustment. When the value is sufficiently small for operation, it is called synchronous control.

  The characteristics of the folding machine synchronous drive device 06f of the present invention of FIG. 2 outlined above are as follows. The folding machine initial phase deviation memory 0622, the folding machine phase command corrector 0623, the phase deviation detector 0607, and the selector 0608. It is in having installed. These will be further described with reference to FIGS. 3 to 11. Before that, the outline of the printing press synchronous driving device 06a of the present invention used together with the folding machine synchronous driving device 06f in FIG. 2 of the embodiment will be described.

(B) Printing press synchronous drive device In FIG. 2, the phase velocity command detector 0601, the phase velocity FB detector 0602, the adder / subtracters 0603 and 0604, the arithmetic controller 0605, and the power converter 0606 incorporated in the printing press synchronous drive device 06 a. The phase deviation detector 0607 and the selector 0608 have the same functions as those of the device denoted by the same reference numeral in the folding machine synchronous drive device 06f.

That is, the phase speed command detector 0601 incorporated in the printing press synchronous drive device 06a outputs the phase command Ps and the speed command Vs from the output terminals Ps and Vs, respectively, and the phase speed FB detector 0602 outputs the output terminals Pfa and Vfa. Output a printing press phase feedback Pfa and a printing press speed feedback Vfa, respectively.
The speed command Vs is added / subtracted by the printing press speed feedback Vfa and the adder / subtractor 0604 via the adder / subtractor 0603, and the output is input to the arithmetic controller 0605. Thereby, the arithmetic controller 0605 generates a torque command and becomes a command of the power converter 0606 to drive the electric motor 07a. Thus, similarly to the folding machine synchronous drive device 06f, the printing press synchronous drive device 06a mainly drives the electric motor 07a with the speed command Vs output from the virtual rotation command generation device 0101.

Further, in the printing press synchronous drive device 06a of FIG. 2, reference numerals 0611, 0612, and 0613 denote a communication interface, a path length corrector, and a printing press phase command corrector, respectively. ) Or offset adjustment amount r is set according to equation (8).
The communication interface 0611 is a communication port of the general-purpose communication 03 connected to the centralized control device 01, and is used for transmission / reception of normal sequence signals, control, and monitoring data.
However, in FIG. 2 for explaining the embodiment of the present invention, the communication interface 0611 is represented as a device that mainly receives the folding machine initial phase deviation ΔPf10 via the centralized control device 01. The folding machine initial phase deviation ΔPf10 is input to the printing press phase command corrector 0613, and the printing press phase command correction device 0613 outputs the phase command Ps output from the phase speed command detector 0601 and the folding machine initial phase. The deviation ΔPf10 and the offset adjustment amount r are input and calculation is performed to output a correction phase command Psa for the first printing press.

Next, similarly to the folding machine synchronous drive device 06f, 0607 and 0608 incorporated in the printing press synchronous drive device 06a are a phase deviation detector and a selector, respectively. The phase deviation detector 0607 receives the printing press correction phase command Psa and the printing press phase feedback Pfa output from the phase velocity FB detector 0602. The printing press instantaneous phase deviation ΔPa1 and the printing press cumulative phase deviation ΔPa2 are two types. The phase deviation is output.
That is, when the phase control is off, the phase deviation detector 0607 outputs the printing press instantaneous phase deviation ΔPa1, and when the phase control is on, the phase deviation detector 0607 outputs the printing press cumulative phase deviation ΔPa2 and outputs the selector 0608. To enter.

  The selector 0608 included in the printing press synchronous drive device 06a of FIG. 2 has the same function as the selector 0608 included in the folding device synchronous drive device 06f, and is a phase control enable signal input to the s terminal. When 0 is 1, 0 is output from the terminal c, or the printing press accumulated phase deviation ΔPa2 is input to the adder / subtractor 0603.

As described above, when the phase control is OFF, the selector 0608 outputs a value 0 and adds it to the adder / subtracter 0603. Accordingly, the printing press synchronous drive device 06a drives the electric motor 07a by speed control by the adders / subtracters 0603 and 0604, the arithmetic controller 0605, and the power converter 0606.
When the phase control is on, the selector 0608 outputs the printing press accumulated phase deviation ΔPa2 and adds it to the adder / subtractor 0603. As a result, the printing press synchronous driving device 06a performs phase control in addition to speed control to perform origin adjustment or synchronous control.

  As described above, the printing press synchronous drive device 06a of FIG. 2 mainly uses speed control regardless of whether the phase control is on or off, like the folding device synchronous drive device 06f. This is necessary in order to increase or decrease the speed, continue the operation at the rated speed, or perform a sudden stop while accurately aligning the rotational phases of the plurality of electric motors in the rotary printing press. That is, if the speed control is turned off and the phase control is turned on in the printing operation and the synchronous control is performed, the followability to the speed command Vs is extremely deteriorated, which is different from the positioning control by the phase control.

The characteristics of the printing press synchronous drive device 06a of the present invention, which has been outlined above, is that a printing press phase command corrector 0613, a phase deviation detector 0607, and a selector 0608 are installed.
In the description of the present invention, when the phase control is performed in addition to the speed control, when the value of the printing press accumulated phase deviation ΔPa2 is large and the printing operation is not performed, this is referred to as origin adjustment, and the ΔPa2 is the printing operation. When the value is sufficiently small to perform the above, it is called synchronous control.

(C) Printing press synchronous drive device and folding machine synchronous drive device The outline of the synchronous drive device of the printing press and the folding machine in the synchronous control system of the present invention has been described with reference to FIG. Next, by the combination of the virtual rotation command generator 0101, the printing press synchronous drive device 06a, and the folding machine synchronous drive device 06f, the operation is started when the shaftless rotary printing press is stopped to perform the printing operation. The embodiment up to this point is as follows with reference to FIG. 1 and FIG.

(3-1) The motors of the printing machine and the folding machine that have been stopped start the slow operation in response to the speed command Vs output from the virtual rotation command generation device 0101.
(3-2) At this time, the selector 0608 of the printing press synchronous drive device 06a and the folding machine synchronous drive device 06f outputs 0 from the c terminal to turn off the phase control. Therefore, each electric motor is operated by speed control.

