CN109109474B - Control method and system of printing equipment - Google Patents
Control method and system of printing equipment Download PDFInfo
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- CN109109474B CN109109474B CN201811092936.6A CN201811092936A CN109109474B CN 109109474 B CN109109474 B CN 109109474B CN 201811092936 A CN201811092936 A CN 201811092936A CN 109109474 B CN109109474 B CN 109109474B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/387—Automatic cut-off devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
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- Control Of Electric Motors In General (AREA)
Abstract
The embodiment of the invention discloses a control method and a system of printing equipment, wherein the method comprises the following steps: sending a first rotating speed instruction to the motor driving module based on the control module so that the motor driving module drives the first motor to operate; acquiring the actual rotating speed of the first motor, and calculating an error value between the actual rotating speed and the first rotating speed; the control module adjusts the running rotating speed of the first motor according to the error value and a preset adjusting strategy, so that the running rotating speed of the first motor approaches the first rotating speed. By the method, the control accuracy of the paper feeding distance of the printing equipment can be improved, the printing paper is cut more neatly, and the printing effect is improved.
Description
Technical Field
The present invention relates to the field of electronic device control, and in particular, to a method and a system for controlling a printing device.
Background
In daily life, a printer is a very common device, and can be used in various office occasions, a common printer can print paper and films with various specifications such as a4, a5 and the like, in the medical field, the films are gradually developed into a package from a film package, and the printer is also developed into a compatible film package printing mode and a package printing mode from a film package printing mode, so that the printer is required to be provided with a complete set of paper feeding and cutting control system.
Traditional printer control system can't realize accurate control when control paper feed distance, and the accuracy of paper feed distance receives the influence of factors such as mechanical structure, paper external force great moreover for the advance and retreat distance of film can't obtain accurate control, leads to the film that the cutting was come out untidy, and it is relatively poor to print the effect.
Disclosure of Invention
The embodiment of the invention provides a control method and a control system of printing equipment, which can accurately control the paper feeding distance of the printing equipment and improve the printing effect.
A control method of printing equipment comprises a first motor, a motor driving module and a control module, wherein the control module, the motor driving module and the first motor are sequentially and electrically connected, and the first motor is used for driving a paper feeding mechanism to work; the method comprises the following steps:
sending a first rotating speed instruction to the motor driving module based on the control module so that the motor driving module drives the first motor to operate; the first rotating speed instruction is used for indicating the first motor to operate to a first rotating speed in a first direction;
acquiring the actual rotating speed of the first motor, and calculating an error value between the actual rotating speed and the first rotating speed;
the control module adjusts the running rotating speed of the first motor according to the error value and a preset adjusting strategy, so that the running rotating speed of the first motor approaches the first rotating speed.
Optionally, in one embodiment, the adjusting the operating speed of the first motor according to the error value and by combining a preset adjustment strategy by the control module includes:
the control module obtains a regulation parameter according to the error value and a PID speed regulation algorithm, and sends a regulation instruction to the motor driving module according to the regulation parameter;
and the motor driving module adjusts the running rotating speed of the first motor to approach the first rotating speed according to the adjusting instruction.
Optionally, in one embodiment, the obtaining, by the control module, a regulation parameter according to the error value in combination with a PID speed regulation algorithm includes:
and carrying out proportional adjustment, integral adjustment and differential adjustment on the error value in sequence.
Optionally, in one embodiment, the performing proportional adjustment, integral adjustment, and derivative adjustment on the error value in sequence includes:
according to the formula
u(x)＝kp(err(t)+1/(T*∫err(t)dt)+TDdeer(t)/dt)
Calculating the regulating variable, wherein u (x) is the regulating variable, err (T) is the error value, kp is the proportionality coefficient, T is the integration time constant, T is the integral time constantDIs the differential time constant.
Optionally, in one embodiment, the printer device further comprises a speed sensor;
the obtaining an actual rotation speed of the first motor and calculating an error value between the actual rotation speed and the first rotation speed further includes:
detecting an actual rotating speed of the first motor based on the speed sensor, and feeding the actual rotating speed back to the control module;
the control module performs difference operation on the first rotating speed and the actual rotating speed to obtain the error value.
