Synchronizing servo motion and iterative learning control for automatic high speed horizontal flow wrapper

In this paper, a DSP-based servo motion controller is developed for the horizontal flow wrapper, where the multi-axis servo drives and electronic cam are designed to achieve multi-task and real-time motion control for precise control of the horizontal flow wrapper. An ILC add-on to feedback control method are developed to improve the film cutting accuracy and eliminate the repeatable position error when the product moves into the film former.