CN111572218A - Printer ink vehicle control method, device and system - Google Patents

Printer ink vehicle control method, device and system Download PDF

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Publication number
CN111572218A
CN111572218A CN202010461963.7A CN202010461963A CN111572218A CN 111572218 A CN111572218 A CN 111572218A CN 202010461963 A CN202010461963 A CN 202010461963A CN 111572218 A CN111572218 A CN 111572218A
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motor
speed
compensation
torque
controller
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CN111572218B (en
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潘建辉
李印国
李昆
庞飞
毕磊
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Micolor Digital Technology Co ltd
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Micolor Digital Technology Co ltd
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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
    • B41J23/00—Power drives for actions or mechanisms
    • B41J23/02—Mechanical power drives
    • 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
    • B41J23/00—Power drives for actions or mechanisms
    • B41J23/02—Mechanical power drives
    • B41J23/18—Continuously-cycling drives
    • 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
    • B41J23/00—Power drives for actions or mechanisms
    • B41J23/32—Electromagnetic power drives, e.g. applied to key levers
    • 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
    • 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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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Control Of Multiple Motors (AREA)
  • Ink Jet (AREA)

Abstract

The invention discloses a printer ink vehicle control method, a device and a system, wherein the printer comprises a first motor, a first belt pulley connected with the first motor, a second motor and a second belt pulley connected with the second motor, and the method comprises the following steps: acquiring the current position of the ink vehicle; determining a relative position of a current position of the carriage with respect to a printer body; and controlling the output torques of the first motor and the second motor according to the relative position. According to the invention, the output torques of the first motor and the second motor are controlled according to the relative position of the current position of the ink vehicle relative to the printer body, so that the problem that the motion precision of the ink vehicle is influenced by the unbalanced stress at the two ends of the belt can be solved.

Description

Printer ink vehicle control method, device and system
Technical Field
The invention relates to the technical field of printers, in particular to a method, a device and a system for controlling an ink vehicle of a printer.
Background
The carriage movement of the printer is critical to the printing accuracy. The ink vehicle of the printer generally adopts belt transmission, and has the advantages of simple structure, convenient manufacture, installation and maintenance and lower cost. Belt drives rely on friction to transmit motion and power. The belt has excellent winding performance, can absorb shock and alleviate impact, and has stable transmission and low noise; when the belt transmission is overloaded, the belt slips on the belt wheel, so that other mechanical parts are prevented from being damaged, and the function of overload protection is achieved.
Although the belt transmission has the advantages, a certain elastic sliding exists between the belt and the belt wheel, so that a constant transmission ratio cannot be ensured, and the transmission precision and the transmission efficiency are low. The belt transmission needs to work under a certain tension state, and long-term tension causes the belt to generate permanent deformation and loose, so that the tension is reduced, the transmission capacity is reduced, and the tension of the belt transmission needs to be controlled and timely adjusted. The traditional printer generally adopts a single servo motor to control the motion of the ink vehicle, and in order to facilitate the motion control and the system wiring requirement, the motor is only arranged close to a belt pulley on one side, so that the torque on two sides of the belt is unbalanced when the ink vehicle reciprocates, and the motion precision of the ink vehicle is influenced; the tension force on the two sides of the belt is obviously changed, the wear rate of the belt is improved, and the service life of the belt is shortened.
Therefore, how to design a high-precision printer ink carriage control method becomes a key point for technical problems to be solved and research in the future by those skilled in the art.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, and a system for controlling a printer carriage, so as to solve the problem of low control accuracy of the printer carriage in the prior art.
Therefore, the embodiment of the invention provides the following technical scheme:
the invention provides a printer ink vehicle control method, wherein the printer comprises a first motor and a first belt pulley connected with the first motor, a second motor and a second belt pulley connected with the second motor, and the method comprises the following steps:
acquiring the current position of the ink vehicle;
determining a relative position of a current position of the carriage with respect to a printer body;
controlling output torques of the first motor and the second motor according to the relative position;
wherein when the relative position indicates that the horizontal distance of the carriage from the first pulley is less than a first threshold, the first motor is used as a master motor, the second motor is used as a slave motor, the output torque of the first motor is increased by a compensation torque, and the output torque of the second motor is decreased by the compensation torque; or when the relative position indicates that the horizontal distance between the ink vehicle and the second belt pulley is smaller than a second threshold value, taking the second motor as a main motor, taking the first motor as a slave motor, increasing the output torque of the second motor by a compensation torque, and reducing the output torque of the first motor by the compensation torque; or when the relative position indicates that the horizontal distance between the ink vehicle and the first belt pulley is greater than or equal to the first threshold value and the horizontal distance between the ink vehicle and the second belt pulley is greater than or equal to the second threshold value, the first motor and the second motor are both used as non-master-slave motors, and the torque of the first motor and the torque of the second motor are not compensated.
Further, when the first motor is used as a master motor and the second motor is used as a slave motor, controlling the output torques of the first motor and the second motor according to the relative positions includes:
determining a first speed compensation of the first motor based on the relative position and a set position of the carriage; determining a second speed compensation for the first motor based on the relative position; acquiring the feedback speed of the first motor; determining a first compensation torque of the first motor based on the first speed compensation of the first motor, the second speed compensation of the first motor, and the feedback speed of the first motor; acquiring the compensation torque according to the relative position, and acquiring the feedback current of the first motor; determining an output torque of the first motor according to a first compensation torque of the first motor, the compensation torque and a feedback current of the first motor; determining a first speed compensation of the second motor based on the relative position; acquiring the feedback speed of the second motor; determining a first compensation torque of the second motor according to the first speed compensation of the second motor and the feedback speed of the second motor; acquiring a feedback current of the second motor; determining an output torque of the second motor according to a first compensation torque of the second motor, the compensation torque and a feedback current of the second motor; alternatively, the first and second electrodes may be,
when the second motor is used as a main motor and the first motor is used as a slave motor, the control of the output torques of the first motor and the second motor according to the relative position comprises the following steps:
determining a first speed compensation of the second motor based on the relative position and a set position of the carriage; determining a second speed compensation for the second motor based on the relative position; acquiring the feedback speed of the second motor; determining a first compensation torque of the second motor according to the first speed compensation of the second motor, the second speed compensation of the second motor and the feedback speed of the second motor; acquiring the compensation torque according to the relative position, and acquiring the feedback current of the second motor; determining an output torque of the second motor according to a first compensation torque of the second motor, the compensation torque and a feedback current of the second motor; determining a first speed compensation of the first motor based on the relative position; acquiring the feedback speed of the first motor; determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor; acquiring a feedback current of the first motor; determining an output torque of the first motor from a first compensation torque of the first motor, the compensation torque and a feedback current of the first motor; alternatively, the first and second electrodes may be,
when the first motor and the second motor are both used as non-master-slave motors, controlling the output torques of the first motor and the second motor according to the relative position comprises:
determining a first speed compensation of the first motor based on the relative position and a set position of the carriage; acquiring the feedback speed of the first motor; determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor; acquiring a feedback current of the first motor; determining an output torque of the first motor according to a first compensation torque of the first motor and a feedback current of the first motor; determining a first speed compensation of the second motor based on the relative position and a set position of the carriage; acquiring the feedback speed of the second motor; determining a first compensation torque of the second motor according to the first speed compensation of the second motor and the feedback speed of the second motor; acquiring a feedback current of the second motor; and determining the output torque of the second motor according to the first compensation torque of the second motor and the feedback current of the second motor.