Optionally, in one embodiment, the speed sensor includes a code wheel sensor, and the code wheel sensor is disposed on a rotating shaft of the first motor.
Optionally, in one embodiment, after the motor driving module adjusts the operating rotation speed of the first motor to approach the first rotation speed according to the adjustment instruction, the method further includes:
reading the rotating distance of the first motor based on the code disc sensor;
when the rotating distance of the first motor reaches a preset distance, the control module sends a stop instruction to the motor driving module, so that the motor driving module controls the first motor to stop running.
Optionally, in one embodiment, the printing apparatus further includes a second motor electrically connected to the motor driving module, and the method further includes:
sending a cutting instruction to the motor driving module based on the control module so that the motor driving module drives the second motor to operate; the cutting instruction is used for indicating the second motor to drive the paper cutting mechanism to work;
and after the paper cutting mechanism finishes cutting work, the control module controls the second motor to stop running.
Optionally, in one embodiment, the method further includes:
after the second motor stops running, the control module sends a second rotating speed instruction to the motor driving module so that the motor driving module drives the first motor to run; the second rotating speed instruction is used for indicating the first motor to operate to a second rotating speed according to a second direction;
acquiring the actual rotating speed of the first motor, and comparing an error value between the actual rotating speed and a second rotating speed;
the control module adjusts the running rotating speed of the first motor according to the error value and a preset adjusting strategy so as to enable the running rotating speed of the first motor to approach the second rotating speed;
when the rotating distance of the first motor reaches a preset distance, the control module sends a stop instruction to the motor driving module, so that the motor driving module controls the first motor to stop running.
A control system of a printing apparatus including a first motor for driving a paper feeding mechanism to rotate, the control system comprising: the motor driving module and the control module are electrically connected in sequence;
the control module is used for sending a first rotating speed instruction to the motor driving module so that the motor driving module drives the first motor to operate, acquiring the actual rotating speed of the first motor, calculating an error value between the actual rotating speed and the first rotating speed, and adjusting the operating rotating speed of the first motor according to the error value and a preset adjusting strategy so that the operating rotating speed of the first motor approaches to the first rotating speed.
The embodiment of the invention has the following beneficial effects:
according to the control method and the control system of the printing equipment, the control module sends a first rotating speed instruction to the motor driving module so that the motor driving module drives the first motor to operate, the actual rotating speed of the first motor is obtained, an error value between the actual rotating speed and the first rotating speed is calculated, and the control module also adjusts the operating rotating speed of the first motor according to the error value and a preset adjusting strategy so that the operating rotating speed of the first motor approaches the first rotating speed. By the method, the control accuracy of the paper feeding distance of the printing equipment can be improved, the printing paper is cut more neatly, and the printing effect is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic flow chart of a control method of a printing apparatus in one embodiment;
FIG. 2 is a flowchart showing a control method of the printing apparatus in another embodiment;
FIG. 3 is a flowchart showing a control method of the printing apparatus in another embodiment;
FIG. 4 is a block diagram showing a control system of the printing apparatus in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first application may be referred to as a second application, and similarly, the second application may be the first application, without departing from the scope of the present application. The first application and the second application are both applications, but they are not the same application.
The embodiment of the application provides a control method of a printing device, which can accurately control the paper feeding distance of the printing device and improve the printing effect. Specifically, the printing device includes a printer, which may be a sheet-fed printer or a roll-fed printer. The printing equipment comprises a first motor, a motor driving module and a control module, wherein the control module, the motor driving module and the first motor are electrically connected in sequence. As shown in fig. 1, which is a schematic flow chart of a control method of a printing apparatus in one embodiment, the control method of the printing apparatus includes the following steps 102 to 106:
step 102: and sending a first rotating speed instruction to the motor driving module based on the control module so that the motor driving module drives the first motor to operate.
