CN109917653A - A color register control method in the process of stable speed printing of electronic shaft gravure printing machine - Google Patents
A color register control method in the process of stable speed printing of electronic shaft gravure printing machine Download PDFInfo
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Abstract
The present invention relates to the chromatography control methods in a kind of electronical line shaft intaglio printing press speed stabilizing printing process, belong to printing control field；Calculate the chromatography error value of current colour cell and previous colour cell, and under determining chromatography precision, using direct Feedforward Decoupling PD control method, current colour cell printing plate cylinder angular speed variable quantity is calculated according to the chromatography error value, and is sent to the servo motor of electronical line shaft intaglio printing press in a manner of control instruction；Servo motor adjusts the angular speed of current colour cell printing plate cylinder according to control instruction, until eliminating the chromatography error of current colour cell.The algorithm that the present invention is combined using feedforward direct decoupling compensation rate with PD closed-loop control, it eliminates in speed stabilizing printing, the disturbance generated due to preamble printing element so as to cause PD closed-loop control to the coupling influence of the chromatography error of subsequent cell, improve the response speed of system；The compensation rate of control algolithm is only single order, is conducive to industrial realization.
Description
Technical field
The present invention relates to the chromatography control methods in a kind of electronical line shaft intaglio printing press speed stabilizing printing process, belong to printing control neck
Domain.
Background technique
In electronical line shaft intaglio printing press printing process, the complex pattern that need to be printed is broken down into several simple patterns, and respectively
It is engraved on printing plate cylinder.When being printed, printable fabric sequentially passes through each printing element, each printing element by feeding part
Corresponding simple pattern is printed on printable fabric, complicated impressing pattern is finally obtained.There are each lists in printing process
The accurate positionin problem of corresponding printed patterns between member, that is, the problem of chromatography error.The accuracy of chromatography is to product quality
Influence it is most important, therefore, when in printing process, there are when deviation occurs in relative position between printed patterns, control method need to be used
Reduce or eliminate this position deviation, that is, reduces or eliminates chromatography error.Influence in view of chromatography precision to product quality, fastly
The control method that speed reduces or eliminate chromatography error becomes particularly important.
Covering color control is that a sufficiently complex technical problem covers the method for color control for different mode of printings
It is not quite similar.Traditional chromatography control method is the Feedforward Decoupling Fuzzy PD Control based on system mathematic model, but is limited to height
The sliding-model control of rank equation, therefore full decoupled control cannot be carried out to system；So this control mode is releasing completely
Coupling aspect can not reach full decoupled control effect between each colour cell in system.
In invention disclosed patent application CN108773182A on November 9th, 2018, propose using full decoupled fuzzy
Control mode, according to whether there is chromatography error between each subsequent colour cell and the 1st colour cell, so as to adjust corresponding colour cell printing plate cylinder
Angular speed to eliminate the chromatography control method of chromatography error.This method effectively eliminates the disturbance of preamble printing element to subsequent
The coupling influence of printing element error improves system response time and chromatography precision.But since read chromatography error is
Between current each colour cell and the 1st colour cell, therefore error degree is bigger, and error display used in most of machines now
Method is still error display method used by conventional feed forward decoupling Fuzzy PD Control mode, thus this method does not obtain temporarily greatly
The popularization and use of scale.
Summary of the invention
To solve technical problem present in the prior art, the present invention provides a kind of electronical line shaft intaglio printing press speed stabilizing printing process
In chromatography control method, rapidly inhibit the fluctuating error caused by the disturbance of preamble unit in subsequent colour cell, and directly
Decoupling compensation formula is only first-order equation, and excessive loss of significance will not be caused due to sliding-model control, is improved to greatest extent steady
The technical problem that response speed in fast printing process is slow and chromatography precision is not high.