(3-3) In this slow operation, the phase deviation detector 0607 built in the folding machine synchronous drive device 06f detects the folding machine instantaneous phase deviation ΔPf1 by inputting the phase command Ps and the folding machine phase feedback Pff. Yes.
(3-4) Immediately before the phase control is turned on, the folding machine instantaneous phase deviation ΔPf1 is stored in the folding machine initial phase deviation memory 0622 as a folding machine initial phase deviation ΔPf10, and the communication interface 0621 and the folding To the machine phase command corrector 0623.
(3-5) The folding machine initial phase deviation ΔPf10 is transmitted from the communication interface 0621 to the synchronous drive device of each printing press (typically, the printing press synchronous drive device 06a in FIG. 2) via the central control device 01. Is done.
(3-6) On the other hand, the folding machine phase command corrector 0623 generates a folding machine correction phase command Psf by correcting the phase command Ps output from the virtual rotation command generator 0101 by the folding machine initial phase deviation ΔPf10. To do. As a result, the folding machine correction phase command Psf and the rotational phase of the rotary encoder 08f coincide with each other with high accuracy or substantially the same.
(3-7) While still operating slowly, the phase deviation detector 0607 receives the folding machine correction phase command Psf and the folding machine phase feedback Pff, initializes the rotational speed difference ΔR, and performs the folding machine instantaneous phase. Deviation ΔPf1 is detected. The rotation speed difference ΔR will be described with reference to FIG.

(3-8) The phase control is turned on after the above preparation period. When phase control is on, the phase deviation detector 0607 updates the rotational speed difference ΔR to detect the folding machine cumulative phase deviation ΔPf2, and the ΔPf2 is speed controlled by the adder / subtractor 0603 via the selector 0608. Added to the system.
(3-9) Here, in the folding machine synchronous drive device 06f, as shown in (3-6) above, the folding machine correction phase command Psf and the folding machine phase feedback Pff of the rotary encoder 08f coincide with each other with high accuracy. Therefore, the folding machine cumulative phase deviation ΔPf2 is a small value that does not hinder the printing operation.
(3-10) Therefore, the folding machine 15f shifts to the synchronous control without passing through the origin adjustment. Thus, since the electric motor 07f of the folding machine does not greatly increase or decrease the speed for the origin adjustment, the continuous paper 04 is promptly shifted to the printing operation without causing paper jam or breakage.

(3-11) The printing press synchronous drive device 06a of FIG. 2 operates the electric motor 07a at a slow speed by speed control in the item (3-2), and the printing press synchronous drive device 06a Thereafter, the following operation is performed.
(3-12) The communication interface 0611 built in the printing press synchronous drive device 06a in the slow running operation receives the folding machine initial phase deviation ΔPf10 and sends it to the printing press phase command corrector 0613.
(3-13) Then, the printing press phase command corrector 0613 simultaneously corrects the phase command Ps output from the virtual rotation command generating device 0101 by the folding machine initial phase deviation ΔPf10 and the offset adjustment amount r. A correction phase command Psa is generated.
(3-14) In this slow operation, the phase deviation detector 0607 incorporated in the printing press synchronous drive device 06a inputs the printing press correction phase command Psa and the printing press phase feedback Pfa, and the rotation speed difference ΔR. Is initialized to detect the instantaneous phase deviation ΔPa1 of the printing press.
(3-15) The phase control is turned on after the above preparation period. When the phase control is turned on, the phase deviation detector 0607 updates the rotation speed difference ΔR to detect the printing press accumulated phase deviation ΔPa2. The printing press accumulated phase deviation ΔPa2 is added to the speed control system by the adder / subtractor 0603 via the selector 0608.
(3-16) Here, when the phase control is turned on, the rotational phase of the electric motor 07a is random, and when the printing press accumulated phase deviation ΔPa2 is a large value, the first printing press 10a. Performs the origin alignment.
(3-17) When the accumulated phase deviation ΔPa2 of the printing press becomes a value that does not interfere with the printing operation, the origin adjustment is completed and the control shifts to synchronous control.
As described above, while the printing machine and the folding machine are operating or accelerating at a slow speed, the continuous paper 04 sequentially shifts to synchronous control without causing paper jam or breakage and starts printing operation.

Next, the folding machine synchronous drive device 06f of the embodiment of FIG. 2 will be described in detail with reference to FIGS. 3 to 11, and the printing press synchronous drive device 06a will be described in more detail with reference to FIG.
FIG. 3 shows a specific example of the folding machine phase command corrector 0623 and the phase deviation detector 0607 incorporated in the folding machine synchronous drive device 06f shown in FIGS. Give an explanation.

(D) Folding machine phase command corrector FIG. 3 is a diagram for explaining the details of the folding machine synchronous drive device 06f. It is the same as the one and the explanation is omitted. The folding machine phase command corrector 0623 has also been outlined in FIG. 2, and FIG. 3 further shows an example of the configuration thereof.

  The folding machine phase command corrector 0623 receives the phase command Ps and the folding machine initial phase deviation ΔPf10 and outputs a folding machine correction phase command Psf. The folding machine phase command corrector 0623 incorporates a selector 0623a and a phase corrector 0623b, the folding machine initial phase deviation ΔPf10 is input to the a terminal of the selector 0623a, and the value 0 is input to the b terminal. Is input with a phase correction enable signal.

  That is, the shaftless rotary printing machine performs a slow operation by speed control at the beginning when performing a printing operation. At this time, the phase correction enable signal is 0, and the value 0 input from the b terminal of the selector 0623a is output from the c terminal and input to the Ps2 terminal of the phase corrector 0623b. Accordingly, the phase corrector 0623b outputs the phase command Ps input from the Ps1 terminal as it is from the Ps3 terminal to be used as the folding machine correction phase command Psf.

  Then, immediately before the phase control is turned on in the shaftless rotary printing press, the phase correction enable signal becomes 1, and the folding machine initial phase deviation ΔPf10 input from the a terminal of the selector 0623a is output from the c terminal. And input to the Ps2 terminal of the phase corrector 0623b. As a result, the phase corrector 0623b corrects the folding machine initial phase deviation ΔPf10 to the phase command Ps and outputs it from the Ps3 terminal as the folding machine correction phase command Psf.

Before explaining the phase deviation detector 0607 in FIG. 3, a configuration example of the phase corrector 0623b will be described with reference to FIG. In FIG. 4, 623b1 and 623b3 are an adder / subtracter and a remainder calculator, respectively, and 623b5, 623b7, and 623b8 are a plus converter, a comparator, and a selector, respectively.
Here, as described above, the value 0 and the folding machine initial phase deviation ΔPf10 are input to the Ps2 terminal of the phase corrector 0623b when the phase correction enable signal is 0 or 1, respectively. When the value 0 is input to the Ps2 terminal, the phase command Ps input from the terminal Ps1 passes through the adder / subtractor 623b1, the remainder calculator 623b3, and the selector 623b8 as it is and is output from the Ps3 terminal to correct the folding machine. The phase command Psf is obtained. That is, the phase command Ps generated by the virtual rotation command generator 0101 is the output of the phase corrector 0623b.