Further, the method further comprises:
acquiring a movable range of the ink vehicle; wherein the movable range includes a range from a first limit point to a second limit point, the first limit point being a point at which the ink carriage is movable to be closest to the first pulley, the second limit point being a point at which the ink carriage is movable to be closest to the second pulley;
the compensation torque weight w is calculated by the following formula:
Figure BDA0002511302090000041
calculating the compensation torque by the formula:
Tc＝T0×w
whereind is the distance between the relative position and the first limit point, dminFor the minimum value of the mode switch limit value, dmaxIs the maximum value of the mode switching limit value, L is the distance between the first limit point and the second limit point, T0For a set compensation torque value, TcIs the compensation torque.
A second aspect of the present invention provides a control device for an ink vehicle of a printer including a first motor and a first pulley connected to the first motor, a second motor and a second pulley connected to the second motor, the control device comprising:
the first acquisition module is used for acquiring the current position of the ink vehicle;
a second acquisition module for determining a relative position of the current position of the carriage with respect to the printer body
The control module is used for controlling the output torques of the first motor and the second motor according to the relative position;
wherein when the relative position indicates that the horizontal distance of the carriage from the first pulley is less than a first threshold, the first motor is used as a master motor, the second motor is used as a slave motor, the output torque of the first motor is increased by a compensation torque, and the output torque of the second motor is decreased by the compensation torque; or when the relative position indicates that the horizontal distance between the ink vehicle and the second belt pulley is smaller than a second threshold value, taking the second motor as a main motor, taking the first motor as a slave motor, increasing the output torque of the second motor by a compensation torque, and reducing the output torque of the first motor by the compensation torque; or when the relative position indicates that the horizontal distance between the ink vehicle and the first belt pulley is greater than or equal to the first threshold value and the horizontal distance between the ink vehicle and the second belt pulley is greater than or equal to the second threshold value, the first motor and the second motor are both used as non-master-slave motors, and the torque of the first motor and the torque of the second motor are not compensated.
The invention provides a printer ink vehicle control system, which comprises a belt, a first motor, a second motor, a first belt pulley, a second belt pulley, an ink vehicle, a grating encoder and a control unit, wherein the first motor is connected with the first belt pulley;
the first motor is connected with the first belt pulley;
the second motor is connected with the second belt pulley;
the first belt pulley and the second belt pulley are sleeved with the belt;
the grating encoder is used for acquiring the relative position and sending the relative position to the control unit;
the control unit is used for determining the relative position of the relative position relative to the printer body; controlling output torques of the first motor and the second motor according to the relative position;
wherein, when the relative position indicates that the distance from the carriage to the first motor is less than a first threshold, the first motor is used as a master motor, the second motor is used as a slave motor, and the control unit is used for increasing the output torque of the first motor by a compensation torque and reducing the output torque of the second motor by the compensation torque; or, when the relative position indicates that the distance between the ink vehicle and the second motor is less than a second threshold, the second motor is used as a main motor, the first motor is used as a slave motor, and the control unit is used for increasing the output torque of the second motor by a compensation torque and reducing the output torque of the first motor by the compensation torque; or, when the relative position indicates that the distance between the ink vehicle and the first motor is greater than or equal to the first threshold and the distance between the ink vehicle and the second motor is greater than or equal to the second threshold, the first motor and the second motor are both used as non-master-slave motors, and the control unit is used for not compensating the torques of the first motor and the second motor.
Further, the control unit includes a first speed detector, a second speed detector, a first current sensor, a second current sensor, a first position controller, a first speed controller, a second speed controller, a first torque controller, a second torque controller, and a compensation controller;
when the first motor is used as a main motor and the second motor is used as a slave motor,
the compensation controller is used for determining compensation torque according to the relative position and sending the compensation torque to the first torque controller and the second torque controller;
the compensation controller is also used for determining first speed compensation of the first motor according to the relative position and sending the first speed compensation to the first speed controller;
the compensation controller is also used for determining first speed compensation of a second motor according to the relative position and sending the first speed compensation to the second speed controller;
the first position controller is used for determining second speed compensation of the first motor according to the relative position and the set position of the ink car and sending the second speed compensation of the first motor to the first speed controller;
the first speed detector is used for acquiring the feedback speed of the first motor and sending the feedback speed of the first motor to the first speed controller;
the second speed detector is used for acquiring the feedback speed of the second motor and sending the feedback speed of the second motor to the second speed controller;
the first speed controller is used for determining a first compensation torque of the first motor according to the first speed compensation of the first motor, the second speed compensation of the first motor and the feedback speed of the first motor, and sending the first compensation torque of the first motor to the first torque controller;
the second speed controller is used for determining a first compensation torque of the second motor according to the first speed compensation of the second motor and the feedback speed of the second motor, and sending the first compensation torque of the second motor to the second torque controller;
the first current sensor is used for acquiring feedback current of the first motor and sending the feedback current to the first torque controller;
the second current sensor is used for acquiring the feedback current of the second motor and sending the feedback current to the second torque controller;
the first torque controller is used for determining the output torque of the first motor according to a first compensation torque of the first motor, the compensation torque and the feedback current of the first motor;
the second torque controller is used for determining the output torque of the second motor according to the first compensation torque of the second motor, the compensation torque and the feedback current of the second motor.
Further, the control unit includes a first speed detector, a second speed detector, a first current sensor, a second position controller, a first speed controller, a second speed controller, a first torque controller, a second torque controller, and a compensation controller;
when the second motor is used as a main motor and the first motor is used as a slave motor,
the compensation controller is used for determining compensation torque according to the relative position and sending the compensation torque to the first torque controller and the second torque controller;
the compensation controller is also used for determining first speed compensation of the first motor according to the relative position and sending the first speed compensation to the first speed controller;
the compensation controller is also used for determining first speed compensation of a second motor according to the relative position and sending the first speed compensation to the second speed controller;
the second position controller is used for determining second speed compensation of the second motor according to the relative position and the set position of the ink car and sending the second speed compensation of the second motor to the second speed controller;
the first speed detector is used for acquiring the feedback speed of the first motor and sending the feedback speed of the first motor to the first speed controller;
the second speed detector is used for acquiring the feedback speed of the second motor and sending the feedback speed of the second motor to the second speed controller;
the first speed controller is used for determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor, and sending the first compensation torque of the first motor to the first torque controller;
the second speed controller is used for determining a first compensation torque of the second motor according to the first speed compensation of the second motor, the second speed compensation of the second motor and the feedback speed of the second motor, and sending the first compensation torque of the second motor to the second torque controller;
the first current sensor is used for acquiring feedback current of the first motor and sending the feedback current to the first torque controller;
the second current sensor is used for acquiring the feedback current of the second motor and sending the feedback current to the second torque controller;
the first torque controller is used for determining the output torque of the first motor according to a first compensation torque of the first motor, the compensation torque and the feedback current of the first motor;
the second torque controller is used for determining the output torque of the second motor according to the first compensation torque of the second motor, the compensation torque and the feedback current of the second motor.