The technical scheme to solve the above technical problems is that in a kind of electronical line shaft intaglio printing press speed stabilizing printing process
Chromatography control method, the electronical line shaft intaglio printing press include three or more printing elements, and each printing element is mounted on chromatography control
System processed；The chromatography control method the following steps are included:
S1, printing material is sent into the 1st colour cell through the feeding part of electronical line shaft intaglio printing press；The printing material is through the 1st color
Remaining colour cell is successively sent into after group printing, drying to be printed and dried；The printing material is sent to the linear velocity of the 1st colour cell
For steady state value；
Each control unit that S2, printable fabric sequentially pass through electronical line shaft intaglio printing press carries out the colour cell printing of the unit, the 2nd color
The error detecting system of group judges with the presence or absence of chromatography error between the 2nd colour cell and the 1st colour cell, if so, the then control of the 2nd colour cell
System-computed goes out the chromatography error value of the 2nd colour cell and the 1st colour cell, and under determining chromatography precision, using direct Feedforward Decoupling
The 2nd colour cell printing plate cylinder angular speed variable quantity is calculated according to the chromatography error value in PD control method, and with control instruction
Mode be sent to the servo motor of the electronical line shaft intaglio printing press；The servo motor adjusts the 2nd color according to the control instruction
The angular speed of group printing plate cylinder, until eliminating the chromatography error of the 2nd colour cell；
S3, each subsequent colour cell error detecting system judge the colour cell and previous colour cell with the presence or absence of chromatography error, if having
The chromatography error between the colour cell and previous colour cell is eliminated according to the chromatography error removing method of above-mentioned 2nd colour cell；
The chromatography control method use iteration recurrence method in step s 2 with obtain printing plate cylinder angular speed variable quantity with
The mathematical model of relationship between chromatography error, and adjusted by the mathematical model rotation direction and the angle of printing plate cylinder with
Eliminate chromatography error.
Preferably, between printing plate cylinder angular speed variable quantity and chromatography error relationship mathematical model are as follows:
Wherein:
Wherein:
EiIt (s) is the chromatography error of the i-th colour cell print result and (i-1) colour cell；ΔwiIt (s) is the i-th colour cell printing plate cylinder
Angular speed knots modification, i.e. the control amount of the i-th colour cell；Gi(s) transmitting of the control amount and the i-th colour cell error of the i-th colour cell is indicated
Function, Gij(s) control amount of jth colour cell and the transmission function of the i-th colour cell error are indicated；T*There is no sets between adjacent colour cell
Tension in the case where color error, between adjacent colour cell；w*In the case where chromatography error is not present between adjacent colour cell, each roller
Identical rotational angular velocity；K indicates the coefficient of tension of printing material, is constant；liBetween the i-th colour cell and (i+1) colour cell
Wear material length；R is the radius of each printing plate cylinder；aiIt is related with the actual operation parameters of print system for variable.
Preferably, when carrying out decoupling control using direct Feedforward Decoupling PD control method, feedforward direct decoupling compensation rate
Expression formula are as follows:
Δwc ijIt (s) is feedforward direct decoupling compensation rate of the i printing element to its preamble unit j printing element, Δ wjPD
(s) the PD control amount of j printing element is indicated.
Compared with prior art, the beneficial effects of the present invention are: in electronical line shaft intaglio printing press speed stabilizing printing process of the invention
Chromatography control method by the direct decoupling to each front and continued colour cell to rapidly eliminating color difference, and be aided with fuzzy-adaptation PID control
Improve chromatography precision.The control method can rapidly inhibit the error wave in subsequent colour cell caused by the disturbance of preamble unit
It is dynamic, to effectively eliminate the color difference of subsequent cell, improve chromatography precision；Adapt to error used in present most of machines
Display methods, without being updated to error display method.And the compensation only single order side of direct decoupling of the control method
Journey will not cause excessive loss of significance due to sliding-model control, be highly suitable for actual electronical line shaft intaglio printing press speed stabilizing
It is widely used in printing process.
