EP4673797A1 - Procédé de commande d'un organe d'actionnement mobile d'une machine automatique pour production ou emballage d'articles de consommation - Google Patents

Procédé de commande d'un organe d'actionnement mobile d'une machine automatique pour production ou emballage d'articles de consommation

Info

Publication number
EP4673797A1
EP4673797A1 EP24714996.6A EP24714996A EP4673797A1 EP 4673797 A1 EP4673797 A1 EP 4673797A1 EP 24714996 A EP24714996 A EP 24714996A EP 4673797 A1 EP4673797 A1 EP 4673797A1
Authority
EP
European Patent Office
Prior art keywords
torque
profile
itp
operating member
movable operating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP24714996.6A
Other languages
German (de)
English (en)
Inventor
Matteo Degli Esposti
Gabriele Fabbri
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GD SpA
Original Assignee
GD SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GD SpA filed Critical GD SpA
Publication of EP4673797A1 publication Critical patent/EP4673797A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42093—Position and current, torque control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42311—Store working torque profiles as function of time, position, compare with real torque
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43162—Motion control, movement speed combined with position

Definitions

  • the present invention relates to a method for controlling a movable operating member of an automatic machine for producing or packing consumer articles .
  • the present invention has an advantageous , but not exclusive , application in an automatic packaging machine that produces cigarette packets and in the method for controlling it , monitoring its implementations , to which the description that follows will re fer explicitly, but without thus losing its general nature .
  • An automatic packaging machine comprises a plurality of movable operating members that act on the consumer articles (such as cigarette packets , foodstuf fs , sanitary pads , etc . ) to change the conformation, structure or position .
  • the movable operating members are generally mechanica parts with di f ferent shapes and dimensions , adapted to process the consumer articles and are , in most cases , actuated by means o f electric motors or pneumatic cylinders .
  • these movable operating members are moved/driven by means of electric motors , the control of which provides , often already inside the respective electric drive , a maximum threshold of the torque that can be delivered before it is disabled for safety purposes (for example , in accordance with the known " safe torque of f" system) .
  • Said threshold is set to disable the torque in the case of entanglements or collisions that require the electric drive to provide a higher torque than the pre-established threshold .
  • Negative feedback control methods are also known (such as proportional-integral-derivative control : PID) that are capable of reacting to a possible positive or negative tracking error, with the value tending to be close to zero .
  • torque controls are present , which establish a fixed tolerance window, the limit values of which are determined as a function of the maximum and minimum torques to which a movable operating member may be sub j ected .
  • an automatic machine for producing or packing consumer articles comprises variable inertia movable operating members .
  • setting a fixed window for detecting collisions or impediments to the motion of the movable operating member is inef fective , since , in order to define the limit values of this range , it is clearly necessary to consider the relative torques at the maximum inertia of the movable operating member . Consequently, it may be that a collision occurs at the moment of minimum inertia of the movable operating member and that said collision is not detected by the control system, since the torques in play are , in any case , within the tolerance window established in relation to the maximum inertia of the system .
  • Failed detection of the collision causes non-intervention of the control system to reduce the damage and therefore an increase in that damage ( in other words , the movable operating member continues to push against the obj ect of the collision, damaging the obj ect or the operating member itsel f ) .
  • the obj ect of the present invention is to provide a method for controlling a movable operating member of an automatic machine for producing or packing consumer articles , which is at least partially free from the problems described here above and, at the same time , is simple and cheap to manufacture .
  • a method for controlling a movable operating member of an automatic machine for producing or packing consumer articles is provided in accordance with the independent claims that follow and, preferably, with any one of the claims that are directly or indirectly dependent on the independent claims .
  • a machine adapted to implement the aforementioned method is provided .
  • Figure 1 is a perspective and schematic view of an automatic packing machine for the production of packets ;
  • Figure 2 is a schematic view of a block diagram of a possible embodiment of the control method according to the present invention.
  • Figure 3 is an explanatory graph of the torque delivered, of the desired one and of a tolerance interval in a nominal operating condition of an operating member of the automatic machine ;
  • Figure 4 is an explanatory graph of the torque delivered, of the desired one and of a tolerance interval in a condition of collision of an operating member of the automatic machine .
  • Figure 1 shows an automatic machine 1 for the production of articles of the tobacco industry, in particular an automatic packaging machine 1 for the application of a transparent overwrapping to cigarette packets .
  • the present invention can obviously also be applied to di f ferent machines for producing or packing consumer articles , j ust as cigarettes are .
  • the automatic machine 1 compri ses a frame 2 onto which a plurality of moving operating members (such as , for example , pincers , drums , pushers , etc . ) are mounted, which perform production and/or packing operations of consumer articles (which, in the non-limiting embodiment shown in Figure 1 , are cigarette packets 3 ) .
