JP6152671B2 - Gravure printing machine and control method thereof - Google Patents

Description

  The present invention relates to a gravure printing machine that performs printing on a continuously conveyed web and a control method thereof.

  2. Description of the Related Art As a gravure printing machine, a printer having a plurality of (for example, three or four) printing units that perform multicolor printing on a web such as film or paper is known. In a conventional gravure printing machine as shown in Patent Document 1, registration mark detection for detecting a registration mark attached to a web by an upstream printing unit and a registration mark attached to a web by a downstream printing unit, respectively. The register controller calculates the amount of misalignment between the register mark distance between the two colors and the predetermined distance (the size of the register misalignment) from the register mark detection information by the register mark detector. In addition, the control amount of the compensator roller of each printing unit is calculated based on the tension of the web and the control amount of the compensator roller of the printing unit immediately upstream. Then, based on the calculated control amount of the compensator roller of each printing unit, the compensator roller disposed between the printing units is moved to change the web tension, thereby causing a change in the printing pitch, thereby registering printing. Control is in progress.

JP 2008-55707 A

  According to the control method of the gravure printing machine as disclosed in Patent Document 1, it is possible to improve the response performance to disturbance. However, in such a control method of the gravure printing machine, the registration error occurs at the time of acceleration with a large misregistration amount or during paper splicing and then converges within a range acceptable as a non-defective product (for example, within ± 0.1 mm). There is a problem that the time is still long.

  The present invention has been made in consideration of such points, and the misregistration is compared with the case where the control amount of the compensator roller and the operation amount of the motor are calculated using only the actual measurement value of the misregistration. An object of the present invention is to provide a gravure printing machine and a control method thereof that can converge the size of the ink to a steady state earlier.

The gravure printing machine of the present invention is provided on the downstream side of the preceding printing unit having a printing cylinder for printing on a continuously conveyed web and attaching a register mark to the web, A printing cylinder for printing a registration mark on the web and a registration mark detector provided on the downstream side of the printing cylinder for detecting a registration mark on the web, and provided on the upstream side of the printing cylinder. A plurality of subsequent printing units each having a compensator roller for registering the web sent to the plate cylinder, and the one subsequent printing on the web detected by the registration mark detector of the one subsequent printing unit. A registration mark attached by the plate cylinder of the unit, and the upstream printing unit immediately upstream of the one downstream printing unit. Alternatively, the size of the registration deviation between the registration marks attached by the plate cylinders of the other subsequent printing units is calculated for each rotation of the plate cylinder, and the registration is calculated based on the calculated size of the registration deviations. One or more at a time from when the mark is detected by the register mark detector to when the plate cylinder of each subsequent printing unit rotates once and the next register mark is detected by the register mark detector. The amount of misregistration is predicted, and the control amount of the compensator roller of one post-stage printing unit is calculated based on the calculated misregistration size and the predicted misregistration size. and a control device for adjusting the position by controlling the compensator rollers one of the subsequent printing unit based on the control amount of the compensator roller, said control The absolute value of the difference between the predicted misregistration magnitude and the misregistration magnitude calculated based on the registration mark detected by the registration mark detector immediately before predicting the misregistration magnitude. If the value is larger than a predetermined value set in advance, the control unit of the compensator roller of the one post-stage printing unit based on the predicted misregistration size is not used, and the one post-print unit The compensator roller is controlled to adjust its position .

  According to such a gravure printing machine, the plate cylinder of each subsequent printing unit rotates once after the registration mark is detected by the registration mark detector based on the actual measurement value of the past registration deviation. Predict the size of one or more misregistrations at the time until the register mark is detected by the register mark detector, and use both the predicted and measured values of the misregistration level to By calculating the control amount of the compensator roller, the amount of misregistration is converged to a steady state earlier than when the control amount of the compensator roller is calculated using only the actual measurement value of the misregistration amount. be able to.

  Further, when the calculated control amount of the compensator roller of the one succeeding printing unit exceeds a predetermined threshold value, the control device controls the compensator roller of the one succeeding printing unit. The position may be adjusted by controlling the compensator roller of one post-stage printing unit using the predetermined threshold as an amount.

The method for controlling a gravure printing machine according to the present invention includes a front-stage printing unit having a plate cylinder that applies printing to a web that is continuously conveyed and attaches a registration mark to the web, and a downstream side of the front-stage printing unit. A printing cylinder that prints on the web and applies a registration mark to the web; a registration mark detector that is provided downstream of the printing cylinder and detects a registration mark on the web; and an upstream side of the printing cylinder In the control method of the gravure printing machine, each having a plurality of subsequent printing units each having a compensator roller for registering the web fed to the plate cylinder, the registration mark detection of one of the latter printing units A registration mark attached by the plate cylinder of one post-stage printing unit on the web, detected by a container, and the one rear Calculating the size of a registration deviation between registration marks attached by the plate cylinder of the preceding printing unit or the other succeeding printing unit located immediately upstream of the printing unit for each rotation of the printing cylinder; Then, based on the calculated size of the registration deviation, the registration mark is detected by the registration mark detector, and then the plate cylinder of each of the subsequent printing units is rotated once so that the next registration mark is the registration mark detector. Predicting the magnitude of one or a plurality of misregistrations at a time until detected by the above, and based on the calculated misregistration magnitude and the predicted misregistration magnitude, A step of calculating a control amount of the compensator roller of the printing unit; and the compensator roller of one post-stage printing unit based on the calculated control amount of the compensator roller. Comprising a step of adjusting the position by controlling the Nsetarora, a, calculated on the basis of predicted and magnitude of misregistration, register marks detected by the register mark detector just prior to predict the magnitude of misregistration When the absolute value of the difference between the registered misregistration magnitudes is larger than a predetermined value set in advance, the compensator roller of the one subsequent printing unit based on the predicted misregistration magnitude Without using a control amount, the compensator roller of one post-stage printing unit is controlled to adjust its position .

  According to such a control method of the gravure printing machine, the plate cylinder of each subsequent printing unit rotates once after the registration mark is detected by the registration mark detector based on the actual measurement value of the past registration deviation. Predicts the size of one or more misregistrations at the time until the next register mark is detected by the register mark detector, and uses both the predicted and actual values of the misregistration level to By calculating the control amount of the compensator roller of the printing unit, the magnitude of the misregistration can be steadily earlier than when the control amount of the compensator roller is calculated using only the actual measurement value of the misregistration. Can be converged to.

  In addition, when the calculated control amount of the compensator roller of the one subsequent printing unit exceeds a predetermined threshold value, the predetermined amount is set as the control amount of the compensator roller of the one subsequent printing unit. The position may be adjusted by controlling the compensator roller of one post-stage printing unit using a threshold value.

The gravure printing machine of the present invention has a plate cylinder that applies printing to a web that is continuously conveyed and attaches a register mark to the web, and a motor that is connected to the plate cylinder and rotates the plate cylinder. A pre-stage printing unit; a plate cylinder provided on the downstream side of the pre-stage printing unit, for printing on the web and attaching a register mark to the web; and a register mark on the web provided on the downstream side of the plate cylinder A plurality of subsequent printing units each having a registration mark detector to be detected and a motor connected to the plate cylinder to rotate and drive the plate cylinder, and detected by the registration mark detector of one of the subsequent printing units, A registration mark attached by the plate cylinder of one of the second-stage printing units on the web, and the one immediately upstream of the one second-stage printing unit The size of the registration deviation between the registration marks attached by the plate cylinder of the step printing unit or the other subsequent stage printing unit is calculated for each rotation of the plate cylinder, and based on the calculated size of the registration deviation. The registration mark detector detects the registration mark detector, and the plate cylinder of each subsequent printing unit rotates once until the next registration mark is detected by the registration mark detector. Alternatively, a plurality of misregistration sizes are predicted, and based on the calculated misregistration size and the predicted misregistration size, the operation amount of the motor of one post-stage printing unit is calculated and calculated. is said to control the motor of the said subsequent printing unit based on the operation amount of the motor to adjust the rotational speed of the plate cylinder has, and a control unit for performing phase correction of the plate cylinder, before The control device determines a difference between the predicted size of the registration error and the size of the registration error calculated based on the registration mark detected by the registration mark detector immediately before predicting the size of the registration error. When the absolute value is larger than a predetermined value set in advance, one post-stage printing unit is not used without using the operation amount of the motor of the one post-stage print unit based on the size of the predicted misregistration. The rotational speed of the plate cylinder is adjusted by controlling the motor, and the phase of the plate cylinder is corrected .

  According to such a gravure printing machine, the plate cylinder of each subsequent printing unit rotates once after the registration mark is detected by the registration mark detector based on the actual measurement value of the past registration deviation. Predict the size of one or more misregistrations at the time until the register mark is detected by the register mark detector, and use both the predicted and measured values of the misregistration level to By calculating the amount of motor operation, the amount of misregistration can be converged to a steady state earlier than when calculating the amount of operation of the motor using only the actual measurement value of the amount of misregistration. it can.