Detailed description of the invention
Fig. 1 is the flow chart of chromatography control method of the present invention；
Fig. 2 is the simplified structure diagram of the two neighboring colour cell of electronical line shaft intaglio printing press；
Fig. 3 is the system block diagram of full decoupled PD control method of feedovering；
Fig. 4 is the error responses curve graph of the 2nd color in the present embodiment；
Fig. 5 is the error responses curve graph of the 3rd, 4,5,6 and 7 colors in the present embodiment；
Fig. 6 is the error curve of the 2nd color of the present embodiment decoupling method and existing Feedforward Decoupling (decoupling depth is 3) method
Comparison diagram；
Fig. 7 is the mistake of the color of the 3rd, 4 and 5 of the present embodiment decoupling method and existing Feedforward Decoupling (decoupling depth is 3) method
Poor curve comparison figure；
Fig. 8 is the 6th of the present embodiment decoupling method and existing Feedforward Decoupling (decoupling depth is 3) method the, the error of 7 colors is bent
Line comparison diagram.
Specific embodiment
Principles and features of the present invention are described in detail below in conjunction with drawings and examples, illustrated embodiment is served only for
It explains the present invention, is not intended to limit the scope of the present invention.
The control system of intaglio printing press is made of tension control system and chromatography control system two large divisions.The mesh of tension force
Be maintain printing equipment retractable volume part equalization of strain, to avoid the situation for printing material fold occur He being pulled off, and
And it lays the foundation for the set color control of printing element；Covering color control is then to eliminate the chromatography as caused by various disturbance factors
Error improves chromatography precision and product quality.From control target, the two control systems are different, but essence
On, key problem the problem of being all tension force that they are solved.In retractable volume part, the pressure sensing of detection tension is installed
Device, tension force be the tension value that is detected by sensor come the speed of feedback regulation retractable volume motor to maintain tension
Balance.Between print couple, acetes chinensis device is installed, set color control is to feed back by color difference, adjust printing plate cylinder
Speed, and then adjust the tension between colour cell, finally eliminate chromatography error.
Electronical line shaft intaglio printing press of the present invention is mainly most of by unreeling feeding part, printing element and discharging winding 3
Composition；Printing element is set there are three more than, and each printing element is mounted on chromatography control system.Unreel feeding part be responsible for by
Printing material is sent into printing element from the round roller bearing of winding material with constant linear velocity, which has special tension force
The stabilization of system security printing tension.Printing element by monochromatic pattern, successively on printed material, pacify between each colour cell by printing
Equipped with baker, material is before the printing for completing current color then enters next printing element, it is necessary to first dry, to prevent just
The pattern just stamped is used up；In order to improve chromatography precision, each colour cell is fitted with chromatography control system.Discharging winding part will
Printed material is continuously and smoothly collected on Scroll.Before printing, the complete multicolour pattern of a width is broken down into several width lists
Color egative film, then portrays and printing plate cylinder is made in circular drum.When printing, unreels feeding part and draw printing material to print
Brush unit, material successively pass through each colour cell, carry out single color printing, heated-air drying, and material is laggard in the last one printed color
Enter discharging winding part, winding motor just completes material volume to Scroll, the printing of a width multicolour pattern.
The present invention carries out set color control to electronical line shaft intaglio printing press during stable speed operation, and process is as shown in Figure 1, main
The following steps are included:
S1, printing material is sent into the 1st colour cell through the feeding part of electronical line shaft intaglio printing press；The printing material is through the 1st color
Remaining colour cell is successively sent into after group printing, drying to be printed and dried；The printing material is sent to the linear velocity of the 1st colour cell
For steady state value；
Each control unit that S2, printable fabric sequentially pass through electronical line shaft intaglio printing press carries out the colour cell printing of the unit, the 2nd color
The error detecting system of group judges with the presence or absence of chromatography error between the 2nd colour cell and the 1st colour cell, if so, the then control of the 2nd colour cell
System-computed goes out the chromatography error value of the 2nd colour cell and the 1st colour cell, and under determining chromatography precision, using direct Feedforward Decoupling
The 2nd colour cell printing plate cylinder angular speed variable quantity is calculated according to the chromatography error value in PD control method, and with control instruction
Mode be sent to the servo motor of the electronical line shaft intaglio printing press；The servo motor adjusts the 2nd color according to the control instruction
The angular speed of group printing plate cylinder, until eliminating the chromatography error of the 2nd colour cell；
S3, each subsequent colour cell error detecting system judge the colour cell and previous colour cell with the presence or absence of chromatography error, if having
The chromatography error between the colour cell and previous colour cell is eliminated according to the chromatography error removing method of above-mentioned 2nd colour cell.