  • a plurality of moving operating members such as , for example , pincers , drums , pushers , etc .
  • second component does not imply the presence of a "first” component .
  • Such terms are , in fact , adopted as labels to improve clarity and should not be intended as limiting .
  • the automatic machine 1 comprises various elements adapted to perform the processing on the articles ( cigarette packets 2 in the embodiment shown in Figure 1 ) . These elements are generically indicated as movable operating members 5 in the present description .
  • the automatic machine 1 comprises one or more electric drives 3 configured to control at least one electric actuator 4 , which is mechanically connected to a respective movable operating member 5 (also known as last trans feror ) , which performs the processing on the articles ( for example , on the packets 2 ) .
  • the electric actuator 4 is , in fact , electrically connected to the electric drive 3 and is configured to receive torque from the electric drive 3 in order to make the movable operating member 5 perform a motion profile MP .
  • the electric actuators 4 comprise electric motors ( in particular, the brushl ess type ) .
  • the actuators 4 also comprise di f ferent types of drives to electric motors (for example , electrically actuated cylinders , etc . ) .
  • the electric drives 3 are grouped in a dedicated zone of the automatic machine 1 (for example , a general or dedicated electric panel ) .
  • several electric drives 3 are arranged at the respective electric actuator 4 .
  • the respective drive may also be arranged on board the stator of the motor itsel f .
  • the electric drives 3 are arranged on board a machine control unit .
  • several electric drives 3 can be arranged on board the respective electric actuator 4 to which they are connected .
  • the automatic machine 1 also comprises a control unit 6 ( Figure 1 ) , which is configured to control the electric actuators 4 by means of the drives 3 .
  • the control unit 6 is configured to control the electric drive 3 to command the motion of the movable operating member 5 .
  • the automatic machine 1 compri ses an interface device 7 (show in Figure 1 ) configured to al low an operator 0 to start a training process as described below .
  • the interface device 7 comprises a screen 8 ; more precisely, the screen 8 is a touchscreen .
  • a control method is provided, in particular a method of detection of a collision of a movable operating member 5 of an automatic machine 1 for producing or packing consumer articles 2 .
  • the automatic machine 1 is configured to perform the method described below .
  • the control unit 6 is programmed to perform said method .
  • the method comprises a step of defining the motion profile MP of the movable operating member by which to perform at least one processing on the articles 2 .
  • the motion profile MP may be defined as the position or velocity that the movable operating member 5 or the actuator connected to it must have in order to process , or even only move , a packet 2 .
  • the method comprises the step of controlling, by means of the control unit 6 , the position or velocity of the electric drive 3 of the electric actuator 4 , in order to have the movable operating member perform the first motion profile MP .
  • the control unit 6 sends a position setpoint to the drive 3 , which consequently delivers the torque necessary to maintain at a minimum the tracking error of the member 5 (i.e. the difference between the current position and the one controlled by the drive 3) .
  • the method provides for defining an ideal torque profile ITP (shown in Figure 3) for the movable operating member 5, to be delivered during execution of the motion profile MP.
  • ITP shown in Figure 3
  • feedforward torque to send in advance to the drive 3 the torque values that will be required and to improve the dynamic response of the member 5.
  • feedforward torque control is particularly advantageous in variable inertia systems.
  • the feedforward torque values injected are taken from a specific torque consultation table TT.
  • the feedforward torque values injected are pre-calculated by means of an inertia table of a known type and not further detailed below.
  • the two setpoints i.e. the desired values (position or velocity and torque)
  • the position setpoint enters into the position loop, and the torque setpoint is sent in feedforward according to known diagrams, which are not further detailed below.
  • the method also comprises the step of defining the tolerance interval I as a function, at least, of the ideal torque profile ITP.
  • the tolerance interval I defines a window of acceptable torque which can be delivered by the electric drive 3 which follows, instant by instant, the ideal torque profile ITP.
  • the tolerance interval I defines, in time, a tolerance band B that substantially follows the trend of the ideal torque profile ITP (i.e. that always contains the ideal torque profile ITP within it ) .
  • the tolerance interval I is variable in width W as a function, at least , of the ideal torque profile ITP .
  • the distance between an upper limit UL and a lower limit LL of the tolerance interval I varies as the ideal torque profile ITP varies .
  • the width W of the tolerance band B is variable at least as a function of the torque values assumed by the ideal torque profile ITP .
  • the tolerance interval I is defined such that the ideal torque profile ITP is always in the middle of the tolerance interval I itsel f .
  • the distance between the ideal torque profile ITP and the upper limit UP is equal to the distance between the ideal torque profile ITP and the lower limit LL .
  • the control method also comprises the step of controlling, at a first time instant T ' and in feedforward, the electric drive with a desired torque DT in accordance with a point P of the ideal torque profile ITP .
  • the method also provides for detecting, at a second time instant T ' ’ following the first time instant T ' , a torque ET actually delivered by the electric drive 3 in accordance with the previously commanded desired torque DT .
  • the method also comprises the step of phasing in time the desired torque DT with the torque ET actually delivered, i . e . of determining the di f ference between the instants T ' and T ' ’ and moving in accordance with them a desired torque profile DTP or a torque profile ETP actually delivered, in order to make them concur and be able to compare how delivery of the torque ET actually delivered by the drive 3 to follow the motion profile MP is di f ferent to the desired torque DT .
