CN100517115C - Drive control device and image forming apparatus - Google Patents
Drive control device and image forming apparatus Download PDFInfo
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- CN100517115C CN100517115C CNB2006101017503A CN200610101750A CN100517115C CN 100517115 C CN100517115 C CN 100517115C CN B2006101017503 A CNB2006101017503 A CN B2006101017503A CN 200610101750 A CN200610101750 A CN 200610101750A CN 100517115 C CN100517115 C CN 100517115C
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Abstract
A drive control device controls a rotation speed of a rotatable member. A rotation drive member drives the rotatable member. A plurality of objects to be detected are provided in the rotatable member. A detector detects the objects to be detected, which are rotating with rotation of the rotatable member, and outputs a detection signal. A control part detects an angular speed of the rotatable member in accordance with the detection signal, and controls a rotation speed of the rotation drive member. The control part calculates an amount of error in intervals of the objects to be detected, and controls the rotation speed of the rotation drive member in accordance with the amount of error.
Description
Technical field
The present invention relates to driving control device and imaging device, for example use the facsimile recorder of rotary body (rotating object), printer, duplicating machine etc., be particularly related to the imaging device that uses the intermediate transfer parts, these intermediate transfer parts with the visible image transfer on the image-carrier on the image-carrier position moving body relative with a moving body.
Background technology
Known a kind of imaging device, particularly color-image forming apparatus have a plurality of developing cells and intermediate transfer belt.In the imaging device of this type, the fluctuation of the transfer rate of known intermediate transfer belt causes the colour cast of coloured image.The fluctuation of this transfer rate can be caused by the rotation fluctuation of the driven roller that drives intermediate transfer belt, reason is the off-centre of driven roller, the thermal expansion of driven roller, the load of this intermediate transfer belt during recording medium transmits, the load of the intermediate transfer belt in the elementary transmission biasing (primary transfer bias) of photosensitive se drum etc.A kind of reason of this colour cast is each color image on intermediate transfer belt when overlapping, and a plurality of color toner images are offset each other.In order to eliminate this colour cast, several method has been proposed to reduce the fluctuation of intermediate transfer tape speed.As one of these methods, the rotation fluctuation that has a kind of method to use rotary encoder on the dummy roll that is arranged on intermediate transfer belt, that be used to detect angular velocity to proofread and correct driven roller.The rotary encoder that this method is used for example comprises disk on the turning axle that is arranged on dummy roll with one heart and the transmission-type photo interrupter that this disk is clipped in the middle.This disk is provided with the otch (slit) of many radial settings.Photo interrupter detects the light that passes otch, so that detection is by the burst length of the pulse signal of the detection generation of light.Calculate the transfer rate of intermediate transfer belt according to detected value, so that carry out the FEEDBACK CONTROL of driven roller rotation.
As the imaging device that uses above-mentioned scrambler, known in patent documentation 1 or patent documentation 2 invention disclosed.Patent documentation 1 discloses and has not used filtrator to eliminate because the technology of the Tape movement velocity perturbation that roller off-centre causes.According to this technology, in a swing circle of driven roller, the angular velocity information of the dummy roll that detects from the pulse signal of scrambler is stored in the first memory.Then, in the angular velocity information of first memory storage,, offset because the velocity perturbation composition that driven roller off-centre causes by the computing of computing circuit, and extract because the speed that dummy roll off-centre causes detects error percentage, the speed of extraction detects error percentage and is stored in the second memory.During imaging, difference channel is tried to achieve the angular velocity information of the dummy roll that detects from the pulse signal of scrambler and the speed in the second memory of being stored in detects poor between the error percentage.Then, according to this difference data, comparator circuit output control signal is given motor driver, with control Tape movement speed.
Patent documentation 1: Japanese laid-open patent application 2000-047547
Patent documentation 2: Japanese laid-open patent application 2004-205717
Yet if the kerf width of rotary encoder is inconsistent and the spacing of otch is inconsistent, the deviation of the deviation of kerf width and otch spacing is thought the intermediate transfer belt velocity deviation.Therefore, require high level to keep craft precision and positional precision when forming otch, this has increased processing cost.With on all four otch spacing processing otch is very difficult.