In the present embodiment, the chromatography control system includes sensing device and controller, and sensing device is for detecting chromatography
Error, and chromatography error is sent to controller, sensing device is photocell eye；Controller is for storing chromatography error and control amount
Mathematical model, and chromatography error calculates control amount based on the received, and electronical line shaft is sent in a manner of control instruction
The servo motor of intaglio printing press, to adjust the angular speed of printing plate cylinder；Control amount is colour cell printing plate cylinder angular speed variable quantity.Each phase
Wearing between adjacent colour cell expects that length can be equal, can not also wait；The radius of each colour cell printing plate cylinder is identical.
When printing material passes through each colour cell, impressing pattern is not only stamped, has also been stamped in the marginal portion of pattern
The label (i.e. cursor) of one specific shape, if chromatography is accurate, which actually appears in the position in the i-th colour cell and manages with it
It is identical by the position that should above occur, if it is different, calculating error according to the encoder deviation of each mark capturing then.To
The error of the i-th colour cell is obtained, therefore, the target for covering color control is exactly to make often by the rotation direction and angle of adjusting printing plate cylinder
It is 0 that encoder when secondary label captures, which calculates error,.
Meanwhile strong coupling, large time delay, uncertainty and multiple-input and multiple-output are had based on trapping printing system
The features such as, chromatography control method of the invention uses iteration recurrence method in step s 2 to obtain the number of control amount and chromatography error
Model, i.e., the mathematical model of relationship between printing plate cylinder angular speed variable quantity and chromatography error are learned, and passes through the mathematical model
To adjust rotation direction and the angle of printing plate cylinder to eliminate the chromatography error in printing process.The mathematical model described below
Derivation process:
In printing process, multicolour pattern is broken down into multiple monochromatic patterns, and individually prints on different units respectively
Brush, when printable fabric successively covers each colour cell along print direction, once pair, completely picture is completed.Fig. 2 is electronical line shaft
The simplified structure diagram of the two neighboring colour cell of intaglio printing press, wherein Ti(t) and liRespectively indicate i-th of t moment and i+1 colour cell it
Between material tension and length of material, wi(t) refer to that the rotational angular velocity of i-th of colour cell printing plate cylinder of t moment, r indicate galley
Roller radius.In the state of the equilibrium, i.e., tension note in the case where chromatography error is not present between adjacent colour cell, between adjacent colour cell
Make T*, the rotational angular velocity of each printing plate cylinder is all the same and is denoted as w*, then the material tension and angular speed of any time can be write as
The form of formula (1).
Wherein Δ Ti(t) tension upsets between i-th of colour cell of t moment and i+1 colour cell, Δ w are indicatedi(t) t is indicated
The variable quantity of moment the i-th colour cell printing plate cylinder angular speed, i.e., the control amount of the described Chromatography System controller output.
Printing material will be deformed under external force.In elastic range, after external force revocation, material can be restored to
State before approximation stretching.Scalability of the printing material in elastic range is exactly utilized in set color control.Formula (2) illustrates
Material under tension, the deformation of cross-sectional area.
Wherein A0With A (Ti) cross-sectional area of the material under nature and tensional state is respectively indicated, K indicates printing material
The coefficient of tension of material is constant.
According to the quality of materials conservation of formula (2) and the unit time interior material entered between two colour cells and outflow, Ke Yijian
The nonlinear model of vertical Chromatography System, then linearizes nonlinear model, has obtained the set color control of electronical line shaft intaglio printing press
The linear mechanism model of system, as shown in formula (3):
Wherein EiIndicate the chromatography error of i-th of colour cell,
Electronical line shaft intaglio printing press in actual production, due to cost considerations and the mechanical difficulty realized, it is impossible to
High-precision tension sensor is installed between each adjacent unit, also can not just obtain the tension information in printing process.From control
Angle sees that the intermediate variable that tension is described as just model, part below obtains control amount using iteration recurrence method
Mathematical relationship between chromatography error.