  • the method provides for checking whether the torque ET actually delivered is within the tolerance interval I at point P of the ideal torque profile TTP .
  • the method also comprises the step of comparing, after the phasing phase , the desired torque DT with the torque EP actually delivered to obtain the torque error TE .
  • the step of veri fying is performed on the torque error ( TE ) and/or one of its derivatives .
  • the torque error TE exceeds the tolerance interval I and to detect a possible collision several instants before with respect to a detection performed by means of a tracking error, as occurs in the prior art .
  • detection of the torque in the manner described above detects a direct measurement of the opposition to motion of the movable operating member 5 and is detected before it exceeds the tracking error limits (which represents an indirect method, detectable only several cycle times afterwards ) .
  • the method also comprises the steps of diagnosing, according to the veri fying step and/or the comparing step, a collision of the movable operating member 5 ; and, consequently, the step of controlling the electric drive 3 , by means of the control unit 6 , in order to stop or disable ( i . e . remove torque from) the electric actuator 4 .
  • the method also comprises a training step, prior to control of the drive 3 by the control unit 6 , in order to define the tolerance interval I .
  • the training step is performed by the control unit 6 following an instruction from the operator 0.
  • the tolerance interval I is defined as a function of the torque error TE , i . e . the di f ference , instant by instant , between the ideal torque profile ITP ( coinciding with the desired torque profile DTP ) and the torque profile ETP' actually delivered by the electric drive 3 to the electric actuator 4 to make the movable operating member 5 perform the motion profile MP during the training step .
  • the training step comprises the sub-step of controlling, at a time instant , the electric drive 3 with a desired torque DT in accordance with a point P of the ideal torque profile ITP .
  • the training step then comprises the substep of detecting, at a time instant following the previous time instant , the torque ET actually delivered by the electric drive 3 in accordance with the previously commanded desired torque DT .
  • the training step compri ses the further sub-steps of phasing in time the desired torque DT with the torque ET actually delivered ( as described above ) ; and comparing, after the phasing phase , the desired torque DT with the torque ET actually delivered to obtain the torque error TE .
  • the training step is performed at a velocity lower than the nominal production velocity for the movable operating member 5 .
  • the torque error TE detected during the training step is used to define the tolerance interval I as follows .
  • the tolerance interval I is defined, above and below the ideal torque profile ITP, as the absolute value of at least twice the torque error TE detected during the training step .
  • Figure 3 shows a torque profile ETP' actually delivered during the training step, which di f fers from the torque profile ETP actually delivered during the production motion of the movable operating member 5 .
  • ETP and ETP' profiles may be di f ferent for di f ferent reasons , such as di f ferent materials being processed, wear and tear, increase in some friction, lubrication, etc .
  • the tolerance interval I i s defined as a function of at least one prede fined percentage of the value , instant by instant , of the ideal torque profile TTP .
  • the tolerance interval I comprises an upper portion UP of the ideal torque profile ITP and a lower portion LP of the ideal torque profile ITP .
  • the predefined percentage defines the thickness , or width W, of the upper portion UP and/or both of the lower portion LP . In this manner, for high desired torque DT values , the width W is proportionately higher with respect to lower desired torque DT values .
  • the tolerance interval I is asymmetric with respect to the ideal torque profile ITP .
  • the tolerance interval I is defined as a function of a first predefined percentage and a second predefined percentage of the value , instant by instant , of the ideal torque profile ITP ; the first predefined percentage defines the width of the upper portion UP to the ideal torque profile and the second predefined percentage defines the width W of the lower portion LP to the ideal torque profile , the first predefined percentage being di f ferent from the second predefined percentage .
  • the first predefined percentage and/or the second predefined percentage is equal to at least 30%, in particular 40%, of the desired torque DT (i.e. point by point of the ideal torque profile ITP) .
  • FIG. 2 shows a schematic view of a block diagram of a part of the control method, in which it is shown that a torque comparator TC (configured to perform the aforementioned comparing step) receives in input the desired torque DT (from the torque table TT) controlled at time T' to the drive 3 and receives the torque ET actually delivered and detected at instant T' ’ as a function of the desired torque DT .
  • the comparator TC re-phases the profile DTP and the profile ETP and determines, instant by instant, the torque error TE (in output from the comparator TC) .
  • the x-axis corresponds with the sampling time t by the control unit 6, whereas the y-axis corresponds with the torque delivered by the drives 3.
  • the y-axis has values expressed in degrees, where a full circle (360°) corresponds with a machine cycle, whereas the y-axis is expressed in Nm.
  • the present invention has multiple advantages.
  • the method described above provides for a point variability of the tolerance interval, thus allowing its width to be varied as a function of the ideal torque profile and therefore of the inertia, in the case of variable inertia mechanisms .
  • the present invention makes it possible to avoid covering the automatic machine in force and/or torque sensors.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