In addition, when determining the radial margin of error that otch (object to be detected) spacing is set, because the velocity perturbation that the intermediate transfer belt varying loading causes can be included in the margin of error.Therefore, the spacing of object to be detected must be always corresponding with the margin of error.That is to say,, also need to hold fully the position that stops between the object to be detected even when intermediate transfer belt stops.Yet if the user has removed intermediate transport unit and mobile intermediate transfer belt, relation corresponding between them will become random.In addition, noise may enter in the detection signal of indication object to be detected spacing when intermediate transfer belt rotates, if in the detection of object to be detected error takes place, may can not get corresponding relation.
Summary of the invention
General purpose of the present invention provides a kind of improved and useful driving control device and imaging device, and wherein above-mentioned problem can be eliminated.
The present invention's purpose more specifically provides a kind of driving control device and imaging device, do not need object to be detected for example evenly equidistant between the otch, permission forms object to be detected with low cost, even and when using such otch, also obtain the accurate control of rotary part.
To achieve these goals, provide a kind of driving control device according to an aspect of the present invention, be used to control the rotational speed of rotatable part, comprising: rotary driving part drives rotatable part; Be arranged on a plurality of objects to be detected in the rotatable part; Detecting device is used to detect object to be detected, and these objects to be detected rotate along with the rotation of rotatable part, and output detection signal; And control module, detect the angular velocity of rotatable part according to detection signal, and control the rotational speed of rotary driving part, wherein this control module calculates the margin of error of object to be detected spacing, and controls the rotational speed of rotary driving part according to this margin of error.
In addition, provide a kind of imaging device according to a further aspect in the invention, comprising: intermediate transfer belt, it is rotatable annular band, and transmits toner image (toner image) thereon as the first image (primary transfer image) that shifts; Driven roller drives intermediate transfer belt; Driven voller is along with the motion rotation of intermediate transfer belt; A plurality of objects to be detected, rotate with driven voller, and detecting device, detect object to be detected and output detection signal, wherein this imaging device first transfer image that will be sent on the intermediate transfer belt is sent on the recording medium, thereby on recording medium, form secondary and transmit image, this imaging device further comprises control module, detect the angular velocity of driven voller according to detection signal, and according to the rotational speed of this angular velocity controlling and driving roller, this control module calculates the margin of error of object to be detected spacing, thereby according to the rotational speed of this margin of error controlling and driving roller.
According to the present invention, with the time corresponding to the traveling time of corresponding each spacing of the time adjustment of this margin of error, the margin of error of control object to be detected spacing and the rotational speed of rotary driving part.Therefore, the spacing that does not need to make object to be detected is for evenly equidistant, and this makes can form object to be detected with low cost.In addition, the rotational speed of rotary driving part can accurately be controlled.
Other purposes of the present invention, feature and advantage will become clearer from the following detailed description when reading accompanying drawing.
Description of drawings
Fig. 1 is the synoptic diagram according to the intermediate transport unit of the full color imaging device of the embodiment of the invention;
Fig. 2 is a driven voller shown in Figure 1, the skeleton view of disk and optical sensor;
Fig. 3 is the block scheme of control device shown in Figure 1;
Fig. 4 is the sequential chart of counter unit work shown in Figure 3;
Fig. 5 is the synoptic diagram of explanation arithmetic element work;
Fig. 6 is that expression is because the synoptic diagram of the counteracting method of velocity perturbation that driven roller off-centre causes and speed composition thereof;
Fig. 7 is that expression follows the sequential chart that CD-ROM drive motor begins the control driven roller carried out by control device from counting after starting closely;
Fig. 8 is the process flow diagram of the control operation undertaken by control device.
Embodiment
Below with reference to accompanying drawing embodiments of the invention are described.
Fig. 1 is the synoptic diagram of the intermediate transport unit of full color imaging device according to an embodiment of the invention.Intermediate transport unit shown in Figure 1 comprises photosensitive se drum 10Y, 10C, and 10M and 10K, they are four image carriers; Four developing cell 11Y, 11C, 11M and 11K, the latent image that they will be formed on the corresponding photosensitive se drum develops for having the toner image of the color that differs from one another; With intermediate transfer belt 12, can on the direction of arrow A, rotate, the toner image of different color transmits for the first time with overlapping state.Should be noted that in the following description, Y, M has omitted the suffix Y that represents color, M, C, and K in the mark of C and K common constituent components of all kinds.