  Further, when the calculated operation amount of the motor of the one succeeding printing unit exceeds a predetermined threshold value, the control device determines the operation amount of the motor of the one succeeding printing unit. The rotation speed of the plate cylinder may be adjusted by controlling the motor of the one subsequent printing unit using the predetermined threshold value, and the phase of the plate cylinder may be corrected.

A control method for a gravure printing machine according to the present invention comprises: a plate cylinder that prints a web that is continuously conveyed and attaches a registration mark to the web; and a motor that is connected to the plate cylinder and rotates the plate cylinder. A pre-stage printing unit, a plate cylinder provided on the downstream side of the pre-stage printing unit, for printing on the web and attaching a registration mark to the web, and provided on the web on the downstream side of the plate cylinder In the control method of a gravure printing press comprising: a registration mark detector for detecting a registration mark; and a plurality of subsequent printing units each having a motor connected to the plate cylinder and rotationally driving the plate cylinder. A registration mark which is detected by the registration mark detector of the subsequent printing unit and which is attached by the plate cylinder of the one subsequent printing unit on the web; And the amount of misregistration between the registration marks provided by the plate cylinders of the preceding printing unit or the other succeeding printing unit located immediately upstream of the one subsequent printing unit. And a registration mark is detected by the registration mark detector on the basis of the calculated size of the registration deviation, and then the plate cylinder of each of the subsequent printing units is rotated once so that the next registration mark is obtained. A step of predicting the magnitude of one or more registration deviations at a time until detection by the registration mark detector, and based on the calculated registration deviation magnitude and the predicted registration deviation magnitude; A step of calculating an operation amount of the motor of one post-printing unit, and controlling the motor of the post-printing unit based on the calculated operation amount of the motor And adjusting the rotational speed of the plate cylinder, and performing phase correction of the plate cylinder, comprising a, is detected and the magnitude of the predicted misregistration, by the register mark detector just prior to predict the magnitude of misregistration If the absolute value of the difference between the registration deviation calculated based on the registration mark is larger than a predetermined value set in advance, the one subsequent stage based on the predicted registration deviation The rotational speed of the plate cylinder is adjusted by controlling the motor of one of the subsequent printing units without using the operation amount of the motor of the printing unit, and the phase of the plate cylinder is corrected .

  According to such a control method of the gravure printing machine, the plate cylinder of each subsequent printing unit rotates once after the registration mark is detected by the registration mark detector based on the actual measurement value of the past registration deviation. Predicts the size of one or more misregistrations at the time until the next register mark is detected by the register mark detector, and uses both the predicted and actual values of the misregistration level to By calculating the operation amount of the motor of the printing unit, the amount of misregistration converges to the steady state earlier than when calculating the operation amount of the motor using only the actual measurement value of misregistration. Can be made.

  In addition, when the calculated operation amount of the motor of the one subsequent printing unit exceeds a predetermined threshold value, the predetermined threshold value is set as the operation amount of the motor of the one second printing unit. It is also possible to adjust the rotational speed of the plate cylinder by controlling the motor of the one post-printing unit used, and to perform phase correction of the plate cylinder.

  According to the gravure printing machine and its control method of the present invention, the misregistration is compared with the case where the control amount of the compensator roller and the operation amount of the motor of the subsequent printing unit are calculated using only the actual measurement value of the misregistration. Can be converged to a steady state earlier.

It is a figure which shows the structure of the line shaft type gravure printing machine by the 1st Embodiment of this invention. 3 is a flowchart showing the contents of control by the control device of the gravure printing machine shown in FIG. 1, a graph showing the relationship between time and the amount of misregistration detection, and a graph showing the relationship between time and control output. It is the flowchart which shows the control content by the control apparatus of the conventional gravure printing machine, the graph which shows the relationship between time and the detection amount of misregistration, and the graph which shows the relationship between time and control output. In the gravure printing machine and the control method thereof according to the embodiment of the present invention, a graph showing the relationship between time and infeed tension when step disturbance is applied to infeed tension in the infeed unit (FIG. 4A), 5 is a graph (FIG. 4B) showing a relationship between time and a misregistration amount. In a comparative example using a conventional gravure printing machine, a graph (FIG. 5A) showing the relationship between time and infeed tension when step disturbance is applied to infeed tension in the infeed unit, and time and register It is a graph (Drawing 5 (b)) showing the relation of deviation amount. It is a figure which shows the structure of the sectional drive type gravure printing machine by the 2nd Embodiment of this invention.

[First Embodiment]
The first embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 and FIG. 2 are views showing a first embodiment of a gravure printing machine according to the present invention. Among these, FIG. 1 is a diagram showing the configuration of the line shaft type gravure printing machine according to the present embodiment, and FIG. 2 is a flowchart showing the contents of control by the control device of the gravure printing machine shown in FIG. It is a graph which shows the relationship with the detection amount of a registration gap, and the graph which shows the relationship between time and control output.

  The gravure printing machine shown in FIG. 1 has different colors for the infeed unit 40 that applies tension to the web W such as film or paper fed in the direction of the arrow, and the web W that is conveyed from the infeed unit 40. A plurality of, for example, three printing units 10a, 10b, and 10c that perform printing, and a drive unit 20 that drives each printing unit 10a, 10b, and 10c are provided. In this case, the first printing unit 10a is a first color printing unit, the second printing unit 10b is a second color printing unit, and the third printing unit 10c is a third color printing unit. The gravure printing machine also includes a control device 30 that controls the registration of the printing units 10a, 10b, and 10c.

  The in-feed unit 40 is provided on the downstream side of the in-feed roller 41, the nip roller 43 that sandwiches the web W between the in-feed roller 41 and the in-feed roller 41, and is reciprocated in the direction of the arrow in FIG. And a dancer roller 42 which is free. A drive motor 45 that rotates the infeed roller 41 is connected to the infeed roller 41. The dancer roller 42 is connected to an air cylinder (not shown) that reciprocates the dancer roller 42 in the direction of the arrow in FIG.

  The web W sent to the infeed unit 40 is pinched between the infeed roller 41 and the nip roller 43. Further, by detecting the position of the dancer roller 42 and changing the speed of the infeed roller 41, there is a speed difference between the infeed roller 41 and a plate cylinder 11a (described later) of the first color printing unit 10a. And the tension is changed. Further, the tension of the web W can also be changed by adjusting the position of the dancer roller 42.

  The first printing unit (previous printing unit) 10a includes a printing plate cylinder 11a and an impression cylinder 12a that holds the web W between the plate cylinder 11a and performs printing, and performs printing on the web W. The plate cylinder 11a attaches a first register mark to the web W.

  The second and third printing units (back printing units) 10b and 10c have substantially the same configuration, and the web W is placed between the printing cylinders 11b and 11c and the printing cylinders 11b and 11c, respectively. There are provided impression cylinders 12b and 12c for nipping and printing. When printing is performed on the web W, the plate cylinders 11b and 11c attach second and third registration marks to the web W, respectively. In each of the printing units 10b and 10c, compensator rollers 14b and 14c are provided on the upstream side of the plate cylinders 11b and 11c. When the positions of the compensator rollers 14b and 14c change, the amount of tension applied to the web W sent to the plate cylinders 11b and 11c is adjusted to perform printing registration. The printing units 10b and 10c are further provided with registration mark detection sensors 15b and 15c that are provided on the downstream side of the plate cylinders 11b and 11c and detect registration marks on the web W, respectively. Here, the registration mark detection sensor 15b detects the first registration mark and the second registration mark on the web W, and the registration mark detection sensor 15c detects the second registration mark and the third registration mark on the web W. A mark is detected.

  The compensator rollers 14b and 14c are driven by the compensator rollers 16b and 16c connected to the compensator rollers 14b and 14c, respectively. The compensator rollers 16b and 16c will be described later. The driving of the compensator rollers 14b and 14c is controlled by a control amount signal sent from the register controller 30a of the control device 30.

  The drive unit 20 includes a line shaft 21 connected to the plate cylinders 11a, 11b, and 11c of the printing units 10a, 10b, and 10c, and a drive motor 22 that is connected to the line shaft 21 and drives the line shaft 21. ing. The drive motor 22 drives the line shaft 21 to rotationally drive the plate cylinders 11a, 11b, 11c.

  The control device 30 includes a registration controller 30a connected to the compensation motors 16b and 16c and the registration mark detection sensors 15b and 15c of the printing units 10b and 10c, and a registration deviation amount prediction unit 30b connected to the registration controller 30a. The touch panel 30c is connected to the register controller 30a and is used to input data to the register controller 30a. The registration controller 30a controls the compensation motors 16b and 16c based on signals of the registration marks on the web W detected by the registration mark detection sensors 15b and 15c. Details of the control method by the register controller 30a will be described later.