On the other hand, when the phase correction enable signal of FIG. If the addition / subtraction result is 623b2 and the maximum rotation phase of the phase command Ps is Pmax, the resolution is (Pmax + 1), and the remainder calculator 623b3 obtains the remainder 623b4 by the following equation (9). Remainder 623b4 = 623b2% (Pmax + 1) (9) When the remainder 623b4 is a positive number, it passes through the selector 623b8 and is output from the terminal Ps3 as the folding machine correction phase command Psf.
When the remainder 623b4 is a negative number, the remainder 623b4 calculates a plus conversion value 623b6 converted to a positive number by the following equation (10) by the plus converter 623b5, and the plus conversion value 623b6 is input to the a terminal of the selector 623b8. Entered.
623b6 = 623b4 + (Pmax + 1) (10)

On the other hand, the remainder 623b4 is input to the comparator 623b7. The comparator 623b7, as shown in the following expressions (11) and (12), sets 1 when the remainder 623b4 is a negative number and 0 otherwise. Output to the s terminal of the selector 623b8.
if {(remainder 623b4) <0}
then 1 (11) formula
else 0 (12) Therefore, when the remainder 623b4 is a negative number, the plus conversion value 623b6 is output from the terminal c of the selector 623b8 and becomes the folding machine correction phase command Psf.

Next, FIG. 5 explains the operation of the phase corrector 0623b of FIG. 4 described above with time, and FIGS. 5- (a) and (b) show that the folding machine initial phase deviation ΔPf10 is 0 or more. 5- (c) and (d) show the operation when the folding machine initial phase deviation ΔPf10 is less than 0.
First, in FIG. 5A, the solid line indicates the phase command Ps, the dotted line indicates the addition / subtraction result 623b2 of (Ps + ΔPf10), and the phase indicated by the dotted line is above the phase indicated by the solid line. Next, in FIG. 5 (b), the solid line indicates the phase command Ps, and the dotted line indicates the output of the remainder calculator 623b3. The output of the remainder calculator 623b3 passes through the selector 623b8 and the folding machine correction phase. The command becomes Psf.

In FIG. 5 (c), the solid line is the same as the phase command Ps, and the dotted line is the addition / subtraction result 623b2 of (Ps + ΔPf10). Since ΔPf10 is a negative number, the phase indicated by the dotted line is below the phase indicated by the solid line. is there. The phase indicated by the dotted line is less than 0 from time T1 to T2, and is 0 or more from time T2 to T3. FIG. 5C also shows the output of the remainder calculator 623b3.
Next, in FIG. 5D, the solid line indicates the phase command Ps and the dotted line indicates the output of the selector 623b8. The selector 623b8 outputs the plus conversion value 623b6 from time T1 to T2, and the remainder 623b4 from time T2 to T3.

The features of the folding machine phase command corrector 0623 of the present invention have been described with reference to FIGS.
The feature is that the phase command Ps generated by the virtual rotation command generator 0101 is output as it is when the phase correction enable signal is off, and the folding machine initial phase deviation is added to the phase command Ps when the phase correction enable signal is on. The phase shift is performed by ΔPf10. Here, in order to clarify the function of the folding machine phase command corrector 0623, the phase corrector 0623b constituting the same is described with reference to FIGS.

(E) Phase deviation detector Next, the outline of the phase deviation detector 0607 constituting the folding machine synchronous drive device 06f has been described with reference to FIG. 2, but it will be further described with reference to FIG.
In FIG. 3, the phase deviation detector 0607 receives the folding machine correction phase command Psf and the folding machine phase feedback Pff output from the phase velocity FB detector 0602.
The phase deviation detector 0607 incorporates an instantaneous phase deviation detector 0607a, a cumulative phase deviation detector 0607b, and a selector 0607c, and both the instantaneous phase deviation detector 0607a and the cumulative phase deviation detector 0607b are included in the folding machine. The correction phase command Psf and the folding machine phase feedback Pff are input, and an instantaneous phase deviation ΔP1 and an accumulated phase deviation ΔP2 are output, respectively.

  The accumulated phase deviation ΔP2 and the instantaneous phase deviation ΔP1 are input to the a terminal and the b terminal of the selector 0607c of the phase deviation detector 0607, respectively, and the phase control enable signal is input to the s terminal. When the phase control enable signal is 0 or 1, the instantaneous phase deviation ΔP1 and the accumulated phase deviation ΔP2 are selected and output from the c terminal, respectively. Thus, in the present invention, two types of phase deviations are generated and used.

(F) Instantaneous phase deviation detector constituting phase deviation detector 0607 Next, a configuration example of the instantaneous phase deviation detector 0607a will be described with reference to FIG.
In FIG. 6, 607a1 is an adder / subtracter, 607a2 and 607a4 are comparators, and 607a3, 607a5, and 607a6 are selectors. Reference numeral 607a7 denotes a rotation speed difference register that stores the rotation speed difference ΔR, and reference numeral 607a8 denotes a phase deviation calculator that calculates the instantaneous phase deviation ΔP1.

First, as shown in the following equation (13), the adder / subtracter 607a1 subtracts the folding machine phase feedback Pff from the folding machine phase command Psf to generate a simple phase deviation ΔQ, and the simple phase deviation ΔQ is ( 14) As shown in the equation, it is in the range of (−Pmax) to Pmax. The simple phase deviation ΔQ is input to the comparator 607a2, comparator 607a4, and phase deviation calculator 607a8.
Simple phase deviation ΔQ = Psf−Pff (13) (−Pmax) ≦ ΔQ ≦ Pmax (14)

Then, the selector 607a6 from the comparator 607a2 initializes the rotation speed difference ΔR stored in the rotation speed register 607a7.
That is, when the rotation phase of the folding machine phase feedback Pff is delayed, the comparator 607a2 compares the following simple equation (15) with respect to the simple phase deviation ΔQ. Is output.
As a result, the selector 607a3 inputs the constant 1 from the terminal a and outputs it from the terminal c, and initializes the rotational speed difference ΔR stored in the rotational speed difference register 607a7 to 1. Here, it is obvious that (Pmax + 1) is the resolution of one rotation described in the equation (9), and ((Pmax + 1) / 2) is 180 degrees in terms of frequency.
if {ΔQ ≦ (− (Pmax + 1) / 2)}
then 607a2 outputs 1 and ΔR = 1 (15)

Further, when the folding machine phase feedback Pff is advanced, the comparator 607a4 compares the following simple expression (16) with respect to the simple phase deviation ΔQ, and when this is true, outputs 1 to the s terminal of the selector 607a5. .
As a result, the selector 607a5 inputs a constant -1 from the a terminal and outputs it from the c terminal, and initializes the rotational speed difference ΔR stored in the rotational speed difference register 607a7 to -1.
if {((Pmax + 1) / 2) <ΔQ}
then 607a4 outputs 1 and ΔR = −1 (16)

Next, when neither the expression (15) nor the expression (16) is established, the simple phase deviation ΔQ is in the range of the following expression (17), and 0 inputted from the b terminal of the selector 607a3 is the selector Through 607a5 and 607a6, the rotational speed difference ΔR stored in the rotational speed difference register 607a7 is initialized to zero.
if {(− (Pmax + 1) / 2) <ΔQ ≦ ((Pmax + 1) / 2)}
then ΔR = 0 Equation (17)

  Further, when the phase control enable signal is input to the s terminal of the selector 607a6 and the phase control enable signal is 0, the initialization of the rotational speed difference ΔR according to the equations (15) to (17) becomes effective, and the phase When the control enable signal is 1, the rotation speed difference ΔR input from the a terminal of the selector 607a6 is looped back from the c terminal, and the rotation speed difference ΔR stored in the rotation speed register 607a7 is not changed.