Further, the control unit includes a first speed detector, a second speed detector, a first current sensor, a second current sensor, a first position controller, a second position controller, a first speed controller, a second speed controller, a first torque controller, and a second torque controller;
when the first motor and the second motor are both used as non-master-slave motors,
the first position controller is used for determining second speed compensation of the first motor according to the relative position and the set position of the ink car and sending the second speed compensation of the first motor to the first speed controller;
the second position controller is used for determining second speed compensation of the second motor according to the relative position and the set position of the ink car and sending the second speed compensation of the second motor to the second speed controller;
the first speed detector is used for acquiring the feedback speed of the first motor and sending the feedback speed of the first motor to the first speed controller;
the second speed detector is used for acquiring the feedback speed of the second motor and sending the feedback speed of the second motor to the second speed controller;
the first speed controller is used for determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor, and sending the first compensation torque of the first motor to the first torque controller;
the second speed controller is used for determining a first compensation torque of the second motor according to the second speed compensation of the second motor and the feedback speed of the second motor, and sending the first compensation torque of the second motor to the second torque controller;
the first current sensor is used for acquiring feedback current of the first motor and sending the feedback current to the first torque controller;
the second current sensor is used for acquiring the feedback current of the second motor and sending the feedback current to the second torque controller;
the first torque controller is used for determining the output torque of the first motor according to the first compensation torque of the first motor and the feedback current of the first motor;
the second torque controller is used for determining the output torque of the second motor according to the first compensation torque of the second motor and the feedback current of the second motor.
Further, the control unit is also used for acquiring the movable range of the ink carriage; wherein the movable range includes a range from a first limit point to a second limit point, the first limit point being a point at which the ink carriage is movable to be closest to the first pulley, the second limit point being a point at which the ink carriage is movable to be closest to the second pulley;
the compensation torque weight w is calculated by the following formula:
Figure BDA0002511302090000101
calculating the compensation torque by the formula:
Tc＝T0×w
wherein d is the distance between the relative position and the first limit point, dminFor the minimum value of the mode switch limit value, dmaxIs the maximum value of the mode switching limit value, L is the distance between the first limit point and the second limit point, T0For a set compensation torque value, TcIs the compensation torque.
Further, the first position controller is used for determining the maximum value of the proportionality coefficient on the premise of not causing loop oscillation; determining the minimum value of the integral coefficient on the premise of ensuring the steady-state error; determining a second speed compensation of the first motor based on a maximum value of the scaling factor and a minimum value of the integral factor.
The technical scheme of the embodiment of the invention has the following advantages:
the embodiment of the invention provides a method and a device for controlling an ink vehicle of a printer and a method for controlling the ink vehicle of the printer in the prior art, wherein the motion precision of the ink vehicle is influenced by the problems of loosening and abrasion of a belt, unbalanced stress at two ends and the like of a traditional printer.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a printer ink carriage control method according to an embodiment of the present invention.
Fig. 2 is a structural view of an ink vehicle for a printer according to an embodiment of the present invention.
Fig. 3 is a structural view of a printer carriage control system according to an embodiment of the present invention.
Fig. 4 is a structural view of another printer carriage control system according to an embodiment of the present invention.
Fig. 5 is a structural view of a further printer carriage control system according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a position controller according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a speed controller according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a torque controller according to an embodiment of the present invention.
Detailed Description
The technical solutions of the method, the apparatus, and the system for controlling a printer ink carriage in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
FIG. 1 is a flow chart of a printer ink carriage control method according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention provides a method for controlling an ink vehicle of a printer, where the printer includes a first motor and a first pulley connected to the first motor, a second motor and a second pulley connected to the second motor, and the method includes the following steps:
s1: acquiring the current position of the ink vehicle;
s2: determining a relative position of a current position of the carriage with respect to the printer body;
s3: controlling output torques of the first motor and the second motor according to the relative positions;
when the horizontal distance between the relative position indication ink car and the first belt pulley is smaller than a first threshold value, the first motor is used as a main motor, the second motor is used as a slave motor, the output torque of the first motor is increased by compensation torque, and the output torque of the second motor is decreased by the compensation torque; or when the horizontal distance between the relative position indication ink car and the second belt pulley is smaller than a second threshold value, taking the second motor as a main motor, taking the first motor as a slave motor, increasing the output torque of the second motor by the compensation torque, and reducing the output torque of the first motor by the compensation torque; or when the horizontal distance between the ink vehicle and the first belt pulley is larger than or equal to a first threshold value and the horizontal distance between the ink vehicle and the second belt pulley is larger than or equal to a second threshold value, the first motor and the second motor are both used as non-master-slave motors, and the torque of the first motor and the torque of the second motor are not compensated.
In this embodiment, the first threshold and the second threshold are both less than the horizontal distance between the first pulley and the second pulley. The first threshold value is preferably equal to the second threshold value. The compensation torque is preferably determined based on the actual change in belt tension as the carriage moves.
Compared with the prior art, the embodiment of the invention reduces the deformation quantity of the belt generated when the ink car moves close to the belt pulleys on the two sides by compensating the torque. When the ink vehicle is far away from the belt pulleys on the two sides, the motors on the two sides share the load together. Compared with the traditional printer ink car control method, the embodiment of the invention maintains the tension of the belt and improves the motion precision of the ink car.
In one embodiment, when the first motor is used as the master motor and the second motor is used as the slave motor, the output torques of the first motor and the second motor are controlled according to the relative position, so that the first speed compensation of the first motor is determined according to the relative position and the set position of the ink vehicle; determining a second speed compensation of the first motor based on the relative position; acquiring the feedback speed of the first motor; determining a first compensation torque of the first motor according to the first speed compensation of the first motor, the second speed compensation of the first motor and the feedback speed of the first motor; acquiring compensation torque according to the relative position, and acquiring feedback current of the first motor; determining an output torque of the first motor according to the first compensation torque and the compensation torque of the first motor and a feedback current of the first motor; determining a first speed compensation of the second motor based on the relative position; acquiring the feedback speed of the second motor; determining a first compensation torque of the second motor according to the first speed compensation of the second motor and the feedback speed of the second motor; acquiring a feedback current of a second motor; and determining the output torque of the second motor according to the first compensation torque and the compensation torque of the second motor and the feedback current of the second motor.
