CN100579791C - Driving control apparatus - Google Patents
Driving control apparatus Download PDFInfo
- Publication number
- CN100579791C CN100579791C CN200610009427A CN200610009427A CN100579791C CN 100579791 C CN100579791 C CN 100579791C CN 200610009427 A CN200610009427 A CN 200610009427A CN 200610009427 A CN200610009427 A CN 200610009427A CN 100579791 C CN100579791 C CN 100579791C
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- signal
- command value
- control device
- printhead
- drive transmission
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- Character Spaces And Line Spaces In Printers (AREA)
Abstract
The invention relates to a drive control device. It includes route planning unit used to output position and speed command values, feedback unit which is signal connection with the print head and used to generate position and speed feedback signal, proportional-integral controller which is signal connection with the route planning unit, feedback unit, and drive actuator, and used to generate the first control signal and send it to the drive actuator according to the difference between the command value and feedback signal, and feed forward control which is signal connection with the route planning unit and the drive actuator, used to receive speed command value to calculate, generate the second control signal, and transmit it to the drive actuator to drive the print head to move according to the first and second control signals.
Description
Technical field
The present invention relates to a kind of driving control device, particularly relate to a kind of printhead of printing equipment and driving control device on the drive transmission of being applied in.
Background technology
See also Fig. 1, it is the internal structure schematic diagram of a common ink-jet printer, wherein move by motor 12 driven gears 13, belt 14, ink gun 10 make the load bearing seat 11 of ink gun 10 to carry out straight reciprocating motion, so that can go to the precalculated position to print task along sliding bar 19.And in order to make control module (this not shown) know certain position of ink gun 10, also be carried on 15 of optical encoders on the load bearing seat 11 and will pass to control module with feedback speed signal according to the position feed back signal that the scale on the optics chi 16 produces and control the mobile of ink gun 10.
See also Fig. 2 again, it is the built-in function block schematic diagram of the control module commonly used of above-mentioned ink-jet printer, wherein proportional-integral derivative controller (PID controller) 21 carries out computing according to the position command value of route planning unit (pathplanning unit) 20 output and speed command value and produces a control signal (a normally pulse-width signal) and export drive unit 22 (including above-mentioned motor 12 usually) to, and then accessory drive 22 drives the plant equipment (plant) 23 that said gear 13, belt 14 and ink gun 10 etc. are constituted.And position feed back signal and feedback speed signal that the feedback unit 24 that utilizes above-mentioned optical encoder 15 and optics chi 16 to constitute is produced are fed to the input of proportional-integral derivative controller 21, and obtain inputing to proportional-integral derivative controller 21 behind position error signal and the speed error signal after position command value and speed command value subtract each other, make proportional-integral derivative controller 21 produce the driving force that this control signal is come accessory drive 22 according to the size of position error signal and speed error signal.
But in the above-mentioned common technology means, mainly be error signal to be imported proportional-integral derivative controller 21 carry out computing, therefore error amount will enough could produce enough big voltage signal comes driver 22 greatly, reaches the big shortcoming of speed departure slowly so the common technology means have response speed.Therefore, need improve the defective in the mentioned said apparatus structure.
Summary of the invention
The object of the present invention is to provide a kind of driving control device, the response speed that exists with the solution prior art reaches the big shortcoming of speed departure slowly.For achieving the above object, the invention provides a kind of driving control device, be applied to printhead and drive transmission on the printing equipment, this driving control device comprises: route planning unit, its exportable position command value and speed command value; Feedback unit is connected with this printhead signal, and its Position And Velocity according to this printhead produces position feed back signal and feedback speed signal; Proportional-plus-integral controller, be connected with this route planning unit, this feedback unit and this drive transmission signal, it produces first control signal and this first control signal is delivered to this drive transmission according to the difference of this position command value and this position feed back signal and the difference of this speed command value and this feedback speed signal; And feedforward controller, be connected to this route planning unit and this drive transmission signal, it receives this speed command value and carries out computing and produce second control signal and this second control signal is delivered to this drive transmission, and then allows this drive transmission can be simultaneously drive this printhead according to this first control signal and this second control signal to move.