The control module refers to a Micro Controller Unit (MCU), such as a Microcontroller STM32F103RCT6, through which printing control of the printing apparatus can be implemented. The first speed command is used for indicating the first motor to operate to a first speed in a first direction. The first motor is used for driving the paper feeding mechanism to operate, and a rotating shaft of the first motor is connected with the paper feeding mechanism and drives the paper feeding mechanism to move when the rotating shaft of the first motor rotates. It will be appreciated that when the printing apparatus is a roll-to-roll printer, the paper feed mechanism may be a spool for rolling printed paper and/or film; when the printing apparatus is a sheet-fed printer, the paper feeding mechanism may be a paper tray for placing printing paper. The first direction refers to a rotation direction in which the first motor controls the paper feeding mechanism to advance, that is, the first motor can drive the paper feeding mechanism to transport the paper to the printing position when rotating in the first direction. The first rotation speed refers to a target speed at which the rotation speed of the first motor is stabilized, and the paper feeding mechanism can be driven to accurately transport the printing paper to the printing position when the running speed of the first motor is stabilized at the first rotation speed.
Further, the motor driving module includes a motor driver, and the dc motor may be controlled by a Pulse Width Modulation (PWM) signal. For example, the motor driver may be a dual-path full-bridge motor driver a3959, and may control the two dc motors by PWM signals, where an input end of the dual-path full-bridge motor driver a3959 receives the PWM signals sent by the control module, and controls the rotation speed and the rotation direction of the dc motor according to the duty ratio of the PWM signals.
Step 104: and acquiring the actual rotating speed of the first motor, and calculating an error value between the actual rotating speed and the first rotating speed.
The printing equipment also comprises a speed sensor for measuring the rotating speed of the first motor, the speed sensor can be a coded disc sensor, the coded disc sensor can convert the angular displacement of a measured object into an electric signal through a photoelectric method, and the electric signal is fed back to the control module, so that the running rotating speed of the first motor can be obtained in real time. The coded disc sensor can be arranged on a rotating shaft of the first motor and also can be arranged on the paper feeding mechanism. It is understood that the rotation speed of the first motor may also be measured by other sensors having a rotation speed detection function, such as a rotation speed sensor, a rotary encoder, a torque sensor, etc., which is not limited in this embodiment.
Specifically, after the control module sends a first rotating speed instruction to control the first motor to operate, the first motor starts to rotate and accelerates to a position near the first rotating speed, and due to the influence of mechanical and environmental factors, the actual rotating speed of the first motor is prone to deviating from a preset target rotating speed. Further, the actual rotating speed of the first motor is detected based on the speed sensor, the actual rotating speed is fed back to the control module, and the control module performs difference operation on the first rotating speed and the actual rotating speed to obtain the error value.
Step 106: the control module adjusts the running rotating speed of the first motor according to the error value and a preset adjusting strategy, so that the running rotating speed of the first motor approaches the first rotating speed.
The control module obtains an adjusting parameter according to the error value and a PID speed regulation algorithm, sends an adjusting instruction to the motor driving module according to the adjusting parameter, and the motor driving module adjusts the running rotating speed of the first motor to approach the first rotating speed according to the adjusting instruction.
Specifically, the rotating speed of the direct current motor can be controlled at a fixed speed through a PID speed regulation algorithm, an error value between the actual rotating speed of the first motor and the first rotating speed serves as the input of the PID speed regulation algorithm, the output is an adjustment parameter adjusted according to the error value, the control module adjusts the duty ratio of the PWM signal according to the adjustment parameter, the effect of adjusting the running rotating speed of the first motor is achieved, the error is reduced through the PID speed regulation algorithm, the actual rotating speed is infinitely close to the preset target rotating speed, and therefore the control requirement is met.
According to the control method of the printing equipment, the control module sends a first rotating speed instruction to the motor driving module so that the motor driving module drives the first motor to operate, the actual rotating speed of the first motor is obtained, an error value between the actual rotating speed and the first rotating speed is calculated, and the control module also adjusts the operating rotating speed of the first motor according to the error value and a preset adjusting strategy so that the operating rotating speed of the first motor approaches the first rotating speed. By the method, the control accuracy of the paper feeding distance of the printing equipment can be improved, the printing paper is cut more neatly, and the printing effect is improved.
In one embodiment, the printing device further comprises an upper computer, the upper computer is connected with the control module, and the control method of the printing device further comprises the following steps: the control module receives a control command sent by the upper computer and controls the motor to execute corresponding operation according to the control command.
