JP2001309680A - Rotor driving control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a subject that there is no making publicity on how to obtain a transfer function. SOLUTION: In a rotor driving control method which makes a rotor 1505 rotate by a rotor driver 1501 and a driving control of the rotor 1505 detect the state of the rotor 1505 by a state detector, when a static transfer rate from the rotor driver 1501 to the rotor 1505 is taken as Nb, the state of the rotor driver is made by multiplying the state of the rotor 1505 which is detected by the state detector by 1/Nb, and with the difference between this state and the target value of the rotor driver 1501 a feedback control of the rotor driver 1501 is made.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a rotating body drive control method, a rotating body drive control device, an image forming apparatus, and a recording medium.

[0002]

2. Description of the Related Art As a high-precision rotating body drive control device used in an image forming apparatus such as a copying machine, a printer, a facsimile, etc., there is a rotating body drive control device described in Japanese Patent Application Laid-Open No. 6-175427. The rotator drive control device is a rotator drive control device for controlling the drive of a rotator used in an image forming apparatus, and detects a motor that drives the rotator to rotate and a rotation speed of the rotator. A rotary encoder; and a rotation control means for controlling a rotation angle of the motor based on an output signal of the rotary encoder. A transfer function of the rotation control means is obtained by a CPU, and a phase margin and a gain margin are obtained from the transfer function. When the phase margin or the gain margin is out of the predetermined range, the optimum control parameters are selected from the ROM and the rotation control is performed by the rotation control means. In this rotating body drive control device, the transfer function of the rotation control means is obtained by the CPU. In the description of the embodiment, this is automatically performed at the start of operation of the device or based on a user's instruction.
It is stated that the PU determines a transfer function in the control system.

[0003]

In the above-mentioned rotary body drive control device, the transfer function in the rotation control means is obtained by the CPU. This is described in the description of the embodiment automatically at the start of operation of the device or based on a user's instruction. It only states that the CPU determines the transfer function in the control system, but does not disclose how to specifically determine the transfer function. Also, even if the transfer function is obtained on the spot,
In order to obtain a true transfer function, a frequency sweep of a sine wave input and an input of a random signal are required, which requires an extremely large-scale device, which is not practical.

The present invention is not a true transfer function, but can easily provide a simple transfer function required for control, and can perform high-precision rotary body drive control. It is an object to provide a body drive control device, a recording medium, and an image forming apparatus capable of obtaining a high-quality image.

[0005]

According to a first aspect of the present invention, a rotating body is driven to rotate by a rotation driving source, and the state of the rotating body is detected by a state detecting device. In the rotating body drive control method for controlling the driving of the body, when the static transmission rate of the state from the rotating drive source to the rotating body is Nb, the state of the rotating body detected by the state detection device is 1 / Nb is regarded as the state of the rotary drive source, and feedback control of the rotary drive source is performed based on a difference between this state and a target value of the state of the rotary drive source.

According to a second aspect of the present invention, in the rotary body drive control method according to the first aspect, the state of the rotary body is an angular displacement of an axis of the rotary body, and a target value of the state of the rotary drive source is It is characterized by angular displacement of the axis of the rotary drive source.

According to a third aspect of the present invention, in the rotating body drive control method according to the first aspect, the state of the rotating body is an angular velocity of an axis of the rotating body, and the target value of the state of the rotating drive source is the target value. It is characterized by the angular velocity of the axis of the rotary drive source.

According to a fourth aspect of the present invention, in the rotating body drive control method according to the first aspect, the state of the rotating body is a torque of a shaft of the rotating body, and the target value of the state of the rotating drive source is the target value. It is characterized by the torque of the shaft of the rotary drive source.

According to a fifth aspect of the present invention, in the method of controlling the driving of the rotating body according to the first aspect, when the static transmission rate of the angular velocity from the rotating driving source to the rotating body is Nb, the state detecting device is provided. A minor loop of angular velocity feedback using a method in which 1 / Nb is multiplied by the angular velocity of the rotator detected by a state detecting device different from that of the rotary driving source and regarded as the angular velocity of the rotary drive source is used.