Regarding the setting of the rotational speed difference ΔR described above, the routes set by reference numerals (4-1) to (4-4) are shown in FIG. 6, and FIG. 7 shows the operation of the selectors 607a3, 607a5, and 607a6. This is shown in combination with the following.
(4-1) When the phase control is off and the simple phase deviation ΔQ exceeds (− (Pmax + 1) / 2) and is equal to or less than ((Pmax + 1) / 2) according to the equation (17), the rotational speed difference ΔR Is initialized to 0.
(4-2) When the phase control is off and the simple phase deviation ΔQ is equal to or smaller than (− (Pmax + 1) / 2) according to the equation (15), the rotation speed difference ΔR is initially set to 1 by the operation of the selector 607a3. (4-3) When the phase control is off and the simple phase deviation ΔQ exceeds ((Pmax + 1) / 2) according to the equation (16), the operation of the selector 607a5 sets the rotational speed difference ΔR to (− Initialize to 1).
(4-4) When the phase control is on, the rotation speed difference ΔR is not changed by the operation of the selector 607a6.

Next, the phase deviation calculator 607a8 calculates the instantaneous phase deviation ΔP1 by the following equation (18) using the rotational speed difference ΔR and the simple phase deviation ΔQ, and the value of ΔP1 is the following equation (19): It becomes the range shown in.
ΔP1 = (Pmax + 1) × ΔR + ΔQ (18) Formula (− (Pmax + 1) / 2) <ΔP1 ≦ ((Pmax + 1) / 2)
... (19) Formula

The instantaneous phase deviation detector 0607a has been described with reference to FIGS.
Next, initialization of the rotational speed difference ΔR will be described with reference to a graph showing the temporal transition of the folding machine correction phase command Psf and the folding machine phase feedback Pff in FIG.
8 (a) and 8 (b), the solid line and the dotted line represent the temporal transitions of the folding machine correction phase command Psf and the folding machine phase feedback Pff, respectively, and FIG. 8- (a) shows the folding machine phase feedback Pff. FIG. 8B illustrates the case where the folding machine phase feedback Pff is advanced.

First, in FIG. 8A, the simple phase deviation ΔQ according to the equation (13) is ΔQ (T2) at time T2 and ΔQ (T4) at time T4. Since ΔQ (T2) is a value not less than 0 and not more than ((Pmax + 1) / 2), the rotation speed difference ΔR is initialized to 0 by the term (4-1) from time T1 to T3. .
Further, since ΔQ (T4) is a value equal to or less than (− (Pmax + 1) / 2), the rotation speed difference ΔR is initialized to 1 by the term (4-2) from time T3 to T5.

Next, in FIG. 8B, the simple phase deviation ΔQ is ΔQ (T7) at time T7 and ΔQ (T9) at time T9. Since ΔQ (T7) exceeds ((Pmax + 1) / 2), the rotation speed difference ΔR is initialized to (−1) by the term (4-3) from time T6 to T8.
Further, since ΔQ (T9) is 0 or less and (− (Pmax + 1) / 2) or more, the rotation speed difference ΔR is initialized to 0 by the term (4-1) from time T8 to T10. The

The instantaneous phase deviation detector 0607a has been described with reference to FIGS. 6 to 8. In the present invention, the rotational phase difference ΔR is initialized by the instantaneous phase deviation detector 0607a when the phase control is off. It is intended to obtain the folding machine initial phase deviation ΔPf10 immediately before the phase control is turned on by always performing the detection of the instantaneous phase deviation ΔP1.
Here, in order to clearly describe the present invention, it has been shown that the instantaneous phase deviation ΔP1 is obtained by the equations (18) and (19) as related peripheral techniques. The equations (18) and (19) It should be noted that can be conventionally implemented for purposes different from the present invention.

(G) Cumulative phase deviation detector constituting phase deviation detector 0607 Next, a configuration example of the cumulative phase deviation detector 0607b will be described with reference to FIG. In FIG. 9, 607b1 is an adder / subtracter, and 607b2, 607b3, 607b4, and 607b15 are a selector, a memory that stores data Psf (-1) of the previous scan of the folding machine correction phase command Psf, an adder / subtracter, and a phase deviation, respectively. It is an arithmetic unit.
First, the adder / subtractor 607b1 generates a simple phase deviation ΔQ by subtracting the folding machine phase feedback Pff from the folding machine correction phase command Psf in the same manner as the equation (13), and the simple phase deviation ΔQ is (14). ) As shown in the formula, it is in the range of (−Pmax) to Pmax. The simple phase deviation ΔQ is input to the phase deviation calculator 607b15.
Here, the processing of FIG. 9 can be realized not only by hardware logic but also by a microprocessor, and in this description, it is intended to be constituted by a microprocessor. Then, the process of FIG. 9 is repeatedly performed with a scan time of 0.5 ms, for example.

  The folding machine correction phase command Psf and the output of the memory 607b3 are input to the terminals a and b of the selector 607b2, respectively, and 0 is normally input to the s terminal of the selector 607b2. At the end of this process, 1 is input only once. As a result, the memory 607b3 connected to the c terminal of the selector 607b2 stores the data Psf (-1) of the previous scan of the folding machine correction phase command. The adder / subtracter 607b4 subtracts the data Psf (-1) of the previous scan of the folding machine correction phase command from the folding machine correction phase command Psf, and outputs a phase command change ΔPsf per scan.

  Further, reference numerals 607b5, 607b6, and 607b7 in FIG. 9 denote a selector, a memory that stores data Pff (−1) of the previous scan of the folding machine phase feedback Pff, and an adder / subtracter, respectively. The 607b5, 607b6, and 607b7 operate in the same manner as the 607b2 to 607b4, and the adder / subtractor 607b7 outputs a phase feedback change ΔPff per scan.