For example, a user can issue an operation instruction related to the print content and the print quantity through the upper computer, and the control module controls the motor to start working according to the operation instruction, and drives the paper feeding mechanism and the paper cutting mechanism to run for corresponding times so as to complete the print content and the print quantity required by the upper computer.
The control method of the printing equipment provided by the embodiment increases the operation flexibility of the printing equipment and improves the use convenience.
In one embodiment, as shown in fig. 2, the control method of the printing apparatus further includes the following steps 202 to 204:
step 202: and the control module obtains a regulation parameter according to the error value and a PID speed regulation algorithm, and sends a regulation instruction to the motor driving module according to the regulation parameter.
The PID speed regulation algorithm specifically comprises proportional regulation, integral regulation and differential regulation of the error value in sequence. The rotating speed error of the motor can be quickly compensated in proportion through the proportion control coefficient, and the rotating speed error of the motor can be quickly reduced to a small range; the integral control coefficient can eliminate the system static error, namely compensate the tiny error, to achieve the precise control function; the slope of the error curve can be controlled by differentiating the control coefficient, and under the action of the coefficient, the slope of the system error curve gradually approaches zero.
Further according to the formula
u(x)＝kp(err(t)+1/(T*∫err(t)dt)+TDdeer(t)/dt)
The manipulated variable can be calculated, u (x) being the manipulated variable, err (T) being the error value, kp being the proportionality coefficient, T being the integration time constant, TDIs the differential time constant. And the control module sends an adjusting instruction to the motor driving module according to the adjusting parameter so as to adjust the running rotating speed of the first motor.
Step 204: and the motor driving module adjusts the running rotating speed of the first motor to approach the first rotating speed according to the adjusting instruction.
Through the control method of the printing equipment provided by the embodiment, the problems of inaccurate paper feeding and returning distance and irregular cutting existing in the prior art are solved, the control accuracy of the paper feeding distance of the printing equipment is improved, and printed paper has a better display effect.
In one embodiment, as shown in fig. 3, the obtaining an actual rotation speed of the first motor and calculating an error value between the actual rotation speed and the first rotation speed, that is, step 104, further includes:
step 302: the actual rotating speed of the first motor is detected based on the speed sensor, and the actual rotating speed is fed back to the control module.
Specifically, the speed sensor is a coded disc sensor, the coded disc sensor is installed on a rotating shaft of the first motor, scale marks, a light-emitting element and a light-receiving element are arranged on the coded disc sensor, a groove is formed between the light-emitting element and the light-receiving element, the light-emitting element and the light-receiving element are clamped on the coded disc and irradiate the scale marks, when the coded disc rotates by one scale mark, the sensor generates corresponding level jump, the control module can read the scale marks rotated by the coded disc according to the level jump, and finally the rotating speed of the first motor is obtained by calculating the rotating speed of the coded disc.
Step 304: the control module performs difference operation on the first rotating speed and the actual rotating speed to obtain the error value.
The error value refers to a difference value between the command and the output, that is, the first rotating speed indicated by the first rotating speed command sent by the control module is the target rotating speed, and the difference value between the actual rotating speed in the running process of the first motor and the target rotating speed is the error value. For example, when the command sent by the control module indicates that the first rotational speed is 300 rpm and the actual operating rotational speed of the first motor is 900 rpm, the error value is-600 rpm.
Step 306: and reading the rotating distance of the first motor based on the code wheel sensor.
When the coded disc rotates by one scale mark, the sensor generates corresponding level jump, the control module can read the scale mark rotated by the coded disc according to the level jump, and finally the distance rotated by the coded disc can be obtained through calculation.
Step 308: when the rotating distance of the first motor reaches a preset distance, the control module sends a stop instruction to the motor driving module, so that the motor driving module controls the first motor to stop running.
The preset distance refers to a paper feeding distance of printing paper to be controlled, and the preset distance can be preset by a system or can be set according to an operation instruction input by an upper computer. When the first motor drives the paper feeding mechanism to reach the preset distance, the control module controls the first motor to stop rotating so as to perform the next printing operation.
Through the control method of the printing equipment provided by the embodiment, the first motor can operate at a stable rotating speed when the paper feeding mechanism is driven, the control module can control the first motor to stop at an accurate paper cutting position conveniently, the control accuracy of the paper feeding distance of the printing equipment is further improved, the printing paper is cut more neatly, and the printing effect is improved.