In another embodiment, when the second motor is used as the master motor and the first motor is used as the slave motor, the output torques of the first motor and the second motor are controlled according to the relative position, so that the first speed compensation of the second motor is determined according to the relative position and the set position of the ink vehicle; determining a second speed compensation of the second motor based on the relative position; acquiring the feedback speed of the second motor; determining a first compensation torque of the second motor according to the first speed compensation of the second motor, the second speed compensation of the second motor and the feedback speed of the second motor; acquiring compensation torque according to the relative position, and acquiring feedback current of a second motor; determining the output torque of the second motor according to the first compensation torque of the second motor, the compensation torque and the feedback current of the second motor; determining a first speed compensation of the first motor based on the relative position; acquiring the feedback speed of the first motor; determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor; acquiring a feedback current of a first motor; the output torque of the first electric machine is determined from the first compensation torque of the first electric machine, the compensation torque and the feedback current of the first electric machine.
In another embodiment, when the first motor and the second motor are both non-master-slave motors, controlling the output torques of the first motor and the second motor according to the relative position may be a first speed compensation for determining the first motor according to the relative position and the set position of the ink vehicle; acquiring the feedback speed of the first motor; determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor; acquiring a feedback current of a first motor; determining an output torque of the first motor according to the first compensation torque of the first motor and a feedback current of the first motor; determining a first speed compensation of the second motor based on the relative position and the set position of the carriage; acquiring the feedback speed of the second motor; determining a first compensation torque of the second motor according to the first speed compensation of the second motor and the feedback speed of the second motor; acquiring a feedback current of a second motor; and determining the output torque of the second motor according to the first compensation torque of the second motor and the feedback current of the second motor.
In this embodiment, a motor operating in an active mode performs position setting by pulse input, obtains position feedback by a grating encoder, and calculates a position deviation by the position setting and the position feedback. The position controller performs position control based on the position deviation and outputs a first speed compensation. The speed controller performs speed control by the second speed compensation output from the compensation controller, the first speed compensation, and the speed feedback output from the speed detector, and outputs a first torque compensation. The torque controller performs torque control through the first torque compensation, the compensation torque output by the compensation controller and the feedback current output by the current sensor, and drives the motor to operate. The motor working in a driven mode does not need pulse input to set the position, does not need position feedback to calculate the position deviation, and directly carries out speed control by a speed controller through first speed compensation output by a compensation controller and feedback speed output by a speed detector to output first compensation torque. And the torque controller performs torque control according to the first compensation torque, the compensation torque output by the compensation controller and the feedback current output by the current sensor, and drives the motor to operate. The motor working in a non-master-slave mode is subjected to position setting by pulse input, position feedback is obtained by a grating encoder, and position deviation is calculated by the position setting and the position feedback. The position controller performs position control by the position deviation and outputs a first speed compensation. The speed controller performs speed control by the first speed compensation and the speed feedback output from the speed detector, and outputs a first compensation torque. The torque controller controls the torque through the first compensation torque and the feedback current output by the current sensor, and drives the motor to operate. There is no speed compensation and no torque compensation to compensate the controller output.
Compared with the prior art, the embodiment of the invention carries out speed compensation and torque compensation when the two motors are linked, accurately transmits torque, speed and displacement, increases the positioning precision of the whole system and further improves the motion precision of the ink car.
Fig. 2 is a structural view of a printer ink cart 205 according to an embodiment of the present invention. As shown in fig. 2, in a specific embodiment, the method further comprises:
acquiring a movable range of the carriage 205; wherein the movable range includes a range from a first limit point 206 to a second limit point 207, the first limit point 206 being a point at which the ink carriage 205 is movable to be closest to the first belt pulley 208 202, the second limit point 207 being a point at which the ink carriage 205 is movable to be closest to the second belt pulley 208 204;
the compensation torque weight w is calculated by the following formula:
Figure BDA0002511302090000151
the compensation torque is calculated by the following formula:
Tc＝T0×w
where d is the distance between the relative position and the first limit point 206, dminFor the minimum value of the mode-switching limit value, dmaxThe maximum value of the mode switching limit value, L is the distance between the first limit point 206 and the second limit point 207, T0For a set compensation torque value, TcTo compensate for the torque.
In this embodiment, when the horizontal distance between the ink vehicle 205 and the first belt pulley 208 202 is equal to the first threshold, the distance between the ink vehicle 205 and the first limit point 206 is dn. When the horizontal distance of the ink vehicle 205 from the second belt pulley 208 204 is equal to a second threshold, the ink vehicle 205 is spaced fromA distance d from the first confinement point 206m. Preferably, dn＝dm＝do，doA mode switch limit value. dminIs doMinimum value of dmaxIs doIs measured. T is0Preferably based on the actual change in tension of the belt 208 as the carriage 205 moves.
Compared with the prior art, the invention gradually enters a transition state according to the change of the movement position of the ink car 205, the effect of the compensation torque is gradually reduced, when the ink car 205 reaches a certain position, the compensation speed and the compensation torque disappear, the two motors output constant torques and share the load together, the deformation quantity generated when the belt 208 moves when the ink car 205 is close to the belt 208 wheels at the two sides is reduced, the tension of the belt 208 is maintained, and the movement precision of the ink car 205 is improved.
In this embodiment, a control device for the printer carriage 205 is also provided, and the device is used to implement the above embodiments and preferred embodiments, and the description of the device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
The present embodiment provides a printer carriage 205 control apparatus, including a first acquiring module configured to acquire a current position of the carriage 205; a second acquisition module for determining the relative position of the current position of the carriage 205 with respect to the printer body; a control module for controlling the output torques of the first motor 201 and the second motor 203 according to the relative positions; when the horizontal distance between the relative position indicating ink car 205 and the first belt pulley 208 202 is smaller than a first threshold value, the first motor 201 is used as a main motor, the second motor 203 is used as a slave motor, the output torque of the first motor 201 is increased by a compensation torque, and the output torque of the second motor 203 is decreased by the compensation torque; or, when the horizontal distance of the relative position indicating ink vehicle 205 from the second belt pulley 208 is less than the second threshold, the second motor 203 is used as the main motor, the first motor 201 is used as the slave motor, the output torque of the second motor 203 is increased by the compensation torque, and the output torque of the first motor 201 is decreased by the compensation torque; alternatively, when the relative position indicates that the horizontal distance of the ink vehicle 205 from the first pulley 208 is greater than or equal to a first threshold and the horizontal distance of the ink vehicle 205 from the second pulley 208 is greater than or equal to a second threshold, the first motor 201 and the second motor 203 are both regarded as non-master-slave motors, and the first motor 201 and the second motor 203 are not torque-compensated.
Further functional descriptions of the modules are the same as those of the corresponding embodiments, and are not repeated herein.