  The registration deviation amount prediction unit 30b uses the magnitude of registration deviation based on the detection information of each registration mark detected by each registration mark detection sensor 15b, 15c, calculated by the registration controller 30a, so that the registration mark is detected by each registration mark detection sensor. The size of one or a plurality of misregistrations after the plate cylinders 11b and 11c are rotated once until the next register mark is detected by the register mark detection sensors 15b and 15c after being detected by the sensors 15b and 15c. It comes to predict. Details of the method of predicting the size of the misregistration by the misregistration amount prediction unit 30b will be described later.

The touch panel 30c is configured to give a command to the register controller 30a and set the control content by the register controller 30a. Specifically, the control gain K _mn is set on the touch panel 30c as described later.

  Next, the operation of the present embodiment having such a configuration will be described.

  When the web W is conveyed to the gravure printing machine shown in FIG. 1, the web W is first sent to the infeed unit 40. In the infeed unit 40, the web W is pinched between the infeed roller 41 and the nip roller 43 of the infeed unit 40. At this time, the position of the dancer roller 42 is detected, and the tension of the web W is changed by changing the speed of the in-feed roller 41. The printing pitch of the web W is adjusted according to the magnitude of the tension applied to the web W. At this time, the magnitude of the tension applied to the web W is determined by the rotational speed of the in-feed roller 41 or the position of the dancer roller 42.

  As shown in FIG. 1, the web W sent from the infeed unit 40 is first sent to the first printing unit 10a. The web W sent to the first printing unit 10a is sandwiched between the plate cylinder 11a and the impression cylinder 12a to be printed in the first color. At this time, a first registration mark is attached to the web W by the plate cylinder 11a.

  The web W on which the first color has been printed by the first printing unit 10a is then sent to the second printing unit 10b. The tension of the web W sent to the second printing unit 10b is adjusted by the compensator roller 14b. At this time, as will be described later, the control device 30 controls the driving of the compensator 16b, and the driving of the compensator 16b changes the position of the compensator roller 14b in the direction of the arrow in FIG. It is adjusting.

  The web W is further sent to the plate cylinder 11b of the second printing unit 10b, and the web W is sandwiched between the plate cylinder 11b and the impression cylinder 12b, and the second color printing is performed. At this time, a second registration mark is attached to the web W by the plate cylinder 11b. Next, the first registration mark and the second registration mark on the web W sent from the plate cylinder 11b are respectively detected by the registration mark detection sensor 15b, and the signals of these registration marks are detected by the registration controller of the control device 30. 30a.

  The web W on which the second color printing has been performed in the second printing unit 10b is then sent to the third printing unit 10c for printing. The action of the third printing unit 10c on the web W is substantially the same as the action of the second printing unit 10b described above. That is, the register mark detection sensor 15c detects the second register mark and the third register mark on the web W sent from the plate cylinder 11c, and signals of these register marks are registered controller 30a of the control device 30. Sent to.

  Next, the control method by the control device 30 will be described in more detail with reference to FIG.

  As described above, each register mark on the web W is detected by each register mark detection sensor 15b, 15c, but only one register mark is printed on one pitch of the printed pattern corresponding to one rotation of the plate cylinders 11b, 11c. Therefore, the detection sampling of each register mark is performed every rotation of the plate cylinders 11b and 11c (STEP 1 in FIG. 2).

Then, as shown in STEP 2 of FIG. 2, the registration controller 30 a of the control device 30 includes the registration marks attached by the plate cylinders 11 b and 11 c of the printing units 10 b and 10 c and the printing units 10 b and 10 c. The size of the registration deviation between the registration marks attached by the plate cylinders 11a and 11b of the printing units 10a and 10b on the most upstream side is calculated for each of the printing units 10b and 10c. Specifically, for example, the first registration mark and the second registration mark regarding the information of the first registration mark and the second registration mark sent from the registration mark detection sensor 15b of the second printing unit 10b. By subtracting a preset setting value from the size of the interval, the size of the register deviation is calculated at a preset time interval (that is, an interval of one plate cylinder rotation). Similarly, the registration mark information sent from the registration mark detection sensor 15c of the third printing unit 10c is also subjected to the same processing, and the size of the registration deviation related to the printing unit 10c is calculated. In this embodiment, illustrating a control method by the control device 30 the magnitude e _i of misregistration between the first registration mark and the second registration mark as an example.

Next, as shown in STEP 3 of FIG. 2, the registration deviation amount prediction unit 30b calculates the magnitude of the registration deviation based on the detection information of the registration marks detected by the registration mark detection sensors 15b and 15c calculated by the registration controller 30a. (For example, using the above-described registration deviation magnitude e _i ), each plate cylinder 11b, 11c rotates once after each registration mark is detected by each registration mark detection sensor 15b, 15c. The size of one or a plurality of registration deviations until they are detected by the registration mark detection sensors 15b and 15c is predicted. Specifically, the misregistration amount prediction unit 30b first determines the current time (here, the current time means the time when the registration mark is detected by each of the registration mark detection sensors 15b and 15c). Using the size of the misregistration e _i and the size of the misregistration e _i-1 before the plate cylinder makes one revolution from the current time, according to Euler's formula, after one revolution of the plate cylinder from the current time The size of the misregistration e ′ _{i + 1} is predicted. Specifically, the magnitude e ′ _{i + 1} of the misregistration of the time after one rotation of the plate cylinder is calculated from the current time by the following equation.
e ′ _{i + 1} = e _i + (e _i −e _i−1 ) / Δt × Δt (1)

Next, the misregistration amount predicting unit 30b uses the magnitudes of misregistration e _i−1 , e _i , and e ′ _{i + 1} , at any time during one rotation of the plate cylinder, for example, the plate cylinder 11b from the current time. There is calculated by formula size e'i _{+ 1/2} the modified Euler method of misregistration when a half turn.
d = ((e _i −e _i−1 ) / Δt + (e ′ _{i + 1} −e _i ) / Δt) × Δt / 2 Equation (2)
e ′ _i + _1/2 = e _i + d Expression (3)

  In this manner, as shown in the graph showing the relationship between the time in FIG. 2 and the detected amount of registration, the registration controller 30a detects the registration at the time when each registration mark detection sensor 15b, 15c detects each registration mark. 2 when the plate cylinders 11b and 11c are rotated halfway from the actual measurement value (indicated by a white bar in the graph shown in FIG. 2) and the time when each of the registration mark detection sensors 15b and 15c detects each registration mark. Each predicted value of the size of the misregistration (indicated by a hatched bar in the graph shown in FIG. 2) is obtained.

Next, as shown in STEP 4 in FIG. 2, the register controller 30 a determines the absolute value of the difference between the predicted misregistration size e ′ _{i + 1/2} and the just-measured misregistration size e _i. Is compared with a predetermined value set in advance. Here, in the register controller 30a, for example, when 0.2 mm is preset as the predetermined value, is the value calculated by the expression | e ′ _{i + 1/2} −e _i | larger than 0.2 mm? A comparison is made of whether or not. When | e ′ _{i + 1/2} −e _i | ≦ 0.2 mm (“NO” in STEP 4 in FIG. 2), the registration controller 30a determines the size of the registration error predicted by the registration error amount prediction unit 30b. _{e'i + 1/2,} and using both the magnitude _{e i} of the actually measured misregistration immediately before, and calculates the control amount of the compensator roller 14b (STEP5 in FIG. 2). Specifically, in the registration controller 30a, the control amount V ₁ (t) of the compensator roller 14b at the time when the registration mark detection sensor 15b detects the registration mark is calculated by the following equation.
_{V 1 (t) = K 11} e i + K 12 (e i -e i-1) ··· (4)
_{Here, K 11} and _{K 12} are control gains set beforehand.

In the register controller 30a, the control amount V ₂ (t) of the compensator roller 14c at the time when the register mark detection sensor 15c detects the register mark is also calculated by the same method as the control amount V ₁ (t) of the compensator roller 14b. Is done.

Further, in the register controller 30a, the control amount V ′ ₁ (t) of the compensator roller 14b when the plate cylinder 11b rotates half way from the time when the register mark detection sensor 15b detects the register mark is calculated by the following equation.
V ′ ₁ (t) = K ₂₁ e ′ _{i + 1/2} + K ₂₂ (e ′ _{i + 1/2} −e _i ) (5)
_{Here, K 21} and _{K 22} are control gains set beforehand.

In the register controller 30a, the control amount V ′ ₂ (t) of the compensator roller 14c when the plate cylinder 11c rotates halfway from the time when the register mark detection sensor 15c detects the register mark is also the control amount V of the compensator roller 14b. It is calculated by a method similar to ' ₁ (t).

The control gains K ₁₁ , K ₁₂ , K ₂₁ , and K ₂₂ used in the above-described equations (4) and (5) can be manually input by the operator using the touch panel 30c. It has become.