In one embodiment, the printing apparatus further comprises a second motor electrically connected to the motor drive module. The control method of the printing apparatus further includes: sending a cutting instruction to the motor driving module based on the control module so that the motor driving module drives the second motor to operate; and after the paper cutting mechanism finishes cutting work, the control module controls the second motor to stop running.
The second motor is used for driving the paper cutting mechanism to operate, a rotating shaft of the second motor is connected with the paper cutting mechanism, the paper cutting mechanism is driven to move when the rotating shaft of the second motor rotates, and the cutting instruction is used for indicating the second motor to drive the paper cutting mechanism to work. For example, the paper cutting mechanism is a cutter, and after the paper feeding mechanism advances for a fixed distance, the control module controls the cutter to perform a cutting operation to obtain a required printing paper.
Optionally, after the second motor stops operating, the control module sends a second rotation speed instruction to the motor driving module, so that the motor driving module drives the first motor to operate. The second rotating speed instruction is used for indicating the first motor to run to a second rotating speed in a second direction, and the second direction is the direction opposite to the first direction.
Further, the actual rotating speed of the first motor is obtained, an error value between the actual rotating speed and a second rotating speed is compared, and the control module adjusts the operating rotating speed of the first motor according to the error value and a PID (proportion integration differentiation) speed regulation algorithm, so that the operating rotating speed of the first motor approaches to the second rotating speed. When the rotating distance of the first motor reaches a preset distance, the control module sends a stop instruction to the motor driving module, so that the motor driving module controls the first motor to stop running.
The second rotation speed can be set to be the same as the first rotation speed, so that the paper feeding mechanism retracts to the original position after reaching the printing position.
According to the control method of the printing equipment, the paper feeding mechanism is controlled to return to the original position after printing is finished, the control accuracy of the paper feeding distance of the printing equipment can be improved, printing paper is cut more neatly, and the printing effect is improved.
Based on the same inventive concept, as shown in fig. 4, there is provided a control system of a printing apparatus including a first motor for driving a paper feeding mechanism to rotate, the control system including: the control module 410 and the motor driving module 420 are electrically connected in sequence.
The control module 410 is configured to send a first rotation speed instruction to the motor driving module 420, so that the motor driving module 420 drives the first motor to operate, obtain an actual rotation speed of the first motor, calculate an error value between the actual rotation speed and the first rotation speed, and adjust the operation rotation speed of the first motor according to the error value and a preset adjustment strategy, so that the operation rotation speed of the first motor approaches the first rotation speed.
According to the control system of the printing equipment, the control module sends a first rotating speed instruction to the motor driving module so that the motor driving module drives the first motor to operate, the actual rotating speed of the first motor is obtained, an error value between the actual rotating speed and the first rotating speed is calculated, and the control module also adjusts the operating rotating speed of the first motor according to the error value and a preset adjusting strategy so that the operating rotating speed of the first motor approaches the first rotating speed. Through above-mentioned system, can promote the control accuracy of printing apparatus's paper advance distance, make the printing paper cutting more neat, promote the printing effect.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (5)
1. The control method of the printing equipment is characterized in that the printing equipment comprises a first motor, a second motor, a motor driving module and a control module, wherein the control module, the motor driving module and the first motor are sequentially and electrically connected, the second motor is connected with the motor driving module, the first motor is used for driving a paper feeding mechanism to work, the motor driving module comprises a motor driver, and the input end of the motor driver receives a PWM (pulse width modulation) signal sent by the control module and is used for controlling the rotating speed and the rotating direction of the first motor according to the duty ratio of the PWM signal; the method comprises the following steps:
sending a first rotating speed instruction to the motor driving module based on the control module so that the motor driving module drives the first motor to operate; the first rotating speed instruction is used for indicating the first motor to operate to a first rotating speed in a first direction;
acquiring the actual rotating speed of the first motor according to a coded disc sensor arranged on a rotating shaft of the first motor or on the paper feeding mechanism, and calculating an error value between the actual rotating speed and the first rotating speed;
the control module obtains a regulation parameter according to the error value and a PID speed regulation algorithm, and sends a regulation instruction to the motor driving module according to the regulation parameter;
the motor driving module adjusts the running rotating speed of the first motor to approach the first rotating speed according to the adjusting instruction;
the method further comprises the following steps:
sending a cutting instruction to the motor driving module based on the control module so that the motor driving module drives the second motor to operate; the cutting instruction is used for indicating the second motor to drive the paper cutting mechanism to work;
after the paper cutting mechanism finishes cutting work, the control module controls the second motor to stop running;
after the second motor stops running, the control module sends a second rotating speed instruction to the motor driving module so that the motor driving module drives the first motor to run; the second rotating speed instruction is used for indicating the first motor to operate to a second rotating speed according to a second direction, and the second rotating speed and the first rotating speed are the same rotating speed;
acquiring the actual rotating speed of the first motor, and comparing an error value between the actual rotating speed and a second rotating speed;
the control module adjusts the running rotating speed of the first motor according to the error value and a preset adjusting strategy so as to enable the running rotating speed of the first motor to approach the second rotating speed;
when the rotating distance of the first motor reaches a preset distance, the control module sends a stop instruction to the motor driving module, so that the motor driving module controls the first motor to stop running.