The embodiment of the invention also provides a printer ink car 205 control system, which comprises a belt 208, a first motor 201, a second motor 203, a first belt 208 wheel 202, a second belt 208 wheel 204, an ink car 205, a grating encoder and a control unit; the first motor 201 is connected with the first belt pulley 208 202; the second motor 203 is connected with a second belt 208 wheel 204; a belt 208 is sleeved outside the first belt 208 wheel 202 and the second belt 208 wheel 204; the grating encoder is used for acquiring the relative position and sending the relative position to the control unit; the control unit is used for determining the relative position of the relative position relative to the printer body; controlling the output torques of the first motor 201 and the second motor 203 according to the relative positions; wherein, when the distance from the relative position indicating ink carriage 205 to the first motor 201 is less than a first threshold, the first motor 201 is used as a main motor, the second motor 203 is used as a slave motor, and the control unit is used for increasing the output torque of the first motor 201 by the compensation torque and reducing the output torque of the second motor 203 by the compensation torque; or, when the distance from the relative position indicating carriage 205 to the second motor 203 is less than the second threshold, the second motor 203 is used as the master motor, the first motor 201 is used as the slave motor, and the control unit is used for increasing the output torque of the second motor 203 by the compensation torque and reducing the output torque of the first motor 201 by the compensation torque; or, when the relative position indicates that the distance between the ink vehicle 205 and the first motor 201 is greater than or equal to a first threshold value, and the distance between the ink vehicle 205 and the second motor 203 is greater than or equal to a second threshold value, the first motor 201 and the second motor 203 are both used as non-master-slave motors, and the control unit is used for not compensating the torque of the first motor 201 and the second motor 203.
Fig. 3 is a block diagram of a control system of the printer ink carriage 314 according to an embodiment of the present invention. As shown in fig. 3, in one embodiment, the control unit includes a first speed detector 302, a second speed detector 303, a first current sensor 304, a second current sensor 305, a first position controller 306, a first speed controller 307, a second speed controller 308, a first torque controller 309, a second torque controller 310, and a compensation controller 311; when the first motor 312 is used as a master motor and the second motor 313 is used as a slave motor, the compensation controller 311 is used for determining a compensation torque according to the relative position and sending the compensation torque to the first torque controller 309 and the second torque controller 310; the compensation controller 311 is further configured to determine a first speed compensation of the first motor 312 according to the relative position, and send the first speed compensation to the first speed controller 307; the compensation controller 311 is further configured to determine a first speed compensation of the second motor 313 according to the relative position, and send the first speed compensation to the second speed controller 308; the first position controller 306 is used for determining a second speed compensation of the first motor 312 according to the relative position and the set position of the ink car 314, and sending the second speed compensation of the first motor 312 to the first speed controller 307; the first speed detector 302 is used for acquiring the feedback speed of the first motor 312 and sending the feedback speed of the first motor 312 to the first speed controller 307; the second speed detector 303 is configured to obtain a feedback speed of the second motor 313 and send the feedback speed of the second motor 313 to the second speed controller 308; the first speed controller 307 is configured to determine a first compensation torque of the first motor 312 according to the first speed compensation of the first motor 312, the second speed compensation of the first motor 312, and the feedback speed of the first motor 312, and send the first compensation torque of the first motor 312 to the first torque controller 309; the second speed controller 308 is used for determining a first compensation torque of the second electric machine 313 according to the first speed compensation of the second electric machine 313 and the feedback speed of the second electric machine 313, and sending the first compensation torque of the second electric machine 313 to the second torque controller 310; the first current sensor 304 is used for acquiring a feedback current of the first motor 312 and sending the feedback current to the first torque controller 309; the second current sensor 305 is used for acquiring a feedback current of the second motor 313 and sending the feedback current to the second torque controller 310; the first torque controller 309 is configured to determine an output torque of the first motor 312 according to a first compensation torque of the first motor 312, the compensation torque, and a feedback current of the first motor 312; the second torque controller 310 is configured to determine an output torque of the second electric machine 313 based on the first compensation torque of the second electric machine 313, the compensation torque, and a feedback current of the second electric machine 313.
In this embodiment, the encoder of the first motor 312 detects the speed of the first motor 312 and sends the detected speed to the first speed controller 307 through the first speed detector 302. The encoder of the second motor 313 detects the speed of the second motor 313 and sends the detected speed to the second speed controller 308 through the second speed detector 303. The position feedback is detected by the grating encoder 301, and the encoder at the motor end only detects the speed of the motor, so that the error in the middle transmission process can be reduced, the positioning precision of the whole system is increased, and the movement precision of the ink carriage 314 is further improved.
In one embodiment, the control unit includes a first speed detector, a second speed detector, a first current sensor, a second position controller, a first speed controller, a second speed controller, a first torque controller, a second torque controller, and a compensation controller; when the first motor is used as a slave motor, the compensation controller is used for determining compensation torque according to the relative position and sending the compensation torque to the first torque controller and the second torque controller; the compensation controller is also used for determining first speed compensation of the first motor according to the relative position and sending the first speed compensation to the first speed controller; the compensation controller is also used for determining first speed compensation of the second motor according to the relative position and sending the first speed compensation to the second speed controller; the second position controller is used for determining second speed compensation of the second motor according to the relative position and the set position of the ink car and sending the second speed compensation of the second motor to the second speed controller; the first speed detector is used for acquiring the feedback speed of the first motor and sending the feedback speed of the first motor to the first speed controller; the second speed detector is used for acquiring the feedback speed of the second motor and sending the feedback speed of the second motor to the second speed controller; the first speed controller is used for determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor, and sending the first compensation torque of the first motor to the first torque controller; the second speed controller is used for determining a first compensation torque of the second motor according to the first speed compensation of the second motor, the second speed compensation of the second motor and the feedback speed of the second motor, and sending the first compensation torque of the second motor to the second torque controller; the first current sensor is used for acquiring feedback current of the first motor and sending the feedback current to the first torque controller; the second current sensor is used for acquiring the feedback current of the second motor and sending the feedback current to the second torque controller; the first torque controller is used for determining the output torque of the first motor according to the first compensation torque and the compensation torque of the first motor and the feedback current of the first motor; the second torque controller is used for determining the output torque of the second motor according to the first compensation torque, the compensation torque and the feedback current of the second motor.
Fig. 4 is a structural view of a printer ink carriage control system according to still another embodiment of the present invention. As shown in fig. 4, in one embodiment, the control unit includes a first speed detector 402, a second speed detector 403, a first current sensor 404, a second current sensor 405, a first position controller 406, a second position controller 407, a first speed controller 408, a second speed controller 409, a first torque controller 410, and a second torque controller 411; when the first motor 412 and the second motor 413 are both non-master-slave motors, the first position controller 406 is configured to determine a second speed compensation of the first motor 412 according to the relative position and the set position of the carriage 414, and send the second speed compensation of the first motor to the first speed controller 408; the second position controller 407 is configured to determine a second speed compensation of the second motor 413 according to the relative position and the set position of the carriage 414, and send the second speed compensation of the second motor 413 to the second speed controller 409; the first speed detector 402 is used for acquiring the feedback speed of the first motor 412 and sending the feedback speed of the first motor 412 to the first speed controller 408; the second speed detector 403 is configured to obtain a feedback speed of the second motor 413, and send the feedback speed of the second motor 413 to the second speed controller 409; the first speed controller 408 is configured to determine a first compensation torque of the first motor 412 according to the first speed compensation of the first motor 412 and the feedback speed of the first motor 412, and send the first compensation torque of the first motor 412 to the first torque controller 410; the second speed controller 409 is used for determining a first compensation torque of the second motor 413 according to the second speed compensation of the second motor 413 and the feedback speed of the second motor 413, and sending the first compensation torque of the second motor 413 to the second torque controller 411; the first current sensor 404 is used for acquiring a feedback current of the first motor 412 and sending the feedback current to the first torque controller 410; the second current sensor 405 is configured to obtain a feedback current of the second motor 413 and send the feedback current to the second torque controller 411; the first torque controller 410 is configured to determine an output torque of the first motor 412 according to a first compensation torque of the first motor 412 and a feedback current of the first motor 412; the second torque controller 411 is configured to determine an output torque of the second motor 413 based on the first compensation torque of the second motor 413 and a feedback current of the second motor 413.