Next, the comparator 607b8 to the selector 607b14 and the rotation speed register 607a7 will be described. The rotation speed register 607a7 stores the rotation speed difference ΔR using the same memory device as that shown in FIG. ing. A phase control enable signal is input to the s terminal of the selector 607b14, the rotation speed difference ΔR is input to the b terminal, and the updated rotation speed difference ΔR, which will be described later, is input to the a terminal.
When the phase control enable signal is off, 0 is input to the s terminal of the selector 607b14, and the rotational speed difference ΔR stored in the rotational speed register 607a7 passes through the c terminal from the b terminal of the selector 607b14. The value is not changed.
On the other hand, when the phase control enable signal is on, 1 is input to the s terminal of the selector 607b14, and the updated rotational speed difference ΔR passes through the c terminal from the a terminal of the selector 607b14 to pass through the rotational speed register. 607a7.

That is, the rotation speed difference ΔR stored in the rotation speed register 607a7 is initialized by the operation of FIG. 6 when the phase control enable signal is 0, and when the phase control enable signal is 1, the operation of FIG. Updated by.
Subsequently, the update of the rotational speed difference ΔR according to FIG. 9 will be further described.

9, 607b8, 607b10, and 607b11 are a comparator, a selector, and a +1 arithmetic unit, respectively. The +1 arithmetic unit 607b11 inputs the rotation speed difference ΔR, increments it by 1, and outputs it to the a terminal of the selector 607b10. . The rotational speed difference ΔR is input to the b terminal of the selector 607b10 as a loopback. The comparator 607b8 detects that the folding machine correction phase command Psf has advanced one revolution when the phase command change ΔPsf is established by comparing the following equation (20), and detects the s terminal of the selector 607b10. 1 is output.
At this time, the selector 607b10 inputs the calculation result of the +1 calculator 607b11 from the a terminal and outputs it from the c terminal, and updates the rotation speed difference ΔR stored in the rotation speed difference register 607a7.
if {ΔPsf) ≦ (− (Pmax + 1) / 2)}
then 607b8 outputs 1 and ΔR = ΔR + 1 (20)

Next, reference numerals 607b9, 607b12, and 607b13 related to the phase feedback change ΔPff are a comparator, a selector, and a −1 calculator, respectively.
The -1 calculator 607b13 receives the rotation speed difference ΔR, decrements by 1, and outputs the result. When the comparator 607b9 is established by comparing the following equation (21) with respect to the phase feedback change ΔPff, the comparator 607b9 detects that the folding machine phase feedback Pff has advanced one revolution and applies it to the s terminal of the selector 607b12. 1 is output. As a result, the selector 607b12 inputs the calculation result of the -1 calculator 607b13 from the a terminal and outputs it from the c terminal, and updates the rotation speed difference ΔR stored in the rotation speed difference register 607a7.
if {ΔPff ≦ (− (Pmax + 1) / 2)}
then 607b9 outputs 1 and ΔR = ΔR−1 (21)

  Next, when the equations (20) and (21) are not satisfied, the rotation speed difference ΔR is passed through the b terminals of the selectors 607b10 and 607b12 and stored again in the rotation speed difference register 607a7. That is, the value of the rotational speed difference ΔR is not changed.

FIG. 9 shows the route set by reference numerals (5-1) to (5-4) for the rotational speed difference ΔR described above, and the operations of the selectors 607b10, 607b12, and 607b14 in FIG. Shown in combination.
These are summarized as follows.
(5-1) When the phase control is on and the folding machine correction phase command Psf and the folding machine phase feedback Pff increase with time and both do not exceed the maximum rotational phase Pmax and are not cleared to zero, that is, the rotational speed advances. When not, the rotational speed difference ΔR is not changed.
(5-2) When the phase control is on and the folding machine correction phase command Psf increases with time, and it is detected that the folding machine correction phase command Psf exceeds the maximum rotation phase Pmax and is cleared to zero, that is, the rotation is performed once. The number difference ΔR is incremented by 1.
(5-3) When the phase control is on and the folding machine phase feedback Pff increases with time and it is detected that the folding machine phase feedback Pff exceeds the maximum rotation phase Pmax and is cleared to zero, that is, when the rotation is performed once, the rotation speed The difference ΔR is decremented by 1.
(5-4) When the phase control is off, the rotation speed difference ΔR is not changed.

The phase deviation calculator 607b15 calculates the accumulated phase deviation ΔP2 by the following equation (22).
ΔP2 = (Pmax + 1) × ΔR + ΔQ (22) Here, the value of the instantaneous phase deviation ΔP1 varies within the range shown in the equation (19), but the value of the accumulated phase deviation ΔP2 is expressed by the equation (19). It changes beyond the range shown.

The cumulative phase deviation detector 0607b has been described with reference to FIGS. Next, FIG. 11 shows a graph showing temporal transitions of the folding machine correction phase command Psf and the folding machine phase feedback Pff, and the update of the rotational speed difference ΔR will be further described.
In FIG. 11, a solid line and a dotted line represent temporal transitions of the folding machine correction phase command Psf and the folding machine phase feedback Pff, respectively. Here, if the rated rotational speed per minute of the shaftless rotary printing press is 1666 min ⁻¹ , the period of one rotation is 72 ms as shown in FIG. Times T1, T2 to T5 indicate scan times when the microprocessor performs the processing of FIG. 9, and the scan time is, for example, 0.5 ms, which is sufficient as compared with the cycle of one rotation of the shaftless rotary printing press. It is a short time.

For the folding machine correction phase command Psf shown in FIG. 11, the values at times T1, T2, and T3 are Psf (T1), Psf (T2), and Psf (T3), respectively. If the phase command change of Psf (T1) and Psf (T2) is ΔPsf (T12), the phase command change ΔPsf (T12) is a positive number with a small absolute value (− (Pmax + 1) / 2), that is, since the rotation speed of the folding machine correction phase command Psf is not advanced, the rotation speed difference ΔR is not changed according to the item (5-1).
If the phase command change of Psf (T2) and Psf (T3) is ΔPsf (T23), the phase command change ΔPsf (T23) is a negative number sufficiently smaller than (− (Pmax + 1) / 2). It is detected by the equation (20) and the term (5-2) that the rotational speed of the folding machine correction phase command Psf has advanced, and the rotational speed difference ΔR is incremented by 1.

Next, regarding the folding machine phase feedback Pff shown in FIG. 11, the values at times T3, T4, and T5 are Pff (T3), Pff (T4), and Pff (T5), respectively. If the phase feedback change of Pff (T3) and Pff (T4) is ΔPff (T34), the phase feedback change ΔPff (T34) is a positive number and larger than (− (Pmax + 1) / 2). That is, since the rotation speed of the folding machine phase feedback Pff is not advanced, the rotation speed difference ΔR is not changed according to the item (5-1).
If the phase feedback change of Pff (T4) and Pff (T5) is ΔPff (T45), the phase command change ΔPff (T45) is a negative number sufficiently smaller than (− (Pmax + 1) / 2). By detecting the advance of the rotational speed of the folding machine phase feedback Pff by the expression (21) and the term (5-3), the rotational speed difference ΔR is decremented by 1.