Corresponding to Huang, green grass or young crops, the laser of deep red red and every kind of color of black is radiated at charging surface by the photosensitive se drum 10 of charging device charging by exposure device 7, makes latent image be respectively formed at the surface portion of the photosensitive se drum 10 of laser radiation.First transfer roller 13 is arranged with respect to photosensitive se drum 10 respectively, and intermediate transfer belt 12 rotates between first transfer roller 13 and photosensitive se drum 10 to sandwich (sandwiched) state.Intermediate transfer belt 12 is by driven roller 14, and jockey pulley 15 and driven voller 16 are supported.Driven roller is rotated in the direction of arrow A through reduction gearing 5 by CD-ROM drive motor 4 as rotary driving part.Secondary transfer roller 17 is arranged on the position relative with driven roller 14, and intermediate transfer belt 12 is clipped between the two.
In the imaging device according to present embodiment, when printing began, photosensitive se drum 10 rotated clockwise among Fig. 1, and its surface is by the charging device uniform charging.Corresponding to Huang, green grass or young crops, deep red light red and black image shines charging surface respectively from exposure device 7, and latent image is respectively formed on the charging surface.Latent image is developed by corresponding developing cell 11, and latent image is converted to Huang, green grass or young crops, the toner image of deep red red and black.Toner image of all kinds is sent to along on the intermediate transfer belt 12 of arrow A direction rotation by corresponding first transfer roller 13 with accurate overlap condition, therefore, forms the combined color image imaging of full color on intermediate transfer belt 12.
Transmission paper P as recording medium supplies with from the paper supply unit 6 that is arranged under the photosensitive se drum 10 at predetermined instant.When the transmission paper P that supplies with transmitted between driven roller 14 and secondary transfer roller 17, the combined color image that is carried by intermediate transfer belt 12 was sent on the transmission paper P by secondary transfer roller 17.Then, the toner image that transmits on the paper P passes through fixation unit 8 photographic fixing, and (not shown) ejects on Output Tray.
It should be noted that, although otch 19a is the spacing setting to equate substantially on the whole circumference of disk 19, as object to be detected, be arranged on the end face of driven voller 16 or the groove on the outer circumference surface (grooves) or notch (notches) and also can be used as object to be detected and replace otch 19a.When using reflection type optical sensor 18 (for example, reflective optical system), object to be detected is corresponding to the radial reflecting part that forms by printing.When using transmissive optical sensor 18 (for example, optical chopper), object to be detected is corresponding to the prolongation through hole (the otch 19a of disk 19) of radial formation.For example should be noted that magnetic sensor can be used to substitute optical sensor 18.In this case, such as, Hall element (hall elements) can be arranged on and identical position, above-mentioned radial reflecting part as object to be detected.
Fig. 2 is a driven voller 16, and disk 19 is formed on the disk 19 as the otch 19a of object to be detected and as the skeleton view of the optical sensor 18 of transmission type sensors.Passing otch (object to be detected) 19a from the emergent light as optical sensor 18 light-emitting components of detecting device incides on the light receiving element.The voltage that light receiving element produces carries out binarization by voltage comparator, makes the production burst signal as detection signal.
Fig. 3 is the block scheme of control device 3, and it is arranged on the control module in the imaging device shown in Figure 1.As mentioned above, driven voller 16 each rotations produce the pulse signal of eight pulses.Control device 3 as control module has counter unit 30, and the time clock that provides according to clock 31 is calculated the traveling time cycle from the rising edge of pulse to rising edge or from the negative edge of pulse to negative edge.Clock 31 generates high-frequency, and for example hundreds of KHz is to the cycle clock pulse of the Fixed Time Interval of several MHz.In the present embodiment, clock 31 is made of quartz (controlled) oscillator.In addition, control device 3 comprises RAM 33, is used to store the count value in traveling time cycle; Arithmetic element, be used to find the solution angular velocity (translational speed) and find the solution angular velocity and target velocity between difference, in the hope of the velocity correction amount, can obtain constant speed thus; With motor drive unit 34, change the motor driven clock that changes from present speed to motor driver 35 outputs according to this velocity correction value.The feedback factor (being the PID factor herein) that needs when finding the solution the velocity correction amount is stored among the RAM 33.Motor drive unit 34 drives this CD-ROM drive motor 4 by motor driver 35.The driving force of CD-ROM drive motor 4 is transferred to driven roller 14 by reduction gearing 5.
Fig. 4 is the sequential chart that counter unit 30 shown in Figure 3 is worked.When by counter unit 30 when the detection signal negative edge of optical sensor 18 begins to count, count value for example increases singly at the negative edge of the counting clock of clock 31.Then, when the next negative edge of input detection signal, produce and interrupt, and count value this moment (E000h among the figure) is transferred to the register of arithmetic element 32 and removes count value, beginning predetermined operation process in arithmetic element 32.Then, beginning counting subsequently.Interrupting the meaning herein, is to restart addend (count-up) by removing counter.