Procédé de commande d'un organe d'actionnement mobile (5) d'une machine automatique (1) pour produire ou emballer des articles de consommation (2) ; le procédé comprend les étapes consistant à : définir un profil de mouvement (MP) de l'organe d'actionnement mobile (5) par lequel effectuer au moins un traitement d'onnee sur les articles (2) ; commander en position ou en vitesse, au moyen d'une unité de commande (6), un entraînement électrique (3) d'un actionneur électrique (4) relié mécaniquement à l'organe d'actionnement mobile (5) pour amener l'organe d'actionnement mobile (5) à exécuter le profil de mouvement (MP) ; définir un profil de couple idéal (ITP) pour l'organe d'actionnement mobile (5) à délivrer pendant l'exécution du profil de mouvement (MP) ; définir un intervalle de tolérance (I) en fonction, au moins, du profil de couple idéal (ITP) ; l'intervalle de tolérance (I) définissant une fenêtre de couple acceptable qui peut être délivré par l'entraînement électrique (3) qui suit, instant par instant, le profil de couple idéal (ITP) ; l'intervalle de tolérance (I) étant variable en largeur (W) en fonction, au moins, du profil de couple idéal (ITP).
EP24714996.6A 2023-03-02 2024-03-01 Procédé de commande d'un organe d'actionnement mobile d'une machine automatique pour production ou emballage d'articles de consommation Pending EP4673797A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102023000003834A IT202300003834A1 (it) 2023-03-02 2023-03-02 Metodo di controllo di un organo operatore mobile di una macchina automatica per la produzione o l'impacchettamento di articoli di consumo
PCT/IB2024/051994 WO2024180519A1 (fr) 2023-03-02 2024-03-01 Procédé de commande d'un organe d'actionnement mobile d'une machine automatique pour production ou emballage d'articles de consommation