According to a sixth aspect of the present invention, there is provided a rotary driving source for driving the rotary body, and a state detecting device for detecting a state of the rotary body, and a rotary body drive control for controlling the drive of the rotary body. In the apparatus, when the static transmission rate of the state from the rotary drive source to the rotary body is Nb, the state of the rotary body detected by the state detection device is multiplied by 1 / Nb to obtain the rotational drive source. A rotational drive source state detecting means for determining the state of the rotational drive source based on a difference between a state of the rotational drive source and a target value of the state of the rotational drive source considered by the rotational drive source state detector. This is to perform feedback control.

According to a seventh aspect of the present invention, in the rotary body drive control device according to the sixth aspect, the state of the rotary body is an angular displacement of an axis of the rotary body, and the target value of the state of the rotary drive source is This is the angular displacement of the axis of the rotary drive source.

According to an eighth aspect of the present invention, in the rotary body drive control device according to the sixth aspect, the state of the rotary body is an angular velocity of an axis of the rotary body, and the target value of the state of the rotary drive source is the target value. It is the angular velocity of the axis of the rotary drive source.

According to a ninth aspect of the present invention, in the rotating body drive control device according to the sixth aspect, the state of the rotating body is a torque of an axis of the rotating body, and the target value of the state of the rotating drive source is the target value. This is the torque of the shaft of the rotary drive source.

According to a tenth aspect of the present invention, in the rotary body drive control apparatus according to the seventh aspect, when the static transmission rate of the angular velocity from the rotary drive source to the rotary body is Nb, And a minor loop of angular velocity feedback using a method in which 1 / Nb is multiplied by the angular velocity of the rotating body detected by another state detecting device and is regarded as the angular velocity of the rotary drive source.

According to an eleventh aspect of the present invention, there is provided an image forming apparatus for forming an image by rotating an image carrier, wherein the driving control of the image carrier is performed according to any one of claims 6 to 10. This is performed by the body drive control device.

According to a twelfth aspect of the present invention, in the image forming apparatus of the eleventh aspect, the image carrier is a photosensitive drum.

According to a thirteenth aspect of the present invention, in the image forming apparatus according to the eleventh aspect, the image carrier is a photosensitive belt.

According to a fourteenth aspect, in the image forming apparatus according to the eleventh aspect, the image carrier is a transfer drum.

According to a fifteenth aspect of the present invention, in the image forming apparatus according to the eleventh aspect, the image carrier is an intermediate transfer belt.

According to a sixteenth aspect of the present invention, in the image forming apparatus for forming a color image by rotating a plurality of image carriers, each of the drive controls of the plurality of image carriers is controlled by any one of the sixth to tenth aspects. This is performed by the rotating body drive control device described in any one of the above.

According to a seventeenth aspect of the present invention, when a static transmission rate of a state from a rotary drive source for rotating a rotating body to the rotating body is set to Nb, the computer detects the rotation detected by a state detecting device. A procedure of multiplying the state of the body by 1 / Nb to consider the state of the rotary drive source, and a procedure of performing feedback control of the rotary drive source based on a difference between this state and a target value of the state of the rotary drive source Is recorded.

According to an eighteenth aspect of the present invention, in the recording medium according to the seventeenth aspect, the state of the rotating body is an angular displacement of a shaft of the rotating body, and a target value of the state of the rotating drive source is the rotating drive. It is the angular displacement of the axis of the source.

According to a nineteenth aspect of the present invention, in the recording medium according to the seventeenth aspect, the state of the rotating body is an angular velocity of an axis of the rotating body, and a target value of the state of the rotating drive source is the rotating drive source. Is the angular velocity of the axis.

According to a twentieth aspect of the present invention, in the recording medium according to the seventeenth aspect, the state of the rotating body is a torque of an axis of the rotating body, and a target value of the state of the rotating drive source is the rotating drive source. Is the torque of the shaft.

According to a twenty-first aspect of the present invention, in the recording medium according to the seventeenth aspect, the program detects the state when a static transmission rate of the angular velocity from the rotary drive source to the rotary body is Nb. A program for executing a procedure using a minor loop of angular velocity feedback using a method in which 1 / Nb is multiplied by the angular velocity of the rotating body detected by a state detection apparatus different from the apparatus and regarded as the angular velocity of the rotary drive source. Including.