If desired, arithmetic element 32 reads count value from register, and the predetermined operation of carrying out narrating is below handled.Count value between the detection signal change point is according to the angular velocity varies of driven voller 16.Concretely, if the angular velocity of driven voller 16 accelerates, then count value diminishes, and on the contrary, if angular velocity is slack-off, then count value becomes big.If the transfer rate of intermediate transfer belt 12 is constant and the even spaced set of otch 19a, the always identical value of count value then.And if the even spaced set of otch 19a, the change amount of count value is only proportional with the transfer rate of intermediate transfer belt 12.Yet, can not make otch 19a have physically fully uniformly equidistantly, go up the error that spacing takes place in no small degree (to no small extent).Therefore, obtain such margin of error according to the method for narrating below.
Fig. 5 is the synoptic diagram of explanation arithmetic element 32 operations during the cycle of determining the margin of error.If a pulse in the detection signal of optical sensor 18 outputs is made as n pulse, at first, the add up last 16 times count value of the current count value that obtains of traveling time cycle of 1/8 circle that comprises driven voller 16, and obtain angular velocity (translational speed) from aggregate-value.Then, obtain the difference between angular velocity and the target velocity, in the hope of the velocity correction amount, this produces constant speed, and carries out speed control according to the velocity correction amount that obtains like this.Subsequently, identical processing is carried out in (n+1) individual pulse, also identical processing is carried out in (n+2) individual pulse, (n+3) individual pulse.Obtain the velocity correction amount by a swing circle, not controlled by the influence of driven roller 14 off-centre from driven roller 14.In addition, by being controlled, each pulse can control with the little time.That is to say, the transfer rate of control intermediate transfer belt 12, thereby the velocity perturbation that keeps the eccentric composition of driven roller 14, and make other speed compositions constant.
Fig. 6 is that expression is because the synoptic diagram of the removing method of velocity perturbation that driven roller 14 off-centre cause and speed composition thereof.Herein, the meaning of the off-centre of driven roller is that the cross sectional shape of driven roller 14 is not circular completely, for example, is oval, and the diameter of a direction is longer than the diameter of other directions.The shape error that forms in the eccentric manufacture process just as driven roller, very difficult formation do not have eccentric roller.Usually, the eccentric motion of roller changes according to as shown in Figure 6 its swing circle.Therefore, detect velocity perturbation that the off-centre of driven roller 14 causes as detecting error.Therefore,, the detection error that velocity perturbation causes eliminates because can passing through the integral time of at least one circle (rotation each time among the figure) of acquisition driven roller 14, just, and based on the traveling time cycle of the count value of rotating each time.Herein, the length that makes driven roller 14 excircles is the even-multiple of driven voller 16 excircle length, during the definite margin of error that can narrate in the back, eliminates the speed composition that driven roller 14 off-centre cause according to following method.
At first, the once rotation of the corresponding driven voller 16 of semiperiod of the one-period of driven roller 14 rotations, its excircle is 1: 2 relation.And a pulse of the detection signal of optical sensor 18 outputs is made as n pulse, and the sampling interval quantity of a swing circle of driven voller 16 is made as 8.Response is as the physical separation error of the otch 19a of object to be detected, and this sampling interval has trickle difference each other.Now, the 1/8 traveling time cycle of enclosing of (n+8) the individual pulse driven voller 16 after traveling time cycle of 1/8 circle of n pulse driven voller 16 and semiperiod subsequently at driven roller 14 has identical absolute value, except the symbol difference of the eccentric composition of driven roller 14.Therefore, the margin of error of the m=1 of otch 19a can from otch 19a be fully evenly equidistantly the time and the difference of desirable count value is tried to achieve, this ideal count value can by with the count value of the count value of n pulse and (n+8) individual pulse mutually adduction should and try to achieve divided by 2.In the same way, the margin of error of m=2 can be tried to achieve from (n+1) individual pulse and (n+9) individual pulse, and continue to try to achieve (n+2, n+10) ..., (n+7, n+15) the margin of error, thereby try to achieve the quantity that amounts to 8 correspondences and whole otch 19a, just, determine the margin of error of m=1 to m=8.Then, in the same way, the rotation several times of driven roller 14 is carried out several times determining the margin of error of m=1 to m=8, the margin of error of trying to achieve like this averages, and therefore, can try to achieve the margin of error with precision preferably.