In this embodiment, the position feedback of the carriage 414 is detected by the grating encoder 401, and the encoder at the motor end only detects the speed of the motor, so that the error in the intermediate transmission process can be reduced, the positioning accuracy of the whole system is increased, and the movement accuracy of the carriage 414 is further improved.
In one embodiment, the control unit is further configured to acquire a movable range of the carriage; the movable range comprises a range from a first limit point to a second limit point, the first limit point is a point where the ink vehicle can move to be closest to the first belt pulley, and the second limit point is a point where the ink vehicle can move to be closest to the second belt pulley;
the compensation torque weight w is calculated by the following formula:
Figure BDA0002511302090000211
the compensation torque is calculated by the following formula:
Tc＝T0×w
wherein d is the distance between the relative position and the first limit point, dminFor the minimum value of the mode-switching limit value, dmaxIs the maximum value of the mode switching limit value, L is the distance between the first limit point and the second limit point, and T0For a set compensation torque value, TcTo compensate for the torque.
In this embodiment, the ink vehicle is at the first limit during the initial stage of the operation of the printer, the dual-motor driving system respectively obtains the compensation speed and the compensation torque under the effect of the compensation torque controller, and then the system gradually enters into the transition state according to the change of the motion position of the ink vehicle, and at this moment, the effects of the compensation speed and the compensation torque gradually decrease.
Fig. 5 is a structural view of a printer ink carriage control system according to still another embodiment of the present invention. As shown in fig. 5, in one embodiment, the control unit includes a first position controller 510, a second position controller 511, a first speed controller 512, a second speed controller 513, a first torque controller 514, a second torque controller 515, and a compensation controller 501. The first position controller 510 and the first speed controller 512 are connected by a mode switch S1; the first speed controller 512 is connected with the compensation controller 501 through a mode switch S3; the first torque controller 514 is connected with the compensation controller 501 through a mode switch S4; the second position controller 511 and the second speed controller 513 are connected through a mode switch S2; the second speed controller 513 is connected to the compensation controller 501 through a mode switch S5; the second torque controller 515 is connected to the compensation controller 501 through the mode switch S6; when the first motor 502 and the second motor 503 are both non-master-slave motors, the control unit is further configured to control the mode switch S1 and the mode switch S2 to be closed, and the mode switch S3, the mode switch S4, the mode switch S5 and the mode switch S6 to be open; when the first motor 502 is the master motor and the second motor 503 is the slave motor, the control unit is further configured to control the mode switch S1, the mode switch S3, the mode switch S4, the mode switch S5 and the mode switch S6 to be closed, and the mode switch S2 to be open; when the second motor 503 is used as the master motor and the first motor 502 is used as the slave motor, the control unit is further used for controlling the mode switch S1 to be opened, and the mode switch S3, the mode switch S4, the mode switch S5, the mode switch S6 and the mode switch S2 to be closed.
In this embodiment, the first speed detector 506 is used for detecting the speed of the first motor 502 and sending the detected speed to the first speed controller 512. The second speed detector 507 is used for detecting the speed of the second motor 503 and sending the speed to the second speed controller 513. The first current sensor 508 is used to detect the feedback current of the first motor 502 and send it to the first torque controller 514. The second current sensor 509 is used for detecting the feedback current of the second motor 503 and sending the feedback current to the second torque controller 515. The first torque controller 514 is used to control the output torque of the first electric machine 502. The second torque controller 515 is for controlling the output torque of the second motor 503. The position feedback is detected by the grating encoder 505, and the encoder at the motor end only detects the motor speed, so that the error in the intermediate transmission process can be reduced, the positioning precision of the whole system is increased, and the movement precision of the ink carriage 504 is further improved.
Fig. 6 is a schematic diagram of a position controller according to an embodiment of the present invention. Fig. 7 is a schematic diagram of a speed controller according to an embodiment of the present invention. Fig. 8 is a schematic diagram of a torque controller according to an embodiment of the present invention. In one embodiment, as shown in fig. 6, the first position controller is configured to determine the maximum value of the scaling factor without causing oscillation of the loop; determining the minimum value of the integral coefficient on the premise of ensuring the steady-state error; a second speed compensation of the first motor is determined based on a maximum value of the scaling factor and a minimum value of the integral factor.
In this embodiment, the position controller principle is shown in fig. 6, the speed controller principle is shown in fig. 7, and the torque controller principle is shown in fig. 8. The response bandwidth of the controller can be improved by increasing the proportionality coefficient, but the value is too large, which easily causes oscillation and noise, and the value is as large as possible under the condition that the loop does not oscillate; the integral coefficient can eliminate output steady-state errors and bring phase lag, so that the value is as small as possible on the premise of ensuring the steady-state errors; the tracking error change in the adjusting process can be reduced by increasing the compensation coefficient, and the value is easy to cause vibration and noise and is set according to the actual running condition of the motor.
In one embodiment, the control unit includes a first position controller, a second position controller, a first speed controller, a second speed controller, a first torque controller, a second torque controller, and a compensation controller. The first position controller is connected with the first speed controller through a mode switch S1; the first speed controller is connected with the compensation controller through a mode switch S3; the first torque controller is connected with the compensation controller through a mode switch S4; the second position controller is connected with the second speed controller through a mode switch S2; the second speed controller is connected with the second torque controller through a mode switch S5; the second torque controller is connected with the compensation controller through a mode switch S6; when the first motor and the second motor are both used as non-master-slave motors, the control unit is also used for controlling the mode switch S1 and the mode switch S2 to be closed, and the mode switch S3, the mode switch S4, the mode switch S5 and the mode switch S6 to be opened; when the first motor is used as a main motor and the second motor is used as a slave motor, the control unit is also used for controlling the mode switch S1, the mode switch S3, the mode switch S4, the mode switch S5 and the mode switch S6 to be closed and the mode switch S2 to be opened; when the second motor is used as a master motor and the first motor is used as a slave motor, the control unit is also used for controlling the mode switch S1 to be opened, and the mode switch S3, the mode switch S4, the mode switch S5, the mode switch S6 and the mode switch S2 to be closed.