Then, as shown in the graph showing the relationship between the time and the control output in FIG. 2, the register controller 30a has a control output based on the actual measurement value of the size of the register deviation as calculated by the equation (4), and the equation By alternately using the control output based on the predicted value of the size of misregistration as calculated in (5), the compensator rollers 14b and 14c are controlled by giving instructions to the compensator motors 16b and 16c (see FIG. 2 STEP7). Specifically, when the registration mark detection sensors 15b and 15c detect the registration marks and the actual measurement value of the registration error is detected, the registration controller 30a calculates the compensator roller calculated by the equation (4). Control amounts V ₁ (t) and V ₂ (t) of 14b and 14c are input to the compensation motors 16b and 16c, respectively (see the white bars in the graph showing the relationship between the time and the control output in FIG. 2). Thereafter, at any timing during one rotation of the plate cylinders 11b and 11c (specifically, when the plate cylinders 11b and 11c are rotated halfway), the register controller 30a calculates the compensator roller 14b calculated by Expression (5). , 14c, control amounts V ′ ₁ (t) and V ′ ₂ (t) are input to the compensator motors 16b and 16c, respectively (see the shaded bars in the graph showing the relationship between time and control output in FIG. 2).

As described above, in the present embodiment, the control output based on the actual measurement value of the misregistration as calculated by the equation (4) (specifically, the control amount V ₁ (t of the compensator rollers 14b and 14c) ), V ₂ (t)) as well as a control output based on a predicted value of the magnitude of misregistration as calculated by equation (5) (specifically, the control amount V ′ of the compensator rollers 14b and 14c) ₁ (t), V ′ ₂ (t)) is also used, so that each of the finer compensator rollers 14b and 14c can be compared with a case where only the control output based on the actual measurement value of the misregistration is used. Control can be performed. That is, when only the control output based on the actual measurement value of the misregistration is used, only the actual measurement value of the misregistration detected every rotation of the plate cylinder is used. When it is impossible to respond to changes in the size of misregistration during rotation, but both control output based on the actual value of misregistration and control output based on the predicted value of misregistration are used Therefore, it is possible to cope with a change in the size of the registration error during one rotation of the plate cylinders 11b and 11c, and the size of the registration error is earlier in the latter case than in the former case. It becomes possible to converge to a steady state.

When the absolute value of the difference between the predicted misregistration size e ′ _{i + 1/2} and the just-measured misregistration size e _i is larger than a predetermined value ( In STEP 4 of FIG. 2 (“YES”), the registration controller 30a does not use the size of the registration error e ′ _{i + 1/2} predicted by the registration error amount prediction unit 30b, and the size of the registration error measured immediately before. It calculates a control amount of the compensator roller 14b using only e _i (STEP6 in FIG. 2). That is, when the difference between the predicted misregistration size e ′ _{i + 1/2} and the just-measured misregistration size e _i is large (in other words, | e ′ _{i + 1/2} − (if e _i |> 0.2 mm), if this estimated misregistration size e ′ _{i + 1/2} is used as it is, the hunting phenomenon in the control of the compensator rollers 14b and 14c by the register controller 30a May occur, and the misalignment convergence may deteriorate. In such a case, the control amounts of the compensator rollers 14b and 14c are calculated using only the actually measured misregistration magnitude e _i without using the predicted misregistration magnitude e ′ _{i + 1/2.} This prevents the occurrence of the hunting phenomenon.

  Next, FIG. 3 shows the control contents of a conventional gravure printing machine as a comparison with the present embodiment. FIG. 3 is a flowchart showing the contents of control by the control device of the conventional gravure printing machine, a graph showing the relationship between the time and the amount of misregistration detection, and a graph showing the relationship between the time and the control output.

  As shown in FIG. 3, also in the control method of the conventional gravure printing machine, the detection sampling of each registration mark by each registration mark detection sensor 15b, 15c is performed every rotation of the plate cylinders 11b, 11c. (STEP 1 in FIG. 3).

  Then, as shown in STEP 2 of FIG. 3, the registration controller 30 a of the control device 30 includes the registration marks attached by the plate cylinders 11 b and 11 c of the printing units 10 b and 10 c and the printing units 10 b and 10 c. The size of the registration deviation between the registration marks attached by the plate cylinders 11a and 11b of the printing units 10a and 10b on the most upstream side is calculated for each of the printing units 10b and 10c. Here, as shown in the graph showing the relationship between the time of FIG. 3 and the detected amount of misregistration, the size of the misregistration is calculated for each rotation of the plate cylinders 11b and 11c.

  In the conventional control method of the gravure printing machine, as shown in STEP 3 of FIG. 3, the control amount of each compensator roller 14b, 14c is calculated using only the actual measurement value of the misregistration size. Here, since the size of the misregistration is calculated every rotation of the plate cylinders 11b and 11c, the control amounts of the compensator rollers 14b and 14c are also calculated every rotation of the plate cylinders 11b and 11c (FIG. 3). (See the graph showing the relationship between time and control output at The register controller 30a controls each of the compensator rollers 14b and 14c by using the control amount of each of the compensator rollers 14b and 14c thus calculated for each rotation of the plate cylinder (see FIG. 3). (Step 4).

  In the control method of the conventional gravure printing machine as shown in FIG. 3, since only the actual measurement value of the registration deviation detected every rotation of the plate cylinder is used, the registration during the rotation of the plate cylinders 11b and 11c is performed. There is a problem that it is impossible to cope with a change in the magnitude of the deviation. For this reason, compared with the control method by the control apparatus of the gravure printing machine of this embodiment as shown in FIG. 2, there is a possibility that the time required to converge the size of the registration error to the steady state may be increased. .

As described above, according to the gravure printing machine and the control method thereof according to the present embodiment, the size of the misregistration e _i is calculated for each rotation of the plate cylinder, and the past misregistration sizes e _i and e _i are calculated. ₋₁ , after the registration mark is detected by the registration mark detection sensors 15b and 15c, the plate cylinders 11b and 11c of the printing units 10b and 10c are rotated once, and the next registration mark is detected by the registration mark detection sensor 15b. , the magnitude of misregistration at time e'i _{+ 1/2} between before detection predicted by 15c, the size of the size e _i and predicted misregistration calculated misregistration e'i _{+ 1/2} based on each of the printing units 10b, 10c of the compensator roller 14b, the control amount of 14c (specifically, the control amount _{V 1 (t), V 2} (t), V'1 (t), V'2 ( t) Is calculated, the compensator roller 14b which is calculated, so as to adjust its position to control the printing units 10b based on the control amount of the 14c, 10c of the compensator roller 14b, a 14c. Thus, the control output (compensator rollers 14b, 14c of the controlled variable _{V 1 (t), V 2} (t)) based on the measured value _{e i} in the size of misregistration as well, prediction of the magnitude of misregistration Since the control output based on the value e ′ _{i + 1/2} (the control amounts V ′ ₁ (t) and V ′ ₂ (t) of the compensator rollers 14b and 14c) is also used, the control based on the actual measurement value of the misregistration is used. Compared with the case where only the output is used, the finer control of the compensator rollers 14b and 14c can be performed. That is, when only the control output based on the actual measurement value of the misregistration is used, only the actual measurement value of the misregistration detected every rotation of the plate cylinder is used. When it is impossible to respond to changes in the size of misregistration during rotation, but both control output based on the actual value of misregistration and control output based on the predicted value of misregistration are used Therefore, it is possible to cope with a change in the size of the registration error during one rotation of the plate cylinders 11b and 11c, and the size of the registration error is earlier in the latter case than in the former case. It becomes possible to converge to a steady state.

Further, in the gravure printing machine and the control method thereof according to the present embodiment, as described above, each of the registration marks immediately before the predicted size of the misregistration e ′ _{i + 1/2} and the size of the misregistration are predicted. detecting sensor 15b, the absolute value of the difference between the magnitude _{e i} misregistration calculated based on the register mark detected by _{15c (= | e'i + 1} /2 -e i |) are set in advance is greater than the predetermined value, the predicted misregistration magnitude _{e'i + 1/2} based on each of the printing units 10b, 10c of the compensator roller 14b, the control amount of _{14c V'1 (t), V'} 2 Without using (t), the compensator rollers 14b and 14c of the printing units 10b and 10c are controlled to adjust their positions. As a result, it is possible to prevent the occurrence of a hunting phenomenon that deteriorates the convergence of misregistration.

  Note that the gravure printing machine and the control method thereof according to the present embodiment are not limited to the above-described aspects, and various changes can be made.

  For example, the method of predicting the size of the misregistration by the misregistration amount predicting unit 30b is limited to a method using the Euler method formula or the modified Euler method formula as shown in the above formulas (1) to (3). It will never be done. Various methods other than the above-described method can be used as a method of predicting the size of the misregistration by the misregistration amount prediction unit 30b.

  Further, the prediction of the registration error amount by the registration error amount prediction unit 30b is not limited to that at the time after the plate cylinders 11b and 11c have made a half rotation after the registration mark detection sensors 15b and 15c detect the registration mark. The registration deviation amount prediction unit 30b detects the registration mark by detecting that the registration marks are detected by the registration mark detection sensors 15b and 15c and then the plate cylinders 11b and 11c of the printing units 10b and 10c are rotated once. You may predict the magnitude | size of the registration gap in arbitrary time until it detects by sensor 15b, 15c. Here, the size of the registration error predicted by the registration error amount prediction unit 30b may be more than one for the actual measurement value of the registration error.