According to above-mentioned technical conceive, driving control device of the present invention, wherein this feedback unit is connected with optics chi signal with optical encoder in this printhead, and this optical encoder and this optics chi can reflect the Position And Velocity of this printhead.
According to above-mentioned technical conceive, driving control device of the present invention, this first control signal that wherein this proportional-plus-integral controller produced is kp * (speed command value-feedback speed signal)+ki * (position command value-position feed back signal), and wherein kp and ki then are the yield value of proportional-plus-integral controller.
According to above-mentioned technical conceive, driving control device of the present invention, this second control signal that wherein this feedforward controller produced is c1 * speed command value+c2, and wherein c1 and c2 are constant and can determine out by this drive transmission being carried out system's discriminating.
According to above-mentioned technical conceive, driving control device of the present invention, wherein this drive transmission comprises d.c. motor and transmission mechanism.
According to above-mentioned technical conceive, driving control device of the present invention, wherein this transmission mechanism includes gear train and driving belt.
According to above-mentioned technical conceive, driving control device of the present invention, wherein this printhead is an ink gun.
Beneficial effect of the present invention and advantage comprise, the feedforward controller that the present invention set up is because directly the speed command value of exporting according to the route planning unit produces control voltage, therefore can the direct compensation d.c. motor under constant speed required back-emf voltage and overcome gear train and required voltage during the kinetic force of friction of driving belt, so passing through site error and velocity error that feedback signal produces just can effectively reduce, therefore just do not need the yield value kp and the ki of proportional-plus-integral controller are designed to very big value, and then the velocity error that increases the stability of system and dwindle constant speed control.So just can accelerate the reaction speed of system, can increase the stability of system again simultaneously, and dwindle the velocity error of ink gun under constant speed control effectively.
Description of drawings
By following accompanying drawing and explanation, can further understand the present invention:
Fig. 1 is the internal structure schematic diagram of a common ink-jet printer.
Fig. 2 is the built-in function block schematic diagram of the control module commonly used of ink-jet printer.
Fig. 3 is the function block schematic diagram of ink gun driving control device of the present invention preferred embodiment.
Wherein, description of reference numerals is as follows:
Optics chi 16 sliding bars 19 route planning unit 20
Proportional-integral derivative controller 21 drive units 22 plant equipment 23
Proportional-plus-integral controller 32 feedforward controllers 33 drive transmissions 38
Motor drive integrated circuit 380 d.c. motors 381 transmission mechanisms 382
The specific embodiment
See also Fig. 3, it improves the prior art defective and can be applicable to ink-jet printer or the preferred embodiment function block schematic diagram of the ink gun driving control device of ink-jet multifunctional paper feeding machine for of the present invention, wherein consist predominantly of route planning unit 30, feedback unit 31, proportional-plus-integral controller 32 and feedforward controller 33, wherein route planning unit 30 is same as the prior art, it is in order to outgoing position bid value P and speed command value V, produce position feed back signal Pf and feedback speed signal Vf and feedback unit 31 mainly is a Position And Velocity according to printhead 39 reality, and proportional-plus-integral controller 32 produces the first control signal S1 according to the difference Pd of this position command value P and this position feed back signal Pf and the difference Vd of this speed command value V and this feedback speed signal Vf.Feedforward controller 33 then directly receives this speed command value V to carry out computing and produces the second control signal S2.And the first control signal S1 is transferred into this drive transmission 38 with the second control signal S2, and then makes this drive transmission 38 can be simultaneously drive this printhead according to this first control signal S1 and the second control signal S2 to move.
And the second control signal S2=c1 * speed command value V+c2 of above-mentioned feedforward controller 33 outputs, wherein c1 and c2 are constant, can differentiate that (SystemIdentification) obtains by system to system drive transmission device 38, as for the first control signal S1=kp * (speed command value V-feedback speed signal Vf)+ki * (the position command value P-position feed back signal Pf)=kp * Vd+ki * Pd of proportional-plus-integral controller 32 outputs, wherein kp and ki then are the yield value of proportional-plus-integral controller 32.