[0026]

FIG. 1 shows a rotating body, a power transmission system and a rotary drive source according to a first embodiment of the present invention. The first embodiment is an example of a rotating body drive control device to which the inventions according to the first and second aspects are applied, and is an embodiment of the inventions according to the sixth and seventh aspects. In FIG. 1, reference numeral 1501 denotes a motor as a rotary drive source for rotating a rotating body, and the rotational torque of the motor 1501 is a gear train 1 constituting a power transmission system.
The light is transmitted to a shaft 1506 of a photosensitive drum 1505 as an image carrier by a 503 and a timing belt 1504. As the motor 1501, for example, a DC motor is used, and the photosensitive drum 1505 is firmly fixed to the shaft 1506.

Reference numeral 1507 denotes an encoder as a state detecting device for detecting the state of the rotating body 1505. The encoder 1507 is attached to a shaft 1506 of the photosensitive drum 1505 by a coupling (not shown). Photoconductor drum 150 detected by encoder 1507
State 5 is the angular displacement of the photosensitive drum 1505. Therefore, the static transmission rate Nb from the state of the rotary drive source 1501, that is, the state from the angular displacement to the state of the rotating body 1505, that is, from the angular displacement, is determined by the gear train 1503 and the timing belt 15.
04, and thus can be easily obtained at the time of design.

FIG. 2 shows the state (here, angular displacement) of the rotary drive source 1501 in the first embodiment.
The configuration of a control system that performs digital control based on the state detection signal (here, the output signal of the encoder 1507) is shown.
2, reference numeral 1 denotes a microprocessor 2, a read only memory (ROM) 3, and a random access memory (RA).
M) 4, which is a microcomputer to which a microprocessor 2, a read only memory (ROM) 3, and a random access memory (RAM) 4 are connected via a bus 9.

Reference numeral 5 denotes a command generator for outputting a state command signal for commanding the state of the rotary drive source 1501, and this command generator 5 generates an angular displacement command signal. The output side of the command generator 5 is also connected to the bus 9. Reference numeral 8 denotes a detection interface device that processes an output pulse of the encoder 1507 and converts the pulse into a digital value. The detection interface device 8 includes a counter for counting the output pulses of the encoder 1507, and multiplies the counted value of the counter by a predetermined conversion constant of the number of pulses to angular displacement to obtain the angle of the rotating body 1505. Convert to displacement.

Reference numeral 6 denotes an interface for driving the DC motor. The interface 6 for driving the DC motor uses the operation result (control output) of the microcomputer 1 to operate a power semiconductor, for example, a transistor, constituting the DC motor driving device 7. Is converted into a pulse signal (control signal). The DC motor driving device 7 operates based on a pulse signal from the DC motor driving interface 6 and controls a voltage applied to the rotary drive source 1501. As a result, the rotation drive source 1501 is additionally controlled to a predetermined angular displacement by the command generator 5. The angular displacement of the rotator 1505 is detected by the encoder 1507 and the interface device 8 and taken into the microcomputer 1.
Here, reference numeral 1510 denotes a block showing a mechanical system excluding the rotary drive source 1501 and the encoder 1507 from FIG.

Next, the drive control of the rotating body according to the present embodiment configured as described above will be described with reference to the block configuration of the present embodiment shown in FIG. In FIG. 3, reference numeral 801 denotes a control object including the entire rotating body drive system shown in FIG. 1 and the DC motor driving interface 6, DC motor driving device 7, and interface device 8 shown in FIG.

The output of the interface device 8 which processes the output of the encoder 1507, that is, the angular displacement information P301 (i-1) of the rotating body 1505 is a constant 1 / Nb in a block 302.
And converted to an angular displacement of the rotary drive source 1501. The conversion result of the block 302 is provided to the calculation unit 304 via the loop 303. The operation unit 304 calculates the control target value R (i) output from the command generation device 5 and the loop 303
From the value e (i) is calculated. This e (i) is input to the controller 305.

The controller 305 is constituted by, for example, a PI control system. E (i) calculated by the arithmetic unit 304
Is integrated in a block 306, multiplied by a constant KI in a block 307, and given to the arithmetic unit 308. At the same time, e (i) calculated by the operation section 304 is
At 9, a constant K P is multiplied and the result is given to the arithmetic unit 308.
The arithmetic unit 308 adds the two input signals from the blocks 307 and 309 and adds the two input signals to the control voltage u (i) of the rotary drive source 1501.
Ask for.