Here the use of iterative method is based on the hypothesis of formula (4):
Since the printing mark of the 1st colour cell is reference standard, without being controlled, and being fed between the 1st colour cell has specially
The tension control system of door maintains tension T0(t) invariable, and control system is not to the printing plate cylinder angular speed of the 1st colour cell
It is controlled, thus assume that being to set up.
Laplace transform is carried out to formula (4), and the radius for setting each printing plate cylinder is identical, is denoted as r, then obtaining
Shown in dynamic model such as formula (5) of the intaglio printing press chromatography control system in frequency domain:
ai、biIt is related with the actual operation parameters of print system for variable；C is constant, by the physical parameter of print system
It determines.
Based on the assumption that the tension variable in formula (4) cancellation dynamic analog pattern (5), available control amount and chromatography error
Direct mathematical relationship.
Wherein
EiIt (s) is the chromatography error of the i-th colour cell print result and (i-1) colour cell；ΔwiIt (s) is the i-th colour cell printing plate cylinder
Angular speed knots modification, i.e. the control amount of the i-th colour cell；Gi(s) transmitting of the control amount and the i-th colour cell error of the i-th colour cell is indicated
Function, Gij(s) control amount of jth colour cell and the transmission function of the i-th colour cell error are indicated；T*There is no sets between adjacent colour cell
Tension in the case where color error, between adjacent colour cell；w*In the case where chromatography error is not present between adjacent colour cell, each roller
Identical rotational angular velocity；K indicates the coefficient of tension of printing material, is constant；liBetween the i-th colour cell and (i+1) colour cell
Wear material length；R is the radius of each printing plate cylinder；aiIt is related with the actual operation parameters of print system for variable.
The chromatography control method that the invention mainly relates to a kind of in speed stabilizing printing process, printing machine is in stable speed operation's stage
There are two important feature relevant to chromatography: first is that machine operates in the stabilized speed stage, rather than the acceleration and deceleration stage；Second is that machine
Enter stable speed operation's state (stabilized speed) after device booting, high-speed cruising state is then entered back into after accelerating and (is stablized
Speed), therefore the initial error amplitude in stable speed operation's stage is larger, and it is even more big can to reach 3mm.Since the elimination of error is
One passive process eliminates growing for the time small error of opposite elimination of big error, therefore we need in stable speed operation's stage
Solve the problems, such as it is how rapidly to eliminate error, to reduce the generation of waste material.
It is the system of a close coupling based on Chromatography System, adjusts the error of current colour cell for the correction to subsequent colour cell
Cheng Zaocheng adverse effect, to extend the regulating time of subsequent colour cell.Therefore, in order to improve response speed, reduce regulating time,
The present invention introduces full decoupled, the color disturbance before inhibiting to greatest extent and most efficiently that feedovers on the basis of traditional PD control
Influence to subsequent colour cell, to guarantee the validity of the full decoupled method of feedforward.The full decoupled PD control algorithm that feedovers implements letter
Single, material each unequal situation of length, fast response time, in the chromatography better performances of speed stabilizing printing process are worn in adaptation.
It is compensation that the direct decoupling that feedovers is derived below based on formula (6), offsets front and continued colour cell PD control amount to subsequent colour cell
Influence, so that PD control device be assisted quickly to eliminate the chromatography error of each colour cell on single circuit.As shown in figure 3, for feedforward
The system block diagram of direct decoupling PD control method.