(H) Printing machine phase command corrector The operation of the printing machine synchronous drive device 06a and the folding machine synchronous drive device 06f according to the present invention will be described with reference to FIG. 2, and the folding machine synchronous drive device 06f will be described with reference to FIGS. Detailed explanation was given. Next, the phase control performed by the printing press synchronous drive device 06a will be supplementarily described with reference to FIG. In FIG. 12, general-purpose communication 03 and communication interface 0611 have the same functions as those described in FIG. The phase deviation detector 0607 has the same function as 0607 built in the folding machine synchronous drive device 06f described in FIG.

In FIG. 12, the communication interface 0611 is a communication port of the general-purpose communication 03 connected to the centralized control device 01, and is used for sending and receiving normal sequence signals, control, and monitoring data. However, the communication interface 0611 in FIG. 12 is mainly represented as a device that receives the folding machine initial phase deviation ΔPf10 detected by the folding machine synchronous drive device 06f via the centralized control device 01.
That is, after the phase correction enable signal is turned on, the folding machine initial phase deviation ΔPf10 is input to the printing press phase command correction unit 0613 via the communication interface 0611.

  The printing press phase command corrector 0613 receives the phase command Ps, the folding machine initial phase deviation ΔPf10, and the offset adjustment amount r output from the path length corrector 0612, and outputs the printing press corrected phase command Psa. . Next, the printing press phase command corrector 0613 includes a selector 0613a, a phase corrector 0623b, an acceleration / deceleration adjuster 0613c, and an adder / subtractor 0613d. The acceleration / deceleration adjuster 0613c outputs data that gradually increases or decreases even when input data changes suddenly, and the offset adjustment amount r is passed through the acceleration / deceleration adjuster 0613c by the adder / subtractor 0613d and the initial phase of the folding machine. Addition / subtraction with deviation ΔPf10.

  Next, the output of the adder / subtractor 0613d is input to the a terminal of the selector 0613a in FIG. 12, the value 0 is input to the b terminal, and the phase correction enable signal is input to the s terminal. That is, the shaftless rotary printing machine performs a slow operation by speed control at the beginning when performing a printing operation. At this time, the phase correction enable signal is 0, and the value 0 is output from the c terminal of the selector 0613a and input to the Ps2 terminal of the phase corrector 0623b. As a result, the phase corrector 0623b outputs the phase command Ps input from the Ps1 terminal as it is from the Ps3 terminal as the printing press correction phase command Psa.

When the shaftless rotary printing press starts a printing operation, first, a slow operation according to a speed command Vs output from the virtual rotation command generating device 0101 is started. The phase correction enable signal is set to 1 immediately before turning on the phase control. Accordingly, the folding machine synchronous drive device 06f transmits the folding machine initial phase deviation ΔPf10 to the printing press synchronous drive device 06a via the central control device 01.
Thus, the folding machine initial phase deviation ΔPf10 output from the communication interface 0611 is input to the Ps2 terminal of the phase corrector 0623b via the adder / subtractor 0613d and the selector 0613a. The phase corrector 0623b simultaneously corrects the folding machine initial phase deviation ΔPf10 and the offset adjustment amount r to the phase command Ps output from the virtual rotation command generation device 0101, and outputs the printing press correction phase command from the Ps3 terminal. Psa is output.

  Next, the phase control enable signal is turned on in the printing press synchronous drive device 06a, and the phase deviation detector 0607 calculates the accumulated printing press phase deviation ΔPa2 from the printing press correction phase command Psa and the printing press phase feedback Pfa. Detect and start home alignment and speed up. Then, when the accumulated printing press phase deviation ΔPa2 becomes sufficiently small to perform the printing operation, the origin adjustment is completed, the control shifts to the synchronous control, and the printing operation is started.

(I) Overall operation of the embodiment The configuration of the folding machine synchronous driving device 06f and the printing press synchronous driving device 06a according to the present invention has been mainly described with reference to FIGS. The overall operation of the embodiment will be described. FIG. 13 shows temporal transitions of the speed command Vs and various phases when the shaftless rotary printing press shown in FIG. 2 starts a printing operation.

First, FIGS. 13A and 13B show temporal transitions of the speed command Vs and the phase command Ps output from the virtual rotation command generation device 0101, respectively. In FIG. 13- (a), the shaftless rotary printing press starts slow operation by speed control at a slow speed Vj from time T1.
At a time T2 when the slow operation becomes stable, the central control device 01 turns on the phase correction enable signal, and the folding machine synchronous drive device 06f to the printing press synchronous drive device via the general-purpose communication 03. Command to 06a.
Thereafter, at time T3, the central control device 01 turns on the phase control enable signal, and again instructs the folding machine synchronous drive device 06f to the printing press synchronous drive device 06a via the general-purpose communication 03. Thus, from time T3, the shaftless rotary printing press performs phase control in addition to speed control, accelerates the speed, starts the printing operation, and reaches the rated speed Vmax.

Note, by way of numerical example for clarity of description, the slower motion velocity Vj etc. 40min ^-1 at a rotational speed of the electric motor, the rated speed Vmax is like 1600Min ^-1 same motor at a rotation speed. When the acceleration is continuously performed from the slow speed Vj to the rated speed Vmax, the acceleration time is 30 s to 50 s. In FIG. 13- (a), after the time T2, the phase control enable signal is turned on at a time T3 of several seconds or less.

  Corresponding to the speed command Vs shown in FIG. 13- (a), FIG. 13- (b) schematically shows the temporal transition of the phase command Ps. Then, the phase commands Ps at times T1, T2, and T4 are B1, B2, and B4, respectively, which will be referred to in the description of FIGS. 13- (c) and (d) described later.

  Next, FIG. 13- (c) shows the temporal transition of the folding machine correction phase command Psf and the folding machine phase feedback Pff simultaneously for the folding machine. That is, the folding machine correction phase command Psf is indicated by a solid line from time T1 to time T2, and the folding machine phase feedback Pff is indicated by a dotted line from time 0 to time T1, T2. After the time T2, the folding machine correction phase command Psf and the folding machine phase feedback Pff are overlapped and represented by a solid line.

In FIG. 13- (c), the folding machine correction phase command Psf and the folding machine phase feedback Pff are different from B1 and C1, respectively, at the time T1 when the slow operation is started, and the speed control is performed until the time T2. Also move substantially parallel to B2 and C2, respectively.
The folding machine initial phase deviation memory 0622 stores and outputs the difference between C2 and B2 detected immediately before time T2, that is, the folding machine initial phase deviation ΔPf10.

