The Research On Pushing-delivering Motion Control In Ultra-high Speed Cigarette Packing Machine

In recent years, with the application of the vector control method based on dynamic decoupling mathematical model of permanent magnet synchronous motor, the invention of direct drive technology, the application of DSP with powerful computing performance and the development of the advanced industrial Ethernet communication technology, the servo motion system’s performance have been more and more excellence. It presents a trend that is control-networking, intelligent, high-speed, modeling. At present, the application of servo motion control technology in the tobacco machinery has been increasingly common, such as electronic gear and electronic cam technology, the linear motor technology, which greatly simplified the tobacco mechanical’s transmission structure, reduced machine noise, and enhanced the reliability, and also increased the flexibility of the entire machine.This paper’s research subject is the servo motion control of the ultra-high-speed cigarette packaging machine. Firstly, using the advanced servo soft and hardware products, to build a pushing-delivering motion control experiment platform, which the soft PLC technology, EtherCAT communication technology, electronic cam technology, linear motor technology were integrated in. Also, the communication principle of EtherCAT was introduced. On the basis of introduce the communication principle the SoE and CoE application-layer protocol used by the experimental system, conversion of slave state machine and cyclical process data communication between the digital servo drive and the embedded PC were analyzed. In order to optimize the control performance, the positional relationship between the master axis and slave axis was optimized by using five polynomial and modified sine acceleration motion law, and the experiment results was good. Finally, refer to the current loop, velocity loop, position loop-three loops cascade control system architecture, the tunting of current control parameters was analyzed, and by using velocity feedforward, acceleration feedforward, and digital filter technology, the servo dynamic performance was improved and the following error of the motor was reduced. Finally, the superiority of linear displacement motion format realized by the linear motor, the dynamic performance of servo motor which drove the conveyor belt mold box and linear motor when the production speed were800packets per minute and1,000packets per minute, were tested.