In the register controller 30a, the control amounts (specifically, control amounts V ₁ (t), V, V) of the compensator rollers 14b, 14c of the printing units 10b, 10c calculated in the steps shown in STEP 5 and STEP 6 in FIG. _{When 2} (t), V ′ ₁ (t), V ′ ₂ (t)) exceed a predetermined threshold value, the control amount of the compensator rollers 14b and 14c is calculated by the register controller 30a. The compensator rollers 14b and 14c may be controlled using the predetermined threshold value instead of the value to adjust the position. Specifically, in the register controller 30a, when the upper limit value a and the lower limit value b of the control amounts of the compensator rollers 14b and 14c of the printing units 10b and 10c are set, the measured value of the magnitude of the registration deviation. Control output based on e _i (control amounts V ₁ (t), V ₂ (t) of the compensator rollers 14b and 14c) and control output based on the predicted value e ′ _{i + 1/2 of the} misregistration (compensator roller 14b , 14c when the control amounts V ′ ₁ (t), V ′ ₂ (t)) exceed the upper limit value a or fall below the lower limit value b, the upper limit values a as control amounts of the compensator rollers 14b, 14c And the lower limit b is used to control the compensator rollers 14b and 14c. Thus, by filtering the control amounts of the compensator rollers 14b and 14c, it is possible to prevent the occurrence of a hunting phenomenon that deteriorates the convergence of misregistration.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to the drawings. FIG. 6 is a diagram showing a configuration of a sectional drive type gravure printing machine according to the present embodiment.

  The gravure printing machine shown in FIG. 6 has different colors for the infeed unit 140 that applies tension to the web W such as film or paper fed in the direction of the arrow and the web W that is conveyed from the infeed unit 140. A plurality of, for example, three printing units 110a, 110b, and 110c that perform printing are provided. In this case, the first printing unit 110a is a first color printing unit, the second printing unit 110b is a second color printing unit, and the third printing unit 110c is a third color printing unit. The gravure printing machine includes a control device 130 that controls the registration of the printing units 110a, 110b, and 110c.

  The infeed unit 140 is provided on the downstream side of the infeed roller 141, the nip roller 143 that sandwiches the web W between the infeed roller 141 that rotates and the infeed roller 141, and reciprocates in the direction of the arrow in FIG. And a dancer roller 142 which is free. A drive motor 145 that rotates the infeed roller 141 is connected to the infeed roller 141. The dancer roller 142 is connected to an air cylinder (not shown) that reciprocates the dancer roller 142 in the direction of the arrow in FIG.

  The web W sent to the infeed unit 140 is pinched between the infeed roller 141 and the nip roller 143. Further, by detecting the position of the dancer roller 142 and changing the speed of the infeed roller 141, there is a speed difference between the infeed roller 141 and a plate cylinder 111a (described later) of the first color printing unit 110a. And the tension is changed. Also, the tension of the web W can be changed by adjusting the position of the dancer roller 142.

  The first printing unit (previous printing unit) 110a is connected to the printing cylinder 111a, the impression cylinder 112a that holds the web W between the printing cylinder 111a, and the printing cylinder 111a. And a motor 113a that rotationally drives the plate cylinder 111a. When printing is performed on the web W, the plate cylinder 111a attaches a first registration mark to the web W.

  The second and third printing units (rear printing units) 110b and 110c have substantially the same configuration, and the web W is placed between the printing cylinders 111b and 111c and the printing cylinders 111b and 111c, respectively. The pressure cylinders 112b and 112c for sandwiching and printing are connected to the plate cylinders 111b and 111c, respectively, and the motors 113b and 113c for rotating the plate cylinders 111b and 111c and the motor rotation speeds of the motors 113b and 113c are adjusted. Servo drivers 117b and 117c are provided. When printing is performed on the web W in each of the printing units 110b and 110c, the plate cylinders 111b and 111c attach second and third registration marks to the web W, respectively.

  Each of the printing units 110b and 110c further includes registration mark detection sensors 115b and 115c that are provided on the downstream side of the plate cylinders 111b and 111c and detect registration marks on the web W, respectively. Here, the registration mark detection sensor 115b detects the first registration mark and the second registration mark on the web W, and the registration mark detection sensor 115c detects the second registration mark and the third registration mark on the web W. A mark is detected.

  The control device 130 includes a registration controller 130a connected to the servo drivers 117b and 117c and the registration mark detection sensors 115b and 115c of the printing units 110b and 110c, and a registration deviation amount prediction unit 130b connected to the registration controller 130a. The touch panel 130c is connected to the register controller 130a and is used to input data to the register controller 130a. The registration controller 130a controls the servo drivers 117b and 117c based on signals of the registration marks on the web W detected by the registration mark detection sensors 115b and 115c. Details of the control method by the register controller 130a will be described later.

  The registration deviation amount prediction unit 130b uses the magnitude of registration deviation based on the detection information of each registration mark detected by each registration mark detection sensor 115b and 115c, calculated by the registration controller 130a, so that the registration mark is detected by each registration mark detection sensor. The size of one or a plurality of registration deviations after the plate cylinders 111b and 111c are rotated once until the next registration mark is detected by the registration mark detection sensors 115b and 115c after the detection by the 115b and 115c. It comes to predict. Details of the method of predicting the size of the misregistration by the misregistration amount prediction unit 130b will be described later.

The touch panel 130c is configured to give a command to the register controller 130a and set the control content by the register controller 130a. Specifically, the control gain L _mn is set on the touch panel 130c as described later.

  Next, the operation of the present embodiment having such a configuration will be described.

  When the web W is conveyed to the gravure printing machine shown in FIG. 6, the web W is first sent to the infeed unit 140. In the infeed unit 140, the web W is pinched between the infeed roller 141 and the nip roller 143 of the infeed unit 140. At this time, the position of the dancer roller 142 is detected, and the tension of the web W is changed by changing the speed of the infeed roller 141. The printing pitch of the web W is adjusted according to the magnitude of the tension applied to the web W. At this time, the magnitude of the tension applied to the web W is determined by the rotational speed of the in-feed roller 141 or the position of the dancer roller 142.

  As shown in FIG. 6, the web W sent from the infeed unit 140 is first sent to the first printing unit 110a. At this time, the plate cylinder 111a is rotationally driven by the motor 113a, and the web W sent to the first printing unit 110a is sandwiched between the rotationally driven plate cylinder 111a and the impression cylinder 112a, and the first color Is printed. At this time, a first registration mark is attached to the web W by the plate cylinder 111a.

  The web W on which the first color has been printed by the first printing unit 110a is then sent to the second printing unit 110b. At this time, the plate cylinder 111b is rotationally driven by the motor 113b, and the web W sent to the first printing unit 110b is sandwiched between the plate cylinder 111b and the impression cylinder 112b that are rotationally driven, and the second color. Is printed. At this time, a second registration mark is attached to the web W by the plate cylinder 111b.

  Next, the first registration mark and the second registration mark on the web W sent from the plate cylinder 111b are respectively detected by the registration mark detection sensor 115b, and signals of these registration marks are detected by the registration controller of the control device 130. 130a.

  The web W that has been printed with the second color in the second printing unit 110b is then sent to the third printing unit 110c for printing. The action of the third printing unit 110c on the web W is substantially the same as the action of the second printing unit 110b described above. That is, the registration mark detection sensor 115c detects the second registration mark and the third registration mark on the web W sent from the plate cylinder 111c, respectively, and signals of these registration marks are used as the registration controller 130a of the control device 130. Sent to.

  Here, as described above, the plate cylinders 111b and 111c of the printing units 110b and 110c are driven to rotate by the corresponding motors 113b and 113c, respectively, but the motor rotation speeds of the motors 113b and 113c are the servo drivers 117b and 117c. Are adjusted respectively. At this time, the servo drivers 117b and 117c respectively detect the actual motor rotation speeds of the motors 113b and 113c detected by pulse generators (not shown) provided in the motors 113b and 113c, respectively. The magnitude of the motor drive current sent to each of the motors 113b and 113c is adjusted so as to approach the target motor rotation speed calculated by 130a.

  Next, a control method by the control device 130 will be described in detail below.

  As described above, each registration mark detection sensor 115b, 115c detects each registration mark on the web W, but only one registration mark is printed on one pitch of the printed pattern corresponding to one rotation of the plate cylinders 111b, 111c. Therefore, the detection sampling of each register mark is performed every rotation of the plate cylinders 111b and 111c.