Fig. 7 has begun the sequential chart that the 3 pairs of driven rollers 14 in control unit are controlled by counter unit 30 countings after representing to follow closely CD-ROM drive motor 4 startups.
Carry out FEEDBACK CONTROL (1) for translational speed (angular velocity), wait for corresponding to counting having begun time durations process, so do not control up to the swing circle of n=16 according to a swing circle of driven roller 14.FEEDBACK CONTROL (1) is to be used to proofread and correct because the error Control that mild velocity perturbation causes, this mild velocity perturbation is caused by the thermal expansion of driven roller 14 grades.When reaching n=16, at first try to achieve translational speed (angular velocity) corresponding to a swing circle of driven roller 14, FEEDBACK CONTROL (1) can be carried out from this time.Simultaneously, the count value in the semiperiod of count value in the semiperiod of the driven roller 14 of n=17 to 24 and the driven roller 14 of n=25 to 32 is determined the margin of error (for the first time) of m=1 to m=8.In addition, determine the margin of error (for the second time) from the count value of semiperiod of the count value of semiperiod of n=25 to 32 and n=33 to 40.Further, determine the margin of error (for the third time) from the count value of semiperiod of the count value of semiperiod of n=33 to 40 and n=41 to 48.The average margin of error of trying to achieve like this (this sentence 3 average).Then, stop up to CD-ROM drive motor 4, carry out FEEDBACK CONTROL (2), the margin of error of trying to achieve before successively each interruption of the counting of each otch 19a being proofreaied and correct simultaneously from n=49.FEEDBACK CONTROL (2) is to be used to proofread and correct because the error Control that the velocity perturbation that the off-centre of driven roller 14 produces causes.After the n=48, carry out above-mentioned FEEDBACK CONTROL (1) and FEEDBACK CONTROL (2) simultaneously.
As mentioned above, according to above-mentioned control, do not control during the rotation first time at driven roller, the determining when carrying out FEEDBACK CONTROL (1) second and carry out during the rotation for the third time of the margin of error, afterwards, after the 4th rotation neutralization, carry out FEEDBACK CONTROL (1) and FEEDBACK CONTROL (2) simultaneously.The determining of the margin of error is not limited to three times average, can use the margin of error of determining for the first time at least.In addition, by every half period is determined the margin of error, carry out the margin of error of same number of times in half time cycle under the situation about can determine in each cycle and determine.
Fig. 8 represents the process flow diagram of operation of the control module 3 of present embodiment.
In this control operation, if CD-ROM drive motor 4 starts in printing operation etc., and is stabilized in constant speed (step S10), the then count value zero clearing of the counting clock of clock 31, allow counter unit 30 to interrupt, and counter begin to be made as and open (ON) (step S11).The count value of interrupting is not an exact value for the first time, because the change of the start of counting operation and detection signal differs from one another the step.Therefore, the control of interrupting for the first time is left in the basket (step S12), interrupts count number n zero clearing (step S13).
Then, wait for the interruption (step S14) of counter unit 30, when producing interruption, interrupt count increments 1, just, interrupt count number n=n+1 (step S15), the count value Tc of n count value
nBe transferred to the register and this numerical value of storage in RAM 33 from counter unit 30.Afterwards, check and interrupt count number n, and return step S14, up to reaching n=16, so that repetitive process is to step S17.Just, reach 16 (if n 〉=16), determine to interrupt count number n whether in 16≤n≤24 scopes (step S18) if interrupt count number n.