Publications (1)

Publication Number Publication Date
EP4673797A1 true EP4673797A1 (fr) 2026-01-07

Family

ID=86331779

Family Applications (1)

Application Number Title Priority Date Filing Date
EP24714996.6A Pending EP4673797A1 (fr) 2023-03-02 2024-03-01 Procédé de commande d'un organe d'actionnement mobile d'une machine automatique pour production ou emballage d'articles de consommation

Country Status (3)

Country Link
EP (1) EP4673797A1 (fr)
IT (1) IT202300003834A1 (fr)
WO (1) WO2024180519A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202300003834A1 (it) 2023-03-02 2024-09-02 Gd Spa Metodo di controllo di un organo operatore mobile di una macchina automatica per la produzione o l'impacchettamento di articoli di consumo

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996040558A1 (fr) 1995-06-07 1996-12-19 Tetra Laval Holdings & Finance S.A. Systeme de diagnostic pour un appareil mu par un servomoteur
EP2177439A1 (fr) 2008-10-17 2010-04-21 Focke & Co. (GmbH & Co. KG) Unité de fabrication et procédé de fonctionnement de l'unité de fabrication
US20150066167A1 (en) 2013-08-28 2015-03-05 Rockwell Automation Technologies, Inc. Motion Control Systems With Improved Energy Efficiency
JP5966294B2 (ja) 2011-09-26 2016-08-10 株式会社ニコン 異常判定装置、駆動装置及びロボット装置
EP4219251A1 (fr) 2022-01-31 2023-08-02 Otto Christ AG Procédé de commande pour une installation de traitement de véhicule
WO2024180519A1 (fr) 2023-03-02 2024-09-06 G.D S.P.A. Procédé de commande d'un organe d'actionnement mobile d'une machine automatique pour production ou emballage d'articles de consommation

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6470225B1 (en) * 1999-04-16 2002-10-22 Siemens Energy & Automation, Inc. Method and apparatus for automatically tuning feedforward parameters

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996040558A1 (fr) 1995-06-07 1996-12-19 Tetra Laval Holdings & Finance S.A. Systeme de diagnostic pour un appareil mu par un servomoteur
EP2177439A1 (fr) 2008-10-17 2010-04-21 Focke & Co. (GmbH & Co. KG) Unité de fabrication et procédé de fonctionnement de l'unité de fabrication
JP5966294B2 (ja) 2011-09-26 2016-08-10 株式会社ニコン 異常判定装置、駆動装置及びロボット装置
US20150066167A1 (en) 2013-08-28 2015-03-05 Rockwell Automation Technologies, Inc. Motion Control Systems With Improved Energy Efficiency
EP4219251A1 (fr) 2022-01-31 2023-08-02 Otto Christ AG Procédé de commande pour une installation de traitement de véhicule
WO2024180519A1 (fr) 2023-03-02 2024-09-06 G.D S.P.A. Procédé de commande d'un organe d'actionnement mobile d'une machine automatique pour production ou emballage d'articles de consommation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2024180519A1

Also Published As

Publication number Publication date
WO2024180519A1 (fr) 2024-09-06
IT202300003834A1 (it) 2024-09-02

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