Then, the register controller 130a of the control device 130 includes the register marks attached by the plate cylinders 111b and 111c of the printing units 110b and 110c, and the printing unit 110a immediately upstream of the printing units 110b and 110c. , 110b, the size of the registration deviation between the registration marks attached by the plate cylinders 111a and 111b is calculated for each of the printing units 110b and 110c. Specifically, for example, regarding the information of the first registration mark and the second registration mark sent from the registration mark detection sensor 115b of the second printing unit 110b, these first registration mark and second registration mark. By subtracting a preset setting value from the size of the interval, the size of the register deviation is calculated at a preset time interval (that is, an interval of one plate cylinder rotation). Similarly, the registration mark information sent from the registration mark detection sensor 115c of the third printing unit 110c is also subjected to the same processing, and the size of the registration deviation related to the printing unit 110c is calculated. In this embodiment, illustrating a control method by the control device 130 the magnitude e _i of misregistration between the first registration mark and the second registration mark as an example.

Next, the registration error amount prediction unit 130b calculates the size of the registration error (for example, the size of the registration error described above) based on the detection information of the registration marks detected by the registration mark detection sensors 115b and 115c calculated by the registration controller 130a. E _i ), after each registration mark detection sensor 115b, 115c detects the registration mark, each plate cylinder 111b, 111c rotates once, and the next registration mark is detected by each registration mark detection sensor 115b, 115c. Predict the magnitude of one or more misregistrations in the meantime. Specifically, the misregistration amount prediction unit 130b first determines the current time (here, the current time means the time when the registration mark is detected by each of the registration mark detection sensors 115b and 115c). Using the size of the misregistration e _i and the size of the misregistration e _i-1 before the plate cylinder makes one revolution from the current time, according to Euler's formula, after one revolution of the plate cylinder from the current time The size of the misregistration e ′ _{i + 1} is predicted. Specifically, the magnitude e ′ _{i + 1} of the misregistration of the time after one rotation of the plate cylinder is calculated from the current time by the following equation.
e ′ _{i + 1} = e _i + (e _i −e _i−1 ) / Δt × Δt (6)

Next, the misregistration amount prediction unit 130b uses the magnitudes of misregistration e _i−1 , e _i , and e ′ _{i + 1,} and an arbitrary time during one rotation of the plate cylinder, for example, the plate cylinder 111b from the current time. There is calculated by formula size e'i _{+ 1/2} the modified Euler method of misregistration when a half turn.
d = ((e _i −e _i−1 ) / Δt + (e ′ _{i + 1} −e _i ) / Δt) × Δt / 2 (7)
e ′ _i + _1/2 = e _i + d (8)

  In this way, in the register controller 130a, the actual value of the size of the register deviation at the time when each register mark detection sensor 115b, 115c detects each register mark, and each register mark detection sensor 115b, 115c stores each register mark. From the detected time, predicted values of the size of misregistration when the plate cylinders 111b and 111c are rotated halfway are obtained.

Next, the register controller 130a determines that the absolute value of the difference between the predicted misregistration size e ′ _{i + 1/2} and the just-measured misregistration size e _i from a predetermined value set in advance. Is also compared. Here, in the register controller 130a, for example, when 0.2 mm is preset as the predetermined value, is the value calculated by the expression | e ′ _{i + 1/2} −e _i | larger than 0.2 mm? A comparison is made of whether or not. When | e ′ _{i + 1/2} −e _i | ≦ 0.2 mm, the registration controller 130a determines the size of the registration e ′ _{i + 1/2} predicted by the registration amount prediction unit 130b, and the actual measurement immediately before. using both magnitude e _i of been misregistration, and calculates the operation amount of the motor 113b. More specifically, in the register controller 130a, the operation amount ω ₁ (t) of the motor 113b at the time when the register mark detection sensor 115b detects the register mark is calculated by the following equation.
ω ₁ (t) = L ₁₁ e _i + L ₁₂ (e _i −e _i−1 ) (9)
Here, L ₁₁ and L ₁₂ are preset control gains.

In the register controller 130a, the operation amount ω ₂ (t) of the motor 113c at the time when the registration mark detection sensor 115c detects the registration mark is also calculated by the same method as the operation amount ω ₁ (t) of the motor 113b. .

Further, in the register controller 130a, the operation amount ω ′ ₁ (t) of the motor 113b when the plate cylinder 111b rotates half way from the time when the register mark detection sensor 115b detects the register mark is calculated by the following equation.
ω ′ ₁ (t) = L ₂₁ e ′ _{i + 1/2} + L ₂₂ (e ′ _{i + 1/2} −e _i ) (10)
Here, L ₂₁ and L ₂₂ are control gains set in advance.

In the register controller 130a, the operation amount ω ′ ₂ (t) of the motor 113c when the plate cylinder 111c rotates halfway from the time when the registration mark detection sensor 115c detects the registration mark is also the operation amount ω ′ _{1 of the} motor 113b. It is calculated by the same method as (t).

All or part of the control gains L ₁₁ , L ₁₂ , L ₂₁ , and L ₂₂ used in the above-described equations (9) and (10) can be manually input by the operator using the touch panel 130c. It has become.

Then, the register controller 130a generates the control output based on the actual measurement value of the registration error as calculated by the equation (9) and the predicted value of the registration error as calculated by the equation (10). The target motor rotation speeds of the motors 113b and 113c are calculated by alternately using the control outputs based on them. In this way, the register controller 130a determines each printing unit 110b based on the operation amounts ω ₁ (t), ω ₂ (t), ω ′ ₁ (t), and ω ′ ₂ (t) of the motors 113b and 113c. , 110c motors 113b and 113c are controlled to adjust the rotational speed of the plate cylinders 111b and 111c, and the phase of each of the plate cylinders 111b and 111c is corrected. Specifically, when the registration mark detection sensors 115b and 115c detect the registration marks and the actual measurement value of the registration deviation is detected, the registration controller 130a detects the motor 113b calculated by Expression (9). , 113c are input to the servo drivers 117b and 117c, respectively, ω ₁ (t) and ω ₂ (t). Thereafter, at any timing during one rotation of the plate cylinders 111b and 111c (specifically, when the plate cylinders 111b and 111c are half-rotated), the register controller 130a includes a motor 113b calculated by Expression (10), The operation amounts ω ′ ₁ (t) and ω ′ ₂ (t) of 113c are input to the servo drivers 117b and 117c.

Thus, in the present embodiment, the control output based on the actual measurement value of the misregistration as calculated by Expression (9) (specifically, the operation amount ω ₁ (t) of the motors 113b and 113c). , Ω ₂ (t)) as well as a control output based on a predicted value of the magnitude of the misregistration as calculated by Expression (10) (specifically, the operation amount ω ′ ₁ ( t) and ω ′ ₂ (t)) are also used, so that the motors 113b and 113c are more finely controlled as compared with the case of using only the control output based on the actual measurement value of the misregistration. be able to. That is, when only the control output based on the actual measurement value of the misregistration is used, only the actual measurement value of the misregistration detected every rotation of the plate cylinder is used. When it is impossible to respond to changes in the size of misregistration during rotation, but both control output based on the actual value of misregistration and control output based on the predicted value of misregistration are used Therefore, it is possible to cope with a change in the size of the registration error during one rotation of the plate cylinders 111b and 111c, and the size of the registration error is earlier in the latter case than in the former case. It becomes possible to converge to a steady state.

In the case where the absolute value of the difference between the predicted misregistration size e ′ _{i + 1/2} and the just-measured misregistration size e _i is larger than a predetermined value, The registration controller 130a operates the motor 113b using only the registration deviation magnitude e _i measured immediately before without using the registration deviation magnitude e ′ _{i + 1/2} predicted by the registration deviation prediction section 130b. Calculate the amount. That is, when the difference between the predicted misregistration size e ′ _{i + 1/2} and the just-measured misregistration size e _i is large (in other words, | e ′ _{i + 1/2} − (when e _i |> 0.2 mm), if this predicted misregistration size e ′ _{i + 1/2} is used as it is, a hunting phenomenon occurs in the control of the motors 113b and 113c by the register controller 130a. May occur and the convergence of misregistration may deteriorate. In such a case, the operation amount of the motor 113b is calculated using only the actually measured misregistration magnitude e _i without using the predicted misregistration magnitude e ′ _{i + 1/2} . Prevents hunting phenomenon.