In this determining step, if in 16≤n≤24 scopes, then process enters step S19, the count value Tc that reads from step S16
nThe middle angular velocity Vp1 that calculates
n[mm/s].Because count value Tc
nBe the count value of each 1/8 circle (each 1/16 circle of driven roller 14) of driven voller 16, the count value Tc of a swing circle of driven roller 14
nThe preceding 16 times count value that can comprise the current count value that reads by adding up obtains as follows:
Tc
n＝Tc
n-15+Tc
n-14+Tc
n-13+...+Tc
n-2+Tc
n-1+Tc
n
Wherein, n=16,17 ..., 47,48
If the least count time (sampling time) of counting clock is made as Δ t[ms], obtain count value Tc corresponding to a swing circle of driven roller 14
nGate time: T1
n[ms] is as follows:
T1
n[ms]＝Tc
n×Δt
Wherein, n=16,17 ..., 47,48
If the thickness of the diameter+intermediate transfer belt 12 of driven voller 16 is made as r[mm], the angular velocity Vp1 of acquisition driven voller 16
n[mm/s] is as follows:
Vp1
n[mm/s]＝r×π×2/T1
n×1000
Wherein, n=16,17 ..., 47,48
If determine that at step S18 then process enters step S20, determines whether in 25≤n≤32 scopes not in 16≤n≤24 scopes.If in 25≤n≤32 scopes, then process enters step S21, be similar to step S19, calculate angular velocity Vp1
n[mm/s], error of calculation amount 1: Δ I1
mAs follows:
ΔI1
m＝Tc
s-(Tc
n-8+Tc
n)/2
Wherein, n=25,26 ..., 31,32
m＝1，2，...，7，8
Tc
sBe desirable count value and be in spacing that intermediate transport travelling belt 12 is in constant reference speed and otch 19a fully uniformly under the situation, the count value of 1/8 circle of driven voller 16, Tc
sBe calculated as follows:
Tc
s＝r×π/V
s/Δt/8×1000
Wherein, r[mm] be the layer thickness of the diameter+intermediate transport travelling belt of driven voller;
V
s[mm/s] is reference velocity;
Δ t[ms] be the least count time of counting clock.If determine that at step S20 then process enters step S22, determines whether in 33≤n≤40 scopes at this not in 25≤n≤32 scopes.If in 33≤n≤40 scopes, then process enters step S23, calculate angular velocity Vp1 to be similar to step S19
n[mm/s], the margin of error 2: Δ I2
mBe calculated as follows:
ΔI2
m＝Tc
s-(Tc
n-8+Tc
n)/2
Wherein, n=33,34 ..., 39,40
m＝1，2，...，7，8
If determine that at step S22 then process enters step S24, determines whether in 41≤n≤48 scopes at this not in 33≤n≤40 scopes.If in 41≤n≤48 scopes, then process enters step S25, calculate angular velocity Vp1 to be similar to step S19
n[mm/s], the margin of error 3: Δ I3
mBe calculated as follows:
ΔI3
m＝Tc
s-(Tc
n-8+Tc
n)/2
Wherein, n=41,42 ..., 47,48
m＝1，2，...，7，8
In addition, the margin of error 1,2,3 from trying to achieve before: Δ I1
m, Δ I2
m, Δ I3
m, error of calculation amount: Δ I
mAs follows:
ΔI
m＝(ΔI1
m+ΔI2
m+ΔI3
m)/3
Wherein, m=1,2 ..., 7,8
Then, process enters step S26, the error count that eliminate because noise etc. causes.If error count, process is returned step S13, so that begin this process again.At step S26, determine Vp1
nWhether at reference velocity V
s[mm/s] ± 1% ultimate value in.If sure (being), process enters step S27, calculating operation speed V1
n[mm/s].This calculating is carried out as follows.At first, try to achieve reference velocity V
sThe difference of [mm/s] (deviation) Ve1
n[mm/s]:
Ve1
n[mm/s]＝V
s-Vp1
n
Wherein, n=16,17 ..., 47,48
On the other hand, to the aggregate velocity Vei1 of difference
n[mm/s] is calculated as follows:
Vei1
n[mm/s]＝Ve1
n+Ve1
n-1
Wherein, n=16,17 ..., 47,48
At this moment, difference Ve1
nWith aggregate velocity Vei1 to difference
nBe stored among the RAM 33.Therefore, operating speed V1
n[mm/s] can be calculated as follows:
V1
n[mm/s]＝Kp1×Ve1
n+Ki1×Vei1
n+Kd1×(Ve1
n-Ve1
n-1)+V
s
Wherein, Kp1 is a scale-up factor, and Ki1 is an integral coefficient, and Kd1 is a differential coefficient,
n＝16，17，...，47，48
Kp1, Ki1 and Kd1 are stored among the RAM 33 in advance.
On the other hand, if determine that at step S24 not in 41≤n≤48 scopes, just, the situation in n 〉=49, process enter step S28, the Tc that reads from step S16
nCalculate angular velocity Vp2
n[mm/s].Vp2
nCalculating carry out as follows.That is, at first, the Δ I that uses step S25 to find the solution
mProofread and correct Tc in turn
n
Tcc
n＝Tc
n+ΔI
m
Wherein, n=49,50 ...
m＝1，2，...，7，8，1，2，...
Because the least count time (sampling time) of counting clock is Δ t[ms], gate time T2
n[ms] finds the solution as follows:
T2
n[ms]＝Tcc
n×Δt
Wherein, n=49,50 ...