In the present embodiment, the first torque controller is configured to control the output torque of the first motor. The second torque controller is used for controlling the output torque of the second motor.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims (10)

1. A method of controlling an ink cart for a printer including a first motor and a first pulley coupled to the first motor, a second motor and a second pulley coupled to the second motor, the method comprising the steps of:
acquiring the current position of the ink vehicle;
determining a relative position of a current position of the carriage with respect to a printer body;
controlling output torques of the first motor and the second motor according to the relative position;
wherein when the relative position indicates that the horizontal distance of the carriage from the first pulley is less than a first threshold, the first motor is used as a master motor, the second motor is used as a slave motor, the output torque of the first motor is increased by a compensation torque, and the output torque of the second motor is decreased by the compensation torque; or when the relative position indicates that the horizontal distance between the ink vehicle and the second belt pulley is smaller than a second threshold value, taking the second motor as a main motor, taking the first motor as a slave motor, increasing the output torque of the second motor by a compensation torque, and reducing the output torque of the first motor by the compensation torque; or when the relative position indicates that the horizontal distance between the ink vehicle and the first belt pulley is greater than or equal to the first threshold value and the horizontal distance between the ink vehicle and the second belt pulley is greater than or equal to the second threshold value, the first motor and the second motor are both used as non-master-slave motors, and the torque of the first motor and the torque of the second motor are not compensated.
2. The printer carriage control method as claimed in claim 1,
when the first motor is used as a main motor and the second motor is used as a slave motor, the control of the output torques of the first motor and the second motor according to the relative position comprises the following steps:
determining a first speed compensation of the first motor based on the relative position and a set position of the carriage; determining a second speed compensation for the first motor based on the relative position; acquiring the feedback speed of the first motor; determining a first compensation torque of the first motor based on the first speed compensation of the first motor, the second speed compensation of the first motor, and the feedback speed of the first motor; acquiring the compensation torque according to the relative position, and acquiring the feedback current of the first motor; determining an output torque of the first motor according to a first compensation torque of the first motor, the compensation torque and a feedback current of the first motor; determining a first speed compensation of the second motor based on the relative position; acquiring the feedback speed of the second motor; determining a first compensation torque of the second motor according to the first speed compensation of the second motor and the feedback speed of the second motor; acquiring a feedback current of the second motor; determining an output torque of the second motor according to a first compensation torque of the second motor, the compensation torque and a feedback current of the second motor; alternatively, the first and second electrodes may be,
when the second motor is used as a main motor and the first motor is used as a slave motor, the control of the output torques of the first motor and the second motor according to the relative position comprises the following steps:
determining a first speed compensation of the second motor based on the relative position and a set position of the carriage; determining a second speed compensation for the second motor based on the relative position; acquiring the feedback speed of the second motor; determining a first compensation torque of the second motor according to the first speed compensation of the second motor, the second speed compensation of the second motor and the feedback speed of the second motor; acquiring the compensation torque according to the relative position, and acquiring the feedback current of the second motor; determining an output torque of the second motor according to a first compensation torque of the second motor, the compensation torque and a feedback current of the second motor; determining a first speed compensation of the first motor based on the relative position; acquiring the feedback speed of the first motor; determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor; acquiring a feedback current of the first motor; determining an output torque of the first motor from a first compensation torque of the first motor, the compensation torque and a feedback current of the first motor; alternatively, the first and second electrodes may be,
when the first motor and the second motor are both used as non-master-slave motors, controlling the output torques of the first motor and the second motor according to the relative position comprises:
determining a first speed compensation of the first motor based on the relative position and a set position of the carriage; acquiring the feedback speed of the first motor; determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor; acquiring a feedback current of the first motor; determining an output torque of the first motor according to a first compensation torque of the first motor and a feedback current of the first motor; determining a first speed compensation of the second motor based on the relative position and a set position of the carriage; acquiring the feedback speed of the second motor; determining a first compensation torque of the second motor according to the first speed compensation of the second motor and the feedback speed of the second motor; acquiring a feedback current of the second motor; and determining the output torque of the second motor according to the first compensation torque of the second motor and the feedback current of the second motor.
3. The printer carriage control method of claim 1, further comprising:
acquiring a movable range of the ink vehicle; wherein the movable range includes a range from a first limit point to a second limit point, the first limit point being a point at which the ink carriage is movable to be closest to the first pulley, the second limit point being a point at which the ink carriage is movable to be closest to the second pulley;
the compensation torque weight w is calculated by the following formula:
Figure FDA0002511302080000031
calculating the compensation torque by the formula:
Tc＝T0×w
wherein d is the distance between the relative position and the first limit point, dminFor the minimum value of the mode switch limit value, dmaxIs the maximum value of the mode switching limit value, L is the distance between the first limit point and the second limit point, T0For a set compensation torque value, TcIs the compensation torque.
4. A printer ink car controlling means, this printer include the first motor and with the first belt pulley that the first motor is connected, the second motor and with the second belt pulley that the second motor is connected, its characterized in that, this controlling means includes:
the first acquisition module is used for acquiring the current position of the ink vehicle;
a second acquisition module for determining a relative position of the current position of the carriage with respect to the printer body;
the control module is used for controlling the output torques of the first motor and the second motor according to the relative position;
wherein when the relative position indicates that the horizontal distance of the carriage from the first pulley is less than a first threshold, the first motor is used as a master motor, the second motor is used as a slave motor, the output torque of the first motor is increased by a compensation torque, and the output torque of the second motor is decreased by the compensation torque; or when the relative position indicates that the horizontal distance between the ink vehicle and the second belt pulley is smaller than a second threshold value, taking the second motor as a main motor, taking the first motor as a slave motor, increasing the output torque of the second motor by a compensation torque, and reducing the output torque of the first motor by the compensation torque; or when the relative position indicates that the horizontal distance between the ink vehicle and the first belt pulley is greater than or equal to the first threshold value and the horizontal distance between the ink vehicle and the second belt pulley is greater than or equal to the second threshold value, the first motor and the second motor are both used as non-master-slave motors, and the torque of the first motor and the torque of the second motor are not compensated.
5. A printer ink car control system is characterized by comprising a belt, a first motor, a second motor, a first belt pulley, a second belt pulley, an ink car, a grating encoder and a control unit;
the first motor is connected with the first belt pulley;
the second motor is connected with the second belt pulley;
the first belt pulley and the second belt pulley are sleeved with the belt;
the grating encoder is used for acquiring the relative position and sending the relative position to the control unit;
the control unit is used for determining the relative position of the relative position relative to the printer body; controlling output torques of the first motor and the second motor according to the relative position;
wherein, when the relative position indicates that the distance from the carriage to the first motor is less than a first threshold, the first motor is used as a master motor, the second motor is used as a slave motor, and the control unit is used for increasing the output torque of the first motor by a compensation torque and reducing the output torque of the second motor by the compensation torque; or, when the relative position indicates that the distance between the ink vehicle and the second motor is less than a second threshold, the second motor is used as a main motor, the first motor is used as a slave motor, and the control unit is used for increasing the output torque of the second motor by a compensation torque and reducing the output torque of the first motor by the compensation torque; or, when the relative position indicates that the distance between the ink vehicle and the first motor is greater than or equal to the first threshold and the distance between the ink vehicle and the second motor is greater than or equal to the second threshold, the first motor and the second motor are both used as non-master-slave motors, and the control unit is used for not compensating the torques of the first motor and the second motor.