As described above, according to the gravure printing machine and the control method thereof according to the present embodiment, the size of the misregistration e _i is calculated for each rotation of the plate cylinder, and the past misregistration sizes e _i and e _i are calculated. ₋₁ , after the registration mark is detected by the registration mark detection sensors 115b and 115c, the plate cylinders 111b and 111c of the printing units 110b and 110c are rotated once, and the next registration mark is detected by the registration mark detection sensor 115b. 115c, the size of the misregistration e ′ _{i + 1/2} at the time until detection by 115c is predicted, and the calculated misregistration size e _i and the predicted misregistration size e ′ _{i + 1/2.} Based on the operation amounts of the motors 113b, 113c of the respective printing units 110b, 110c (specifically, the operation amounts ω ₁ (t), ω ₂ (t), ω ′ ₁ (t), ω ′ ₂ (T)) is calculated, and based on the calculated operation amounts of the motors 113b and 113c, the motors 113b and 113c are controlled to adjust the rotation speeds of the plate cylinders 111b and 111c. Phase correction is performed. Thus, the control output based on the measured value _{e i} of the magnitude of misregistration (motor 113b, the operation amount of _{113c ω 1 (t), ω} 2 (t)) as well, the misregistration magnitude of the predicted value Since the control output based on e ′ _{i + 1/2} (the operation amounts ω ′ ₁ (t), ω ′ ₂ (t) of the motors 113b and 113c) is also used, only the control output based on the actual measurement value of the misregistration is used. The motors 113b and 113c can be controlled more finely than in the case of using the motor. That is, when only the control output based on the actual measurement value of the misregistration is used, only the actual measurement value of the misregistration detected every rotation of the plate cylinder is used. When it is impossible to respond to changes in the size of misregistration during rotation, but both control output based on the actual value of misregistration and control output based on the predicted value of misregistration are used Therefore, it is possible to cope with a change in the size of the registration error during one rotation of the plate cylinders 111b and 111c, and the size of the registration error is earlier in the latter case than in the former case. It becomes possible to converge to a steady state.

Further, in the gravure printing machine and the control method thereof according to the present embodiment, as described above, each of the registration marks immediately before the predicted size of the misregistration e ′ _{i + 1/2} and the size of the misregistration are predicted. detection sensor 115b, the absolute value of the difference between the magnitude _{e i} misregistration calculated based on the register mark detected by _{115c (= | e'i + 1} /2 -e i |) are set in advance When the value is larger than the predetermined value, the operation amounts ω ′ ₁ (t), ω ′ ₂ (the operation amounts of the motors 113b, 113c of the respective printing units 110b, 110c based on the predicted size e ′ _{i +} 1/2 of the registration error. t), the motors 113b and 113c of the printing units 110b and 110c are controlled to adjust the rotation speed of the plate cylinders 111b and 111c, and the phase correction of the respective plate cylinders 111b and 111c is performed. Yeah. As a result, it is possible to prevent the occurrence of a hunting phenomenon that deteriorates the convergence of misregistration.

  Note that the gravure printing machine and the control method thereof according to the present embodiment are not limited to the above-described aspects, and various changes can be made.

  For example, the method for predicting the size of the misregistration by the misregistration amount predicting unit 130b is limited to a method using the Euler formula or the modified Euler formula as shown in the above formulas (6) to (8). It will never be done. Various methods other than the above-described method can be used as a method of predicting the size of the misregistration by the misregistration amount prediction unit 130b.

  Further, the prediction of the registration error amount by the registration error amount prediction unit 130b is not limited to that at the time after the plate cylinders 111b and 111c have made a half rotation after the registration mark detection sensors 115b and 115c detect the registration mark. The registration deviation amount prediction unit 130b detects the registration mark by detecting that the registration marks are detected by the registration mark detection sensors 115b and 115c and then the plate cylinders 111b and 111c of the printing units 110b and 110c are rotated once. You may predict the magnitude | size of the registration gap in arbitrary time until it detects by sensor 115b, 115c. Here, the size of the misregistration predicted by the misregistration amount prediction unit 130b may be more than one for the actual measurement value of the misregistration.

In the register controller 130a, the operation amounts ω ₁ (t), ω ₂ (t), ω ′ ₁ (t), ω ′ of the motors 113b and 113c of the printing units 110b and 110c calculated by the register controller 130a are calculated. _{2 When} (t) exceeds a predetermined threshold value set in advance, each motor 113b, 113c is set using the predetermined threshold value instead of the value calculated by the register controller 130a as the operation amount of the motor 113b, 113c. The rotational speed of the plate cylinders 111b and 111c may be controlled to adjust the phase of each of the plate cylinders 111b and 111c. Specifically, in the register controller 130a, when the upper limit value c and the lower limit value d of the operation amounts of the motors 113b and 113c of the printing units 110b and 110c are set, the actual measurement value e _i of the size of the register deviation. Control output (operation amounts ω ₁ (t), ω ₂ (t) of motors 113b, 113c) and control output (operations of motors 113b, 113c based on the predicted value e ′ _{i +} 1/2 of the magnitude of misregistration) When the amount ω ′ ₁ (t), ω ′ ₂ (t)) exceeds the upper limit value c or falls below the lower limit value d, these upper limit value c and lower limit value d are used as the operation amounts of the motors 113b and 113c. As a result, the motors 113b and 113c are controlled. As described above, by filtering the operation amounts of the motors 113b and 113c, it is possible to prevent the occurrence of a hunting phenomenon that deteriorates the convergence of misregistration.

  Next, an example of the gravure printing machine (line shaft type gravure printing machine) and the control method thereof according to the first embodiment of the present invention will be described with reference to FIG. In this example, a line shaft type gravure printing machine having the configuration shown in FIG. 1 was used, and the contents shown in the flowchart of FIG. 2 were controlled in this gravure printing machine. Further, in this embodiment, as shown in FIG. 4A, when a step disturbance of 100N → 110N is applied to the infeed tension in the infeed unit 40, the registration mark detection sensor 15b of the second printing unit 10b is used. An experiment was conducted on how the magnitude of misregistration (registration misregistration amount) between two detected registration marks changes.

  In the present embodiment, the amount of misregistration at the time after the plate cylinders 11b and 11c have made a half rotation after the registration marks are detected by the registration mark detection sensors 15b and 15c of the printing units 10b and 10c, respectively. Prediction was performed by the prediction unit 30b. In predicting the size of the misregistration by the misregistration amount predicting unit 30b, the Euler method formula and the modified Euler formula as shown in the above formulas (1) to (3) were used. Then, a comparison is made as to whether or not the absolute value of the difference between the predicted misregistration size and the just-measured misregistration size is larger than a predetermined value. When the value is equal to or less than the predetermined value, the control output based on the actual measurement value of the misregistration and the control output based on the predicted value of the misregistration are alternately used, and the respective compensator motors 16b and 16c are used. Was given to control the compensator rollers 14b and 14c.

  In this embodiment, as shown in FIG. 4 (b), when a step disturbance of 100N → 110N is applied to the infeed tension in the infeed unit 40, the misregistration amount is in the range of −0.19 mm to 0.18 mm. It became possible to suppress within. Further, after the step disturbance was applied, the time required for the misregistration amount to be within ± 0.1 mm, which is a non-defective product level (within the thick dotted line in FIG. 4B), was 4.6 seconds.

  Next, a comparative example using a conventional gravure printing machine and its control method will be described with reference to FIG. Also in the comparative example, the gravure printing machine having the configuration shown in FIG. 1 was used. Also in the comparative example, as in the embodiment, when a step disturbance of 100N → 110N is applied to the infeed tension in the infeed unit 40 (see FIG. 5A), the registration mark detection of the second printing unit 10b is detected. An experiment was conducted to see how the magnitude of registration misregistration (registration misregistration amount) between two registration marks detected by the sensor 15b changes. In the comparative example, after the registration mark is detected by the registration mark detection sensors 15b and 15c, the plate cylinders 11b and 11c of the printing units 10b and 10c are rotated once, and the next registration mark is detected by the registration mark detection sensors 15b and 15c. The control amount of each of the compensator rollers 14b and 14c is calculated using only the measured value of the misregistration value without predicting the misregistration size at the time until it is detected by the Based on the control amount of each compensator roller 14b, 14c, an instruction was given to each compensator motor 16b, 16c to control each compensator roller 14b, 14c.

  In the comparative example, as shown in FIG. 5B, when a step disturbance of 100N → 110N is applied to the infeed tension in the infeed unit 40, the amount of misregistration is within the range of −0.42 mm to 0.14 mm. It began to fluctuate. Further, after the step disturbance was applied, the time until the misregistration amount was within ± 0.1 mm, which is a non-defective product level (within the thick dotted line in FIG. 5B), was 9.6 seconds.

  Comparing the example and the comparative example, according to the gravure printing machine and the control method thereof according to the present invention, the infeed tension in the infeed unit 40 is 100N → 110N compared to the conventional gravure printing machine and the control method thereof. Conventionally, when the step disturbance is applied, the amount of misregistration that fluctuates within the range of −0.42 mm to 0.14 mm can be suppressed within the range of −0.19 mm to 0.18 mm. Further, it was found that the time required for the misregistration amount to be within ± 0.1 mm, which is a non-defective product level, after the step disturbance is applied can be shortened from 9.6 seconds to 4.6 seconds.