When (thickness of the diameter of driven voller 16+intermediate transport travelling belt 12) is made as r[mm] time, the angular velocity Vp2 of driven voller 16
n[mm/s] finds the solution as follows.
Vp2
n[mm/s]＝r×π/16×T2
n×1000
Wherein, n=49,50 ...
Then, process enters step S29, is similar to step S26, the error count that eliminate because noise etc. causes.If error count, process is returned step S13, so that begin this process again.At this moment, be similar to step S26, this determines to be based on reference velocity V
sIn [mm/s] ± 1% ultimate value.If sure (being), process enters step S30, calculating operation speed V2
n[mm/s].This calculating is identical with step S27, carries out as follows:
At first, find the solution reference velocity V
sThe difference of [mm/s] (deviation) Ve2
n[mm/s].
Ve2
n[mm/s]＝V
s-Vp2
n
Wherein, n=49,50 ...
Aggregate velocity Vei2 to difference value
n[mm/s] is calculated as follows:
Vei2
n[mm/s]＝Ve2
n+Ve2
n-1
Wherein, n=49,50 ...
At this moment, difference Ve2
nWith aggregate velocity Vei2 to difference
nBe stored among the RAM 33.Therefore, operating speed V2
n[mm/s] can be calculated as follows:
V2
n[mm/s]＝Kp2×Ve2
n+Ki2×Vei2
n+Kd2×(Ve2
n-Ve2
n-1)+V
s
Wherein, Kp2 is a scale-up factor, and Ki2 is an integral coefficient, and Kd2 is a differential coefficient,
n＝49，50，...
Kp2, Ki2 and Kd2 are stored among the RAM 33 in advance.
At step S31, send instruction to motor drive unit 34, make the operating speed output of trying to achieve according to step S27 and step S30 from the motor driven clock that present speed changes, therefore, carry out the speed control of intermediate transport travelling belt 12.Then, at step S33, determine whether printing finishes.If determine that printing has finished should stop with CD-ROM drive motor 4, process enters step S33, thereby stops CD-ROM drive motor 4, and this process finishes at this moment.
As mentioned above, according to present embodiment, can obtain following effect.
1) because determined the margin of error of otch (object to be detected) spacing and in the correction error amount traveling time of each otch by trying to achieve each spacing control, need be evenly equidistantly to make otch.Therefore, can low-cost make disk with otch, and the rotational speed of controlling and driving roller (rotary driving part) accurately.
2) because angular velocity is to try to achieve from the integral time corresponding to the one-period of driven roller, and determine otch (object to be detected) in turn thus each spacing of angular velocity control otch of each spacing, can in the margin of error of determining the otch spacing, reduce because the velocity perturbation that the various loads of intermediate transfer belt cause.Therefore, in the margin of error of otch spacing was not included in, this allowed to determine the more accurate margin of error.
3), do not need fully the stop position of otch when being held in intermediate transfer belt and stopping by definite immediately margin of error after driven roller starts at every turn.Therefore, also no problem even remove mobile intermediate transfer belts such as intermediate transport unit or user.In addition, even when intermediate transfer belt rotates, carried out error-detecting, also can attempt once more simply because noise has entered in the detection signal of each spacing of indication otch.
4) by determining the margin of error and average error amount several times, if still exist because the velocity perturbation that the various loads of intermediate transfer belt cause, this velocity perturbation can be smoothed.In addition, the velocity perturbation that produces in driven roller once rotates can be smoothed.Therefore, can determine the more accurate margin of error.
5) when determining the margin of error, the circumference of driven roller is made as the even-multiple of driven voller circumference, so that use the semiperiod of driven roller and driven roller semiperiod subsequently to eliminate the speed composition that causes owing to driven roller off-centre.Therefore, because the speed composition that driven roller off-centre causes can be eliminated from the margin of error most, this brings determining of the more accurate margin of error.
The invention is not restricted to concrete disclosed embodiment, under the situation that does not deviate from scope of the present invention, can carry out various changes and variation.
The present invention is that its full content is quoted at this for reference based on the No.2006-167992 of Japanese priority application No.2005-198900 that submitted on July 7th, 2005 and submission on June 16th, 2006.