Next, the folding machine phase command corrector 0623 inputs the ΔPf10 and performs an operation to change the folding machine correction phase command Psf from B2 to C2 at time T2, and further from C2 to T3. , C3 and the folding machine phase feedback Pff substantially overlap with each other.
When the phase control enable signal is turned on at time T3, the folding machine 15f shifts to synchronous control without passing through the origin adjustment. During the synchronous control, for example, as shown at time T4, the folding machine correction phase command Psf changes with a difference between the phase command Ps and the folding machine initial phase deviation ΔPf10.

  Next, FIG. 13- (d) shows the temporal transition of the printing press correction phase command Psa and the printing press phase feedback Pfa simultaneously for the printing press. That is, the printing press correction phase command Psa is indicated by a solid line from time T1 to T5, the printing press phase feedback Pfa is indicated by a dotted line from time 0 to time T5, and after the time T5, the printing press correction phase command Psa and printing are performed. The machine phase feedback Pfa is represented by an overlapping solid line.

In FIG. 13- (d), the printing press correction phase command Psa and the printing press phase feedback Pfa change from the time T1 at which the slow operation starts to the time T2 at which the phase correction enable signal is turned on as shown in the figure. . Then, at time T2, the printing press phase command corrector 0613 inputs the ΔPf10 and the offset adjustment amount r to perform calculation, and the printing press correction phase command Psa is changed from B2 to D2 at time T2.
At time T3, the phase control enable signal is turned on to start phase control. However, since the accumulated phase deviation ΔP2 of the printing press at time T3 is large, the origin adjustment control is performed. Eventually, ΔP2 becomes smaller with time and shifts to synchronous control at time T5 to start the printing operation.

  As described above, the synchronous control system according to the present invention has been described with reference to FIGS. The feature is that, based on the phase command Ps generated by the virtual rotation command generator 0101, the folding machine synchronous drive device 06 f detects the folding machine initial phase deviation ΔPf 10, and the folding machine phase command corrector 0623 is used. A folding machine correction phase command Psf is generated. Thus, the folding machine 15f can shift to the synchronous control without performing the origin adjustment when starting the printing operation.

  On the other hand, the printing press synchronous drive device 06a is provided with the printing press phase command corrector 0613 to correct the folding machine initial phase deviation ΔPf10 and the offset adjustment amount r on the basis of the phase command Ps. Psa is generated. As a result, the shaftless rotary printing press according to the present invention uses the signal output from the rotary encoder 08f of the folding machine 15f as a command, while the phase command Ps generated by the stable virtual rotation command generator 0101 is actually generated. Based on the speed command Vs, a highly accurate shaftless rotary printing press was realized.

  Further, the virtual rotation command generator 0101 according to the present invention does not need to clear the generated rotation phase Ps or preset it in accordance with the rotation phase of the rotary encoder 08f of the folding machine when starting the printing operation. Thus, the virtual rotation command generation device 0101 can be a device having a simple configuration.

It is a figure explaining the whole structure of the present invention. It is a figure explaining the structure of the Example of this invention. It is a figure explaining the detail of the folding machine synchronous drive device of this invention. It is a figure explaining the structural example of the phase corrector 0623b. It is a figure explaining operation | movement of the phase corrector 0623b. It is a figure explaining the structural example of the instantaneous phase deviation detector 0607a. It is a figure explaining operation | movement of the instantaneous phase deviation detector 0607a. It is a figure explaining initialization of (DELTA) R in the instantaneous phase deviation detector 0607a. It is a figure explaining the structural example of the accumulation phase deviation detector 0607b. It is a figure explaining operation | movement of the accumulation phase deviation detector 0607b. It is a figure explaining the update of (DELTA) R in the accumulation phase deviation detector 0607b. It is a figure explaining the detail of the printing press synchronous drive device of this invention. It is a figure explaining the whole operation | movement of the Example of this invention with transition of time. It is FIG. (1) explaining the prior art example 1. FIG. It is FIG. (2) explaining the prior art example 1. FIG. It is FIG. (3) explaining prior art example 1. It is FIG. (4) explaining prior art example 1. It is a figure which explains supplementary of a hybrid encoder. It is a figure explaining the prior art example 2. FIG.

Explanation of symbols

01 Central control device 0101 Virtual rotation command generation device 02 Rotation command communication in FIGS. 1 to 13, communication line 03 in FIG. 14 General communication 04 Continuous paper 04 a Paper feed unit 05 Infeed 0601 Phase speed command detector 0602 Phase speed FB detection 0603, 0604 Adder / Subtracter 0605 Operational Controller 0606 Power Converter 0607 Phase Deviation Detector 0607a Instantaneous Phase Deviation Detector 0607b Cumulative Phase Deviation Detector 0607c Selector 0608 Selector 0611 Communication Interface 0612 Path Length Corrector 0613 Printing Machine Phase Command Corrector 0613a selector 0613c acceleration / deceleration adjuster 0613d adder / subtractor 0621 communication interface 0622 folding machine initial phase deviation memory 0623 folding machine phase command corrector 0623a selector 0623b phase corrector 06a, 06b Printing machine synchronous drive device 06f Folding machine synchronous drive device 07a, 07b Printing machine motor 07f Folding machine motor 081 Incremental encoder 082 Absolute encoder 083 Hybrid encoder 08a, 08b, 08f Rotary encoder 09 Encoder signal 10a First printing machine 10b Second Printer 10c third printer 10d fourth printer 11 dryer 12 cooling 13 drag 15f folding machine 607a1 adder / subtractor 607a2 comparator 607a3 selector 607a4 comparator 607a5, 607a6 selector 607a7 rotation speed difference register 607a8 phase deviation calculator 607b1 adder / subtractor 607b2 Selector 607b3 Memory 607b4 Adder / Subtractor 607b5 Selector 607b6 Memory 607b7 Adder / Subtractor 6 07b8, 607b9 Comparator 607b10 Selector 607b11 +1 operator 607b12 Selector 607b13 -1 Operator 607b14 Selector 607b15 Phase deviation operator 623b1 Adder / Subtractor 623b2 Addition / subtraction result 623b3 Remainder operator 623b4 Remainder 623b623 Plus converter 623b6 L2, L3, L4 Path length Pfa Printing machine phase feedback Pff Folding machine phase feedback Pmax Maximum rotational phase of rotary encoder
Ps phase command Psa used as the maximum rotation phase of the motor Printing press correction phase command Psf Folding machine correction phase command Pff (-1) Pre-scan data Psf (-1) Folding machine phase feedback Pff Folding machine correction phase command Psf Pre-scan data ΔP1 Instantaneous phase deviation ΔP2 Cumulative phase deviation ΔPa1 Printing press instantaneous phase deviation ΔPa2 Printing press cumulative phase deviation ΔPf1 Folding machine instantaneous phase deviation ΔPf2 Folding machine cumulative phase deviation ΔPf10 Folding machine initial phase deviation ΔPff Phase feedback change ΔPsf Phase command Change ΔQ Simple phase deviation ΔR Speed difference