The control voltage value u obtained by the arithmetic unit 308
(i) is output to the rotary drive source 1501 via the DC motor driving interface 6 and the DC motor driving device 7 to rotate the rotating body 1505, and the above loop operation is repeated. Here, the control controller unit 305 uses a PI control system as an example, but is not limited thereto. All of the above operations are performed by numerical operations in the microcomputer 1 and can be easily realized.

According to the first embodiment, the rotary drive source 1
The static transmission rate of the state from 501 to the rotating body 1505 is N
When b is set, the encoder 1507 as a state detection device
And the rotating body 1505 detected by the interface device 8
Is multiplied by 1 / Nb to the state (here, angular displacement) P301 (i-1) of the rotary drive source 1501, and this state P301 (i-1) and the state of the rotary drive source 1501 Since the feedback control of the rotary drive source 1501 is performed based on the difference from the target value R (i) of the state, it is not a true transfer function, but a simple transfer function required for control can be easily given. Highly accurate driving control of the rotating body can be performed.

Next, a second embodiment of the present invention will be described. The second embodiment is an example of a rotating body drive control device to which the inventions according to claims 1 and 3 are applied.
It is an Example of the invention which concerns on. In the second embodiment, the rotating body 1505, the power transmission systems 1503 and 1504, the rotary drive source 1501, and the encoder 1507 shown in FIG. 1 are used as in the first embodiment.

FIG. 4 shows a control system for digitally controlling the state (here, the angular velocity) of the rotary drive source 1501 based on the state detection signal (here, the output signal of the encoder 1507) of the rotating body 1505 in the second embodiment. The configuration is shown.
4, the same reference numerals as those in FIG. 2 indicate the same parts,
The description is omitted. Reference numeral 401 denotes a state detection interface device that processes an output signal of the encoder 1507 and converts the signal into an angular velocity. This interface device 401
The angular velocity information converted in step (1) is input to the microcomputer 1, and the command generator 5 generates an angular velocity command signal. As a result, the rotation drive source 1501 is controlled to a predetermined angular velocity. The angular velocity of the rotating body 1505 is detected by the encoder 1507 and the interface device 401, and is taken into the microcomputer 1.

Here, the processing method of the state detection interface device 401 will be described. The state detection interface device 401 sends an output pulse of the encoder 1507 to an interrupt terminal of the microprocessor 2, and includes a counter for counting the reference clock CLK as shown in FIG.

Referring to FIG. 5, the state immediately before the edge 601 of the output pulse OB of the encoder 1507 arrives will be described. The state detection interface device 401 is provided with a counter. The counter detects the cycle of the output pulse OB of the encoder 1507 by a reference clock CLK.
Based on the given count value (eg, 0FFFF
Detected by decrement count from H). When the edge 601 of the output pulse OB of the encoder 1507 reaches the interrupt terminal of the microprocessor 2, the microprocessor 2 starts executing the interrupt routine shown in FIG.

The microprocessor 2 latches the decremented count value of the counter in a built-in register of the state detection interface device 401 (step P1),
The decrement count value latched in the built-in register is stored in the RAM 4 (step P2). Then, the microprocessor 2 sets the count initial value (0FFFFH) for counting the cycle Tn of the output pulse OB of the encoder 1507 to the state detection interface device 4.
The count value is supplied to the counter 01, and the decrement count of the output pulse OB of the encoder 1507 is restarted again (step P3), and the interrupt processing is terminated. Again, encoder 1
When the edge 602 of the output pulse OB of 507 reaches the interrupt terminal of the microprocessor 2, the microprocessor 2 executes the interrupt routine shown in FIG.
To P3) are repeated. At this time, the encoder 1507
The angular velocity v301 (i-1) of the rotating body 1505 in the period Tn of the output pulse OB is obtained as follows.