Claims (11)
1. the driving control device of rotational speed of the rotatable dish of control comprises:
Rotary driving part is used to drive rotatable dish;
Be arranged on a plurality of objects to be detected in the described rotatable dish;
Detecting device, this detecting device detects above-mentioned object to be detected and output detection signal, and described object to be detected rotates along with the rotation of described rotatable dish; With
Control module detects the angular velocity of described rotatable dish according to this detection signal, and controls the rotational speed of described rotary driving part,
Wherein, described object to be detected along the circumference of rotatable dish with the equal intervals setting, and
Described control module calculates the margin of error of the spacing of described object to be detected, and controls the rotational speed of described rotary driving part according to this margin of error.
2. driving control device according to claim 1 is characterized in that described control module when revising the time interval corresponding to corresponding spacing corresponding to time of the described margin of error, controls the rotational speed of described rotary driving part.
3. driving control device according to claim 1, it is characterized in that: when described control module calculates the described margin of error, described control module from corresponding to described rotatable dish once the rotation the whole time find the solution described angular velocity, determine described angular velocity for each spacing of described object to be detected in turn, and each spacing of described object to be detected is controlled.
4. driving control device according to claim 1 is characterized in that described control module uses repeatedly the mean value of calculated value as the described margin of error.
5. driving control device according to claim 4 is characterized in that described control module calculates the described margin of error to per half rotation of described rotatable dish.
6. driving control device according to claim 1 is characterized in that described control module carries out the calculating of the described margin of error immediately after described rotatable disc spins begins.
7. driving control device according to claim 1 is characterized in that described control module carries out the calculating of the described margin of error at every turn when described rotatable disc spins begins.
8. driving control device according to claim 1, it is characterized in that: described rotatable dish is a driven voller, its rotation is to follow the rotation of the intermediate transfer parts that are arranged in the image forming apparatus, this image forming apparatus will be formed on image transfer on the photosensitive part to recording medium by the intermediate transfer parts, and described rotary driving part is the driven roller that drives described intermediate transfer parts.
9. driving control device according to claim 8, the length that it is characterized in that described driven roller excircle are the even-multiples of described driven voller excircle length.
10. driving control device according to claim 9, it is characterized in that: the length of described driven roller excircle is the twice of described driven voller excircle length, and when calculating the described margin of error, described control module is eliminated the velocity perturbation composition that described driven roller off-centre causes according to subsequently half of the described driven roller rotation of a half-sum of the rotation of described driven roller.
11. an image forming apparatus comprises:
Intermediate transfer belt, it is that rotatable endless belt and toner image are transferred on it as the first image that shifts;
Driven roller drives intermediate transfer belt;
Driven voller rotates along with the motion of described intermediate transfer belt;
With a plurality of objects to be detected that driven voller rotates, these a plurality of objects to be detected are circle-shaped and are spacedly distributed; With
Detecting device detects object to be detected and output detection signal;
Wherein said image forming apparatus will be transferred to the described first transfer image of described intermediate transfer belt and transfer on the recording medium, thereby form the secondary transferring image on described recording medium;
Described image forming apparatus further comprises control module, detects the angular velocity of described driven voller according to described detection signal, and according to the rotational speed of described angular velocity controlling and driving roller;
Described control module calculates the margin of error of the spacing of described object to be detected, thereby controls the rotational speed of described driven roller according to the described margin of error.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005198900 | 2005-07-07 | ||
| JP2005198900 | 2005-07-07 | ||
| JP2006167992 | 2006-06-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1892496A CN1892496A (en) | 2007-01-10 |
| CN100517115C true CN100517115C (en) | 2009-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101017503A Expired - Fee Related CN100517115C (en) | 2005-07-07 | 2006-07-07 | Drive control device and image forming apparatus |
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| Country | Link |
|---|---|
| CN (1) | CN100517115C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5240579B2 (en) * | 2009-09-07 | 2013-07-17 | 株式会社リコー | Image forming apparatus |
| CN105564904A (en) * | 2015-11-20 | 2016-05-11 | 苏州赛森电子科技有限公司 | Speed control device of DMOS wafer transmission caterpillar band |
| CN111118553B (en) * | 2020-01-14 | 2020-09-18 | 广东嘉元科技股份有限公司 | Foil generating machine capable of adjusting rotating speed of winding roller in fault state and adjusting method |
| CN113156783A (en) * | 2021-04-13 | 2021-07-23 | 中山市三藏电子科技有限公司 | Laser printer and method for directly detecting and controlling rotation speed of photosensitive drum |
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- 2006-07-07 CN CNB2006101017503A patent/CN100517115C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN1892496A (en) | 2007-01-10 |
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