6. The printer carriage control system of claim 5, wherein said control unit comprises a first speed detector, a second speed detector, a first current sensor, a second current sensor, a first position controller, a first speed controller, a second speed controller, a first torque controller, a second torque controller, and a compensation controller;
when the first motor is used as a main motor and the second motor is used as a slave motor,
the compensation controller is used for determining compensation torque according to the relative position and sending the compensation torque to the first torque controller and the second torque controller;
the compensation controller is also used for determining first speed compensation of the first motor according to the relative position and sending the first speed compensation to the first speed controller;
the compensation controller is also used for determining first speed compensation of a second motor according to the relative position and sending the first speed compensation to the second speed controller;
the first position controller is used for determining second speed compensation of the first motor according to the relative position and the set position of the ink car and sending the second speed compensation of the first motor to the first speed controller;
the first speed detector is used for acquiring the feedback speed of the first motor and sending the feedback speed of the first motor to the first speed controller;
the second speed detector is used for acquiring the feedback speed of the second motor and sending the feedback speed of the second motor to the second speed controller;
the first speed controller is used for determining a first compensation torque of the first motor according to the first speed compensation of the first motor, the second speed compensation of the first motor and the feedback speed of the first motor, and sending the first compensation torque of the first motor to the first torque controller;
the second speed controller is used for determining a first compensation torque of the second motor according to the first speed compensation of the second motor and the feedback speed of the second motor, and sending the first compensation torque of the second motor to the second torque controller;
the first current sensor is used for acquiring feedback current of the first motor and sending the feedback current to the first torque controller;
the second current sensor is used for acquiring the feedback current of the second motor and sending the feedback current to the second torque controller;
the first torque controller is used for determining the output torque of the first motor according to a first compensation torque of the first motor, the compensation torque and the feedback current of the first motor;
the second torque controller is used for determining the output torque of the second motor according to the first compensation torque of the second motor, the compensation torque and the feedback current of the second motor.
7. The printer carriage control system of claim 5, wherein the control unit comprises a first speed detector, a second speed detector, a first current sensor, a second position controller, a first speed controller, a second speed controller, a first torque controller, a second torque controller, and a compensation controller;
when the second motor is used as a main motor and the first motor is used as a slave motor,
the compensation controller is used for determining compensation torque according to the relative position and sending the compensation torque to the first torque controller and the second torque controller;
the compensation controller is also used for determining first speed compensation of the first motor according to the relative position and sending the first speed compensation to the first speed controller;
the compensation controller is also used for determining first speed compensation of a second motor according to the relative position and sending the first speed compensation to the second speed controller;
the second position controller is used for determining second speed compensation of the second motor according to the relative position and the set position of the ink car and sending the second speed compensation of the second motor to the second speed controller;
the first speed detector is used for acquiring the feedback speed of the first motor and sending the feedback speed of the first motor to the first speed controller;
the second speed detector is used for acquiring the feedback speed of the second motor and sending the feedback speed of the second motor to the second speed controller;
the first speed controller is used for determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor, and sending the first compensation torque of the first motor to the first torque controller;
the second speed controller is used for determining a first compensation torque of the second motor according to the first speed compensation of the second motor, the second speed compensation of the second motor and the feedback speed of the second motor, and sending the first compensation torque of the second motor to the second torque controller;
the first current sensor is used for acquiring feedback current of the first motor and sending the feedback current to the first torque controller;
the second current sensor is used for acquiring the feedback current of the second motor and sending the feedback current to the second torque controller;
the first torque controller is used for determining the output torque of the first motor according to a first compensation torque of the first motor, the compensation torque and the feedback current of the first motor;
the second torque controller is used for determining the output torque of the second motor according to the first compensation torque of the second motor, the compensation torque and the feedback current of the second motor.
8. The printer carriage control system of claim 5, wherein said control unit comprises a first speed detector, a second speed detector, a first current sensor, a second current sensor, a first position controller, a second position controller, a first speed controller, a second speed controller, a first torque controller, and a second torque controller;
when the first motor and the second motor are both used as non-master-slave motors,
the first position controller is used for determining second speed compensation of the first motor according to the relative position and the set position of the ink car and sending the second speed compensation of the first motor to the first speed controller;
the second position controller is used for determining second speed compensation of the second motor according to the relative position and the set position of the ink car and sending the second speed compensation of the second motor to the second speed controller;
the first speed detector is used for acquiring the feedback speed of the first motor and sending the feedback speed of the first motor to the first speed controller;
the second speed detector is used for acquiring the feedback speed of the second motor and sending the feedback speed of the second motor to the second speed controller;
the first speed controller is used for determining a first compensation torque of the first motor according to the first speed compensation of the first motor and the feedback speed of the first motor, and sending the first compensation torque of the first motor to the first torque controller;
the second speed controller is used for determining a first compensation torque of the second motor according to the second speed compensation of the second motor and the feedback speed of the second motor, and sending the first compensation torque of the second motor to the second torque controller;
the first current sensor is used for acquiring feedback current of the first motor and sending the feedback current to the first torque controller;
the second current sensor is used for acquiring the feedback current of the second motor and sending the feedback current to the second torque controller;
the first torque controller is used for determining the output torque of the first motor according to the first compensation torque of the first motor and the feedback current of the first motor;
the second torque controller is used for determining the output torque of the second motor according to the first compensation torque of the second motor and the feedback current of the second motor.
9. The printer carriage control system of claim 5, wherein said control unit is further configured to acquire a movable range of said carriage; wherein the movable range includes a range from a first limit point to a second limit point, the first limit point being a point at which the ink carriage is movable to be closest to the first pulley, the second limit point being a point at which the ink carriage is movable to be closest to the second pulley;
the compensation torque weight w is calculated by the following formula:
Figure FDA0002511302080000091
calculating the compensation torque by the formula:
Tc＝T0×w
wherein d is the distance between the relative position and the first limit point, dminFor the minimum value of the mode switch limit value, dmaxIs the maximum value of the mode switching limit value, L is the distance between the first limit point and the second limit point, T0For a set compensation torque value, TcIs the compensation torque.
10. The printer carriage control system of claim 6 wherein said first position controller is configured to determine a maximum value of the scaling factor without causing oscillation of the loop; determining the minimum value of the integral coefficient on the premise of ensuring the steady-state error; determining a second speed compensation of the first motor based on a maximum value of the scaling factor and a minimum value of the integral factor.
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CN101663173A (en) * 2007-03-31 2010-03-03 赛福尔有限公司 Tape drive
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