Claims (3)

Consists of a centralized control device with a built-in virtual rotation command generator, multiple sets of synchronous drive devices and electric motors, and a shaftless rotary printing press, which is composed of a plurality of printing presses and folding machines. ,
The central control device sends a rotation command composed of a phase command and a speed command generated by the virtual rotation command generation device to the synchronous drive device, and the central control device and the synchronous drive device mutually perform various sequence signals and controls, Send and receive monitoring data, control the synchronous drive device and the shaftless rotary printing press,
The plurality of printing presses and folding machines are individually driven by an electric motor with a synchronous drive device and a rotary encoder,
The synchronous drive device receives a rotation command output from the centralized control device and detects a phase command and a speed command, and detects phase feedback and speed feedback from an output of the rotary encoder, and from the phase command and phase feedback, The phase deviation detector detects two types of phase deviation: instantaneous phase deviation and cumulative phase deviation.
The speed control and the phase control are performed based on the speed command, the speed feedback, and the phase deviation output from the phase deviation detector, and the origin adjustment and the synchronization control are performed by adding the phase control based on the phase deviation. A control method of a synchronous control system for controlling a phase so as to follow a rotation command of the virtual rotation command generator,
The synchronous drive device of the folding machine causes the folding machine to perform a slow motion operation by speed control when phase control is off, and when the slow motion operation is stabilized, the instantaneous phase deviation immediately before shifting to the phase control is Store as initial phase deviation, shift to phase control,
While outputting the initial phase deviation of the folding machine to a phase command corrector provided in the folding machine, it is sent to a synchronous drive device of a plurality of printing machines,
After shifting to phase control, perform speed control and phase control based on the accumulated phase deviation,
When the phase control is off, the synchronous driving device of the printing press causes the printing press to perform slow operation by speed control, and when the printing press synchronous driving device shifts to phase control during the slow operation, the phase command Calculating a printing press correction phase command from the initial phase deviation of the folding machine and an offset adjustment amount for adjusting the printing position to a predetermined position;
Calculate and output the accumulated phase deviation from the printing press correction phase command and the printing press phase feedback, perform phase control based on the accumulated phase deviation, perform origin adjustment, shift to synchronous control, and start printing operation A control method of a synchronous control system characterized by the above. Consists of a centralized control device with a built-in virtual rotation command generator, multiple sets of synchronous drive devices and electric motors, and a shaftless rotary printing press, which is composed of a plurality of printing presses and folding machines. ,
The central control device sends a rotation command composed of a phase command and a speed command generated by the virtual rotation command generation device to a synchronous drive device, and the central control device and the synchronous drive device communicate with each other various sequence signals by general-purpose communication. Control and monitoring data is sent and received, and the synchronous drive device and the shaftless rotary printing press are controlled and controlled.
The plurality of printing presses and folding machines are individually driven by an electric motor with a synchronous drive device and a rotary encoder,
The synchronous drive device receives a rotation command output from the centralized control device, detects a phase command and a velocity command, a phase velocity command detector, and detects a phase feedback and a velocity feedback from an output of the rotary encoder. A detector, and a phase deviation detector for detecting two types of phase deviations, an instantaneous phase deviation and a cumulative phase deviation, from the phase command and phase feedback;
The phase control based on the phase deviation output from the phase deviation detector is added to the speed control based on the speed command and speed feedback to control the speed and phase of the motor so as to follow the rotation command of the virtual rotation command generator. A synchronous drive system including a control means for performing origin adjustment and synchronous control,
The folding machine synchronous drive device includes a folding machine initial phase deviation memory and a folding machine phase command corrector,
When the phase control is off, the control unit of the folding machine compares the speed command and the speed feedback, performs the speed control by driving the electric motor according to the deviation, and performs the slow operation of the folding machine. Let
The folding machine initial phase deviation memory stores the instantaneous phase deviation output by the phase deviation detector as a folding machine initial phase deviation immediately before the phase control is turned on, and the folding machine initial phase deviation is stored in the folding machine phase. Output to the command corrector, and sent to the synchronous drive device of a plurality of printing presses via the centralized control device by the general-purpose communication,
When phase control is turned on, the control means of the folding machine performs speed control and phase control based on the accumulated phase deviation,
The synchronous drive device of the printing press includes a path length corrector and a printing press phase command corrector, and the path length corrector outputs an offset adjustment amount for adjusting the printing position to a predetermined position,
When the phase control is off, the control unit of the printing press compares the speed command and the speed feedback, and performs the speed control by driving the electric motor according to the deviation. Input the phase command, the initial phase deviation of the folding machine, and the offset adjustment amount to calculate and output the printing press correction phase command,
The phase deviation detector calculates and outputs an instantaneous phase deviation from the printing press correction phase command and printing press phase feedback instead of the phase command,
When phase control is turned on, the phase deviation detector calculates and outputs a cumulative phase deviation from the printing press correction phase command and printing press phase feedback instead of the phase command, and the control means of the printing press A synchronous control system characterized in that phase control based on cumulative phase deviation is performed to perform origin adjustment, and then the control shifts to synchronous control and starts printing operation. The phase deviation detector of the folding machine and the printing machine is
When obtaining the instantaneous phase deviation, a simple phase deviation is obtained by subtracting phase feedback from the phase command, and if the simple phase deviation is equal to or less than the value obtained by inverting the sign of half the resolution of one rotation, the rotational speed difference When the simple phase deviation exceeds half of the resolution of one rotation phase, the rotation speed difference is initialized to (-1), and the simple phase deviation has a resolution of one rotation other than the above. When the value obtained by reversing the sign of half of the phase is less than half of the resolution of the phase of one rotation, the rotation speed difference is initialized to 0,
The instantaneous phase deviation is calculated by adding the simple phase deviation to the resolution of the phase of one rotation and the difference in rotational speed,
When calculating the accumulated phase deviation, the phase feedback is subtracted from the phase command to obtain a simple phase deviation, and the rotation speed difference is incremented by 1 every time the phase command makes one rotation in the forward rotation direction. Is updated by subtracting 1 from the rotation speed difference every time the motor rotates once in the forward rotation direction,
The cumulative phase deviation is calculated by adding the simple phase deviation to the resolution of one rotation phase multiplied by the rotation speed difference,
When the phase control is off, the detection of the accumulated phase deviation is paused, the rotation speed difference is initialized to detect the instantaneous phase deviation, and this is set as the phase deviation,
3. The phase difference detection according to claim 2, wherein when the phase control is on, the detection of the instantaneous phase deviation is stopped, the rotation speed difference is updated, the accumulated phase deviation is detected, and this is used as the phase deviation. Synchronous control system.

Images