10a, 10b, 10c Printing units 11a, 11b, 11c Plate cylinders 12a, 12b, 12c Impression cylinders 14b, 14c Compensator rollers 15b, 15c Registration mark detection sensors 16b, 16c Compensation motor 20 Drive unit 21 Line shaft 22 Drive motor 30 Controller 30a Registration controller 30b Registration deviation amount prediction unit 30c Touch panel 40 Infeed unit 41 Infeed roller 42 Dancer roller 43 Nip roller 45 Drive motor 110a, 110b, 110c Printing unit 111a, 111b, 111c Plate cylinder 112a, 112b, 112c Impression cylinder 113a, 113b, 113c Motor 115b, 115c Registration mark detection sensor 117b, 117c Servo driver 130 Control device 130a Registration controller 13 b misregistration amount prediction unit 130c touch panel 140 infeed unit 141 infeed roller 142 a dancer roller 143 nip roller 145 driving motor W web

Claims (8)

A pre-stage printing unit having a plate cylinder for printing on a continuously conveyed web and attaching a register mark to the web;
A plate cylinder provided on the downstream side of the preceding printing unit for printing on the web and applying a registration mark to the web, and a registration mark detection provided on the downstream side of the plate cylinder for detecting the registration mark on the web A plurality of subsequent printing units each having a container and a compensator roller provided on the upstream side of the plate cylinder and configured to register a web sent to the plate cylinder;
A registration mark which is detected by the registration mark detector of one of the succeeding printing units and is attached on the web by the plate cylinder of the one succeeding printing unit, and one upstream of the one succeeding printing unit. The amount of registration deviation between the registration marks attached by the plate cylinder of a certain preceding printing unit or the other succeeding printing unit is calculated for each rotation of the plate cylinder, and the calculated size of the registration deviation is calculated. The time between the registration mark being detected by the registration mark detector and the plate cylinder of each of the succeeding printing units being rotated once until the next registration mark is detected by the registration mark detector. Predicting the size of one or a plurality of misregistrations in one, and based on the calculated misregistration size and the predicted misregistration size, the one post-stage printing Calculating a control amount of the compensator roller knit, and a control device for adjusting the position by controlling the compensator rollers one of the subsequent printing unit based on the control amount of the calculated said compensator roller,
Equipped with a,
The control device determines the difference between the predicted size of the registration error and the size of the registration error calculated based on the registration mark detected by the registration mark detector immediately before predicting the size of the registration error. When the absolute value of the second printing unit is larger than a predetermined value set in advance, the control amount of the compensator roller of the first printing unit based on the predicted misregistration amount is not used, and the first printing unit is used. A gravure printing machine that controls the compensator roller of a printing unit to adjust its position . When the calculated control amount of the compensator roller of the one subsequent printing unit exceeds a predetermined threshold value, the control device determines the control amount of the compensator roller of the one subsequent printing unit. The gravure printing machine according to claim 1 , wherein the position of the compensator roller of one post-stage printing unit is adjusted by using the predetermined threshold to adjust the position thereof. A pre-stage printing unit having a plate cylinder for printing on a continuously conveyed web and attaching a register mark to the web;
A plate cylinder provided on the downstream side of the preceding printing unit for printing on the web and applying a registration mark to the web, and a registration mark detection provided on the downstream side of the plate cylinder for detecting the registration mark on the web A plurality of subsequent printing units each having a container and a compensator roller provided on the upstream side of the plate cylinder and configured to register a web sent to the plate cylinder;
In a control method of a gravure printing machine equipped with
A registration mark which is detected by the registration mark detector of one of the succeeding printing units and is attached on the web by the plate cylinder of the one succeeding printing unit, and one upstream of the one succeeding printing unit. Calculating the size of registration deviation between the registration marks attached by the plate cylinder of the preceding printing unit or the other subsequent printing unit for each rotation of the printing cylinder;
Based on the calculated size of the registration deviation, after the registration mark is detected by the registration mark detector, the plate cylinder of each subsequent printing unit rotates once, and the next registration mark is detected by the registration mark detector. Predicting the magnitude of one or more misregistrations at the time between detection;
Calculating a control amount of the compensator roller of one post-stage printing unit based on the calculated size of the registration error and the predicted size of the registration error;
Controlling the compensator roller of one post-stage printing unit based on the calculated control amount of the compensator roller and adjusting its position;
Equipped with a,
The absolute value of the difference between the predicted size of the registration error and the size of the registration error calculated based on the registration mark detected by the registration mark detector immediately before predicting the size of the registration error is calculated in advance. If it is larger than the set predetermined value, the control amount of the compensator roller of one post-printing unit based on the predicted size of the misregistration is not used, and the compensator of one post-printing unit is not used. A control method for a gravure printing machine, which controls a roller and adjusts its position . When the calculated control amount of the compensator roller of the one subsequent printing unit exceeds a predetermined threshold value, the predetermined threshold is set as the control amount of the compensator roller of the one subsequent printing unit. The control method of the gravure printing machine of Claim 3 which controls the said compensator roller of the one said back | latter stage printing unit, and adjusts the position. A pre-stage printing unit having a plate cylinder that applies printing to a web that is continuously conveyed and attaches a registration mark to the web, and a motor that is connected to the plate cylinder and rotates the plate cylinder;
A plate cylinder provided on the downstream side of the preceding printing unit for printing on the web and applying a registration mark to the web, and a registration mark detection provided on the downstream side of the plate cylinder for detecting the registration mark on the web A plurality of latter-stage printing units each having a container and a motor connected to the plate cylinder and rotating the plate cylinder;
A registration mark which is detected by the registration mark detector of one of the succeeding printing units and is attached on the web by the plate cylinder of the one succeeding printing unit, and one upstream of the one succeeding printing unit. The amount of registration deviation between the registration marks attached by the plate cylinder of a certain preceding printing unit or the other succeeding printing unit is calculated for each rotation of the plate cylinder, and the calculated size of the registration deviation is calculated. The time between the registration mark being detected by the registration mark detector and the plate cylinder of each of the succeeding printing units being rotated once until the next registration mark is detected by the registration mark detector. Predicting the size of one or a plurality of misregistrations in one, and based on the calculated misregistration size and the predicted misregistration size, the one post-stage printing The operation amount of the motor of the knit is calculated, and the rotational speed of the plate cylinder is adjusted by controlling the motor of the one subsequent printing unit based on the calculated operation amount of the motor, and the phase of the plate cylinder A control device for performing the correction;
Equipped with a,
The control device determines the difference between the predicted size of the registration error and the size of the registration error calculated based on the registration mark detected by the registration mark detector immediately before predicting the size of the registration error. If the absolute value of the second printing unit is larger than a predetermined value set in advance, the operation amount of the first printing unit of the second printing unit based on the predicted size of the registration deviation is not used, and the one second printing is performed. A gravure printing machine that controls the motor of the unit to adjust the rotational speed of the plate cylinder and correct the phase of the plate cylinder . When the calculated operation amount of the motor of the one subsequent printing unit exceeds a predetermined threshold value, the control device determines the predetermined operation amount as the motor operation amount of the one subsequent printing unit. The gravure printing machine according to claim 5 , wherein the rotation speed of the plate cylinder is adjusted by controlling the motor of one of the succeeding printing units using a threshold value, and phase correction of the plate cylinder is performed. A pre-stage printing unit having a plate cylinder that applies printing to a web that is continuously conveyed and attaches a registration mark to the web, and a motor that is connected to the plate cylinder and rotates the plate cylinder;
A plate cylinder provided on the downstream side of the preceding printing unit for printing on the web and applying a registration mark to the web, and a registration mark detection provided on the downstream side of the plate cylinder for detecting the registration mark on the web A plurality of latter-stage printing units each having a container and a motor connected to the plate cylinder and rotating the plate cylinder;
In a control method of a gravure printing machine equipped with
A registration mark which is detected by the registration mark detector of one of the succeeding printing units and is attached on the web by the plate cylinder of the one succeeding printing unit, and one upstream of the one succeeding printing unit. Calculating the size of registration deviation between the registration marks attached by the plate cylinder of the preceding printing unit or the other subsequent printing unit for each rotation of the printing cylinder;
Based on the calculated size of the registration deviation, after the registration mark is detected by the registration mark detector, the plate cylinder of each subsequent printing unit rotates once, and the next registration mark is detected by the registration mark detector. Predicting the magnitude of one or more misregistrations at the time between detection;
Calculating an operation amount of the motor of one of the succeeding printing units based on the calculated size of the misregistration and the predicted size of the misregistration;
Adjusting the rotational speed of the plate cylinder by controlling the motor of one post-stage printing unit based on the calculated operation amount of the motor, and performing phase correction of the plate cylinder;
Equipped with a,
The absolute value of the difference between the predicted size of the registration error and the size of the registration error calculated based on the registration mark detected by the registration mark detector immediately before predicting the size of the registration error is calculated in advance. If the predetermined value is larger than the set predetermined value, the motor of one post-stage printing unit is not used without using the operation amount of the motor of the one post-stage print unit based on the predicted size of the misregistration. A control method for a gravure printing machine, which controls to adjust the rotational speed of the plate cylinder and corrects the phase of the plate cylinder . When the calculated operation amount of the motor of the one subsequent printing unit exceeds a predetermined threshold value, the predetermined threshold value is used as the operation amount of the motor of the one subsequent printing unit. The method of controlling a gravure printing machine according to claim 7 , wherein the rotational speed of the plate cylinder is adjusted by controlling the motor of one post-stage printing unit, and phase correction of the plate cylinder is performed.

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