2. The method of claim 1, wherein the control module obtains the adjustment parameter according to the error value in combination with a PID governing algorithm, comprising:
and carrying out proportional adjustment, integral adjustment and differential adjustment on the error value in sequence.
3. The method of claim 1,
the obtaining an actual rotation speed of the first motor and calculating an error value between the actual rotation speed and the first rotation speed further includes:
detecting the actual rotating speed of the first motor based on the coded disc sensor, and feeding back the actual rotating speed to the control module;
the control module performs difference operation on the first rotating speed and the actual rotating speed to obtain the error value.
4. The method of claim 1, further comprising, after the motor drive module adjusting the operating speed of the first motor to approach the first speed in accordance with the adjustment command:
reading the rotating distance of the first motor based on the code disc sensor;
when the rotating distance of the first motor reaches a preset distance, the control module sends a stop instruction to the motor driving module, so that the motor driving module controls the first motor to stop running.
5. A control system of a printing apparatus, the printing apparatus including a first motor and a second motor for driving a sheet feeding mechanism to rotate, the control system comprising: the motor driving module comprises a motor driver, the input end of the motor driver receives a PWM signal sent by the control module, and the rotation speed and the rotation direction of the first motor are controlled according to the duty ratio of the PWM signal;
the control module is used for sending a first rotating speed instruction to the motor driving module so as to enable the motor driving module to drive the first motor to operate, and the first rotating speed instruction is used for indicating the first motor to operate to a first rotating speed in a first direction; acquiring the actual rotating speed of the first motor according to a coded disc sensor arranged on a rotating shaft of the first motor or on the paper feeding mechanism, calculating an error value between the actual rotating speed and the first rotating speed, obtaining an adjusting parameter according to the error value and a PID (proportion integration differentiation) speed regulation algorithm, and sending an adjusting instruction to the motor driving module according to the adjusting parameter so that the motor driving module adjusts the running rotating speed of the first motor to approach the first rotating speed according to the adjusting instruction;
the control module is further used for sending a cutting instruction to the motor driving module so that the motor driving module drives the second motor to operate; the cutting instruction is used for indicating the second motor to drive the paper cutting mechanism to work; and controlling the second motor to stop running after the paper cutting mechanism finishes cutting work;
the control module is further used for sending a second rotating speed instruction to the motor driving module after the second motor stops operating so that the motor driving module drives the first motor to operate; the second rotating speed instruction is used for indicating the first motor to operate to a second rotating speed according to a second direction, and the second rotating speed and the first rotating speed are the same rotating speed; acquiring the actual rotating speed of the first motor, and comparing an error value between the actual rotating speed and a second rotating speed; adjusting the running rotating speed of the first motor according to the error value and a preset adjusting strategy so as to enable the running rotating speed of the first motor to approach the second rotating speed; and when the rotating distance of the first motor reaches a preset distance, sending a stopping instruction to the motor driving module so that the motor driving module controls the first motor to stop running.
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| SE457864B (en) * | 1983-11-30 | 1989-02-06 | Taiyo Tekko Kk | PRINTING PRESS |
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