For some specific colour cell, the control amount of front and continued colour cell can regard the measurable disturbance of the colour cell as, and feedforward is direct
Decoupling controller preact, to the maximum extent influence of the disturbance suppression to the colour cell.Thus the control scale of each printing element
It can be by providing as follows up to formula:
I.e. each unit control amount (eliminates preamble unit to occur by the PD control amount of this unit and to preamble unit PD control amount
Disturbance) feedforward direct decoupling compensation rate composition.By taking Unit 3 as an example, i=3 is enabled in (6) formula, formula (7) are substituted into formula
(6):
E3(s)=G3(s)(Δw3PD(s)+Δwc 32(s))+G32(s)Δw2PD(s) (8)
Enable E3(s) it is equal to 0 always, i.e., preamble is ideally completely eliminated due to the presence of feedforward direct decoupling compensation
Influence of the unit to postorder unit chromatography error；Therefore: Δ w3PD(s) it is also equal to 0, it is possible thereby to release Unit 3 to Unit 2
Feedover direct decoupling compensation rate are as follows:
Likewise it is possible to obtain each unit to the Feedforward Decoupling compensation rate of its preamble unit:
In industrial application, printing plate cylinder each rotation acquires first-order error data, the size in sampling period are as follows:
The period of controller is also to switch to unit, it is therefore desirable to carry out discretization to (10) formula and (11) formula, then
It is applied in actual chromatography control system.
In the present embodiment, the error responses curve of the 2nd color as shown in figure 4, the color of the 3rd, 4,5,6 and 7 error responses curve
As shown in Figure 5；The used decoupling method of the present invention and existing Feedforward Decoupling (decoupling depth is 3) method are bent in the error of the 2nd color
Line comparison is as shown in fig. 6, two error curves are to be overlapped；The used decoupling method of the present invention and the (decoupling of existing Feedforward Decoupling
Depth be 3) method the color of the 3rd, 4 and 5 error curve comparison as shown in fig. 7, two methods each colour cell error curve
It is also to be overlapped；The used decoupling method of the present invention and existing Feedforward Decoupling (decoupling depth is 3) method are in the 6th, error of 7 colors
Curve comparison is as shown in Figure 8, it is seen that the error compensation effect promoting many of decoupling method used in the present invention.
The base of chromatography control method in electronical line shaft intaglio printing press speed stabilizing printing process of the invention in the fuzzy PD closed-loop control
On plinth, introduce feedforward direct decoupling compensation, eliminate speed stabilizing printing when due to preamble printing element generate disturbance so as to cause
PD closed-loop control to the coupling influence of the chromatography error of subsequent cell, not only implement simple, fast response time, but also initial
In the case that error is very big, coupling of the current colour cell control amount to subsequent colour cell can be effectively released completely, thus fastly
The color difference of whole system is eliminated fastly, improves chromatography precision, is highly suitable in electronical line shaft intaglio printing press speed stabilizing printing process extensively
It uses.Furthermore the compensation rate of the control algolithm is only single order, is especially advantageous for industrial realization, is adapted to each adjacent in print system
Space length is equal between printing control unit and different situations not etc..
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in
Protection scope of the present invention etc.
Claims (5)
1. the chromatography control method in a kind of electronical line shaft intaglio printing press speed stabilizing printing process, the electronical line shaft intaglio printing press include three with
Upper printing element, each printing element are mounted on chromatography control system；It is characterized in that, the chromatography control method include with
Lower step:
S1, printing material is sent into the 1st colour cell through the feeding part of electronical line shaft intaglio printing press；The printing material is printed through the 1st colour cell
Remaining colour cell is successively sent into after brush, drying to be printed and dried；The printing material is sent to the linear velocity of the 1st colour cell as perseverance
Definite value；
Each control unit that S2, printable fabric sequentially pass through electronical line shaft intaglio printing press carries out the colour cell printing of the unit, the 2nd colour cell
Error detecting system judges with the presence or absence of chromatography error between the 2nd colour cell and the 1st colour cell, if so, the then control system of the 2nd colour cell
The chromatography error value of the 2nd colour cell and the 1st colour cell is calculated, and under determining chromatography precision, is controlled using direct Feedforward Decoupling PD
The 2nd colour cell printing plate cylinder angular speed variable quantity is calculated according to the chromatography error value in method processed, and with the side of control instruction
Formula is sent to the servo motor of the electronical line shaft intaglio printing press；The servo motor adjusts the 2nd colour cell print according to the control instruction
The angular speed of brush roller, until eliminating the chromatography error of the 2nd colour cell；
S3, each subsequent colour cell error detecting system judge the colour cell and previous colour cell with the presence or absence of chromatography error, according to upper if having
The chromatography error removing method for stating the 2nd colour cell eliminates the chromatography error between the colour cell and previous colour cell；
The chromatography control method uses iteration recurrence method in step s 2 to obtain printing plate cylinder angular speed variable quantity and chromatography
The mathematical model of relationship between error, and rotation direction and the angle of printing plate cylinder are adjusted to eliminate by the mathematical model
Chromatography error.