And above-mentioned drive transmission 38 comprises motor drive integrated circuit 380, d.c. motor 381 and transmission mechanism 382, and this transmission mechanism 382 includes gear train 3820 and driving belt 3821, wherein motor drive integrated circuit 380 receive and according to this first control signal S1 with the variation of the second control signal S2 the required drive voltage signal (being generally the pwm voltage signal) of corresponding generation driving d.c. motor 381, and driving belt 3821 moves in order to drive this printhead 39, and this printhead 39 can be the ink gun in the ink-jet printer.
In sum, the feedforward controller 33 that the present invention set up, because directly the speed command value V according to 30 outputs of route planning unit produces control voltage, therefore can direct compensation d.c. motor 381 under constant speed required back-emf voltage and required voltage when overcoming the kinetic force of friction of gear train 3820 and driving belt 3821, so passing through site error and velocity error that feedback signal produces just can effectively reduce, therefore just do not need the yield value kp and the ki of proportional-plus-integral controller 32 are designed to very big value, and then the velocity error that increases the stability of system and dwindle constant speed control.So just can accelerate the reaction speed of system, can increase the stability of system again simultaneously, and dwindle the velocity error of ink gun under constant speed control effectively.
Certainly, the present invention also can migrate to having on the similar printing equipment, for example is applied on multifunctional paper feeding machine, the facsimile machine etc., can realize the identical functions improvement equally.Therefore, the various modifications undertaken by those skilled in the art of the present invention and change claims of all not breaking away from the application the scope of desire protection.
Claims (7)
1. a driving control device is applied to printhead and drive transmission on the printing equipment, and this driving control device comprises:
The route planning unit, its exportable position command value and speed command value;
Feedback unit, it is connected with this printhead signal, and its Position And Velocity according to this printhead produces position feed back signal and feedback speed signal;
Proportional-plus-integral controller, it is connected with this route planning unit, this feedback unit and this drive transmission signal, and produces first control signal and this first control signal is sent to this drive transmission according to the difference of this position command value and this position feed back signal and the difference of this speed command value and this feedback speed signal; And
Feedforward controller, it is connected with this drive transmission signal with this route planning unit, this feedforward controller receives this speed command value to carry out computing and produces second control signal and second control signal is sent to this drive transmission, and then makes this drive transmission drive this printhead according to this first control signal and this second control signal simultaneously to move.
2. driving control device as claimed in claim 1, wherein this feedback unit is connected with optics chi signal with optical encoder in this printhead, and this optical encoder and this optics chi can reflect the Position And Velocity of this printhead.
3. driving control device as claimed in claim 1, this first control signal that wherein this proportional-plus-integral controller produced is kp * (speed command value-feedback speed signal)+ki * (position command value-position feed back signal), and wherein kp and ki then are the yield value of proportional-plus-integral controller.
4. driving control device as claimed in claim 1, this second control signal that wherein this feedforward controller produced is c1 * speed command value+c2, wherein c1 and c2 are constant and can determine out by this drive transmission being carried out system's discriminating.
5. driving control device as claimed in claim 1, wherein this drive transmission comprises d.c. motor and transmission mechanism.
6. driving control device as claimed in claim 5, wherein this transmission mechanism includes gear train and driving belt.
7. driving control device as claimed in claim 1, wherein this printhead is an ink gun.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN200610009427A CN100579791C (en) | 2006-02-22 | 2006-02-22 | Driving control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN200610009427A CN100579791C (en) | 2006-02-22 | 2006-02-22 | Driving control apparatus |
Publications (2)
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CN101024351A CN101024351A (en) | 2007-08-29 |
CN100579791C true CN100579791C (en) | 2010-01-13 |
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CN200610009427A Expired - Fee Related CN100579791C (en) | 2006-02-22 | 2006-02-22 | Driving control apparatus |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6436067B2 (en) * | 2015-11-19 | 2018-12-12 | オムロン株式会社 | Control device, control method, information processing program, and recording medium |
CN109634102B (en) * | 2019-01-22 | 2021-10-01 | 广东工业大学 | Secondary control method, device, equipment and storage medium |
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Granted publication date: 20100113 Termination date: 20160222 |