Working station for deposition of elementary semifinished products for building tyres

A working station for deposition of elementary semifinished products for building tyres, the working station comprising:

• an anthropomorphic robotized arm, arranged for rotatably moving an output end effector thereof;
• a building drum associated with the output end effector, wherein the output end effector is configured to rotatably move the building drum about a geometric axis of the building drum;
• a feeding apparatus configured for feeding an elementary semifinished product at a given linear speed, the elementary semifinished product being deposited on the building drum in form of side-by-side coils, to form at least one component of a tyre being processed;
• and
• a control apparatus configured for:
• determining, as a function of the given linear speed, a target speed for rotation of the building drum;
• determining, as a function of the target speed, a non-integer target value for a speed parameter associated with the rotation of the building drum;
• wherein, upon determination of the non-integer target value, the control apparatus is configured for executing the following operations:
• determining a drive interval shorter than a settling time of an anthropomorphic robotized arm-building drum system for the output end effector;
• calculating a first value, equal to an integer number immediately preceding the non-integer target value;
• calculating a second value, equal to an integer number immediately following the non-integer target value;
• calculating, in the drive interval, a pulse width modulation (PWM) profile for the speed parameter, the PWM profile having a minimum value equal to the first value and a maximum value equal to the second value;
• and
• controlling the output end effector as a function of the PWM profile.