2. chromatography control method according to claim 1, which is characterized in that printing plate cylinder angular speed variable quantity and chromatography are missed
The mathematical model of relationship between difference are as follows:
Wherein:
Wherein:
EiIt (s) is the chromatography error of the i-th colour cell print result and (i-1) colour cell；ΔwiIt (s) is the angle of the i-th colour cell printing plate cylinder
Speed knots modification, the i.e. control amount of the i-th colour cell；Gi(s) control amount of the i-th colour cell and the transmission function of the i-th colour cell error are indicated,
Gij(s) control amount of jth colour cell and the transmission function of the i-th colour cell error are indicated；T*There is no chromatographys to miss between adjacent colour cell
Tension in the case where difference, between adjacent colour cell；w*There is no in the case where chromatography error between adjacent colour cell, each roller is identical
Rotational angular velocity；K indicates the coefficient of tension of printing material, is constant；liWearing between the i-th colour cell and (i+1) colour cell
Expect length；R is the radius of each printing plate cylinder；aiIt is related with the actual operation parameters of print system for variable.
3. chromatography control method according to claim 2, which is characterized in that using direct Feedforward Decoupling PD control method into
When row decoupling control, the expression formula for the direct decoupling compensation rate that feedovers are as follows:
Δwc ijIt (s) is feedforward direct decoupling compensation rate of the i printing element to its preamble unit j printing element, Δ wjPD(s) table
Show the PD control amount of j printing element.
4. chromatography control method according to claim 1, which is characterized in that chromatography control system includes sensing device and control
Chromatography error is sent to the controller for detecting chromatography error by device processed, the sensing device；The controller is used for
The mathematical model of chromatography error and control amount, and chromatography error based on the received are stored, control amount is calculated, is referred to control
The mode of order is sent to the servo motor of electronical line shaft intaglio printing press, to adjust the angular speed of printing plate cylinder；The control amount is colour cell
Printing plate cylinder angular speed variable quantity.
5. chromatography control method according to claim 4, which is characterized in that the sensing device is photocell eye, and is detected
The error arrived error between printed patterns or lines between current colour cell and its previous colour cell.
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| CN112356579A (en) * | 2020-11-09 | 2021-02-12 | 北京方正印捷数码技术有限公司 | Printing press control method and device |
| CN113296474A (en) * | 2021-05-06 | 2021-08-24 | 广州大学 | Chromatography control method, system and device for electronic shaft gravure press and storage medium |
| CN113311786A (en) * | 2021-05-06 | 2021-08-27 | 广州大学 | Electronic shaft gravure press chromatography control method, system and medium based on collective identification |
| CN116118349A (en) * | 2022-12-28 | 2023-05-16 | 武汉华茂自动化股份有限公司 | Derivation method of color register control error model during steady-speed printing of mechanical axis gravure printing machine |
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| CN113296474A (en) * | 2021-05-06 | 2021-08-24 | 广州大学 | Chromatography control method, system and device for electronic shaft gravure press and storage medium |
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| CN113296474B (en) * | 2021-05-06 | 2022-06-03 | 广州大学 | Chromatography control method, system and device for electronic shaft gravure press and storage medium |
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| CN116160760A (en) * | 2023-01-16 | 2023-05-26 | 广州大学 | LQR color registration control method of electronic shaft gravure press based on dimension reduction observer |
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