V301 (i−1) = k / (Tclk × Ne × n) (1) where Tclk: cycle of reference clock CLK Ne: encoder 1507 division number per unit angle n: reference Count number of clock CLK: = 0FFFFH
-Decrement count value k: Unit conversion constant to angular velocity Next, the drive control of the rotating body according to the second embodiment configured as described above will be described with reference to the block configuration of the second embodiment shown in FIG. 7, the same reference numerals as those in FIG. 3 denote the same parts, and a description thereof will be omitted. Reference numeral 802 denotes the entire rotary body drive system shown in FIG. 1 and the DC motor drive interface 6 shown in FIG.
DC motor driving device 7, interface device 401,
This is a control target including the encoder 1507.

The output of the interface device 401 for processing the output of the encoder 1507, that is, the rotating body 150
The angular velocity information v301 (i−1) of 5 is a constant 1 in block 402.
/ Nb is converted to the angular velocity of the rotary drive source 1501. The conversion result of the block 402 is provided to the calculation unit 404 via the loop 403. The arithmetic unit 404 calculates the control target value R (i) output from the command generator 5 and the loop 4
The difference e (i) from the value from 03 is calculated. This e (i) is input to the controller 405.

The controller 405 is constituted by, for example, a PI control system. E (i) calculated by the arithmetic unit 404
Is integrated in a block 406, multiplied by a constant KI in a block 407, and given to a calculation unit 408. At the same time, e (i) calculated by the arithmetic unit 404 is
At 9, a constant KP is multiplied and the result is given to the arithmetic unit 408.
The arithmetic unit 408 adds the two input signals from the blocks 407 and 409 and adds the two input signals to the control voltage u (i) of the rotary drive source 1501.
Ask for.

The control voltage value u obtained by the arithmetic unit 408
(i) is output to the rotary drive source 1501 via the DC motor driving interface 6 and the DC motor driving device 7 to rotate the rotating body 1505, and the above loop operation is repeated. Here, the control controller unit 405 uses a PI control system as an example, but is not limited thereto. All of the above operations are performed by numerical operations in the microcomputer 1 and can be easily realized.

Here, similarly to the above, Nb is a static transmission rate from the state of the rotary driving source 1501, ie, the angular velocity to the state of the rotating body 1505, ie, the angular velocity, and
It matches the reduction ratio of the gear train 1503 and the timing belt 1504, and can be easily obtained at the time of design.

According to the second embodiment, the rotary drive source 1
The static transmission rate of the state from 501 to the rotating body 1505 is N
When b is set, the encoder 1507 as a state detection device
And the rotating body 15 detected by the interface device 401
The state of the rotary drive source 1501 (here, angular velocity) v301 (i−1) is obtained by multiplying the state of FIG. 05 (here, angular velocity) by 1 / Nb.
This state v301 (i−1) and the rotation drive source 1501
Since the feedback control of the rotary drive source 1501 is performed based on the difference from the target value of the state, the transfer function is not a true transfer function, but a simple transfer function required for the control can be easily provided, and high accuracy can be obtained. Rotary body drive control can be performed.

Next, a third embodiment of the present invention will be described. The third embodiment is an example of a rotating body drive control device to which the invention according to claims 1 and 4 is applied.
It is an Example of the invention which concerns on. In the third embodiment, the rotating body 1505, the power transmission systems 1503 and 1504, the rotary drive source 1501, and the encoder 1507 shown in FIG. 1 are used as in the first embodiment.

In the third embodiment, the rotary drive source 150
The configuration of a control system for digitally controlling the state 1 (here, torque) based on the state detection signal of the rotating body 1505 (here, the output signal of the encoder 1507) is similar to the control shown in FIG. 4 in the second embodiment. The configuration is the same as that of the system.
The command generator 5 generates a torque command signal.

Next, the drive control of the rotating body according to the third embodiment will be described with reference to the block configuration of the third embodiment shown in FIG. 11, reference numeral 802 includes the entire rotating body drive system shown in FIG. 1 and the DC motor driving interface 6, DC motor driving device 7, interface device 401, and encoder 1507 shown in FIG. 4 in the third embodiment. Controlled.

The output of the interface device 401 for processing the output of the encoder 1507, that is, the rotating body 150
The angular velocity information v301 (i−1) and v301 (i−2) of No. 5 are given to a block 1001, and are differentiated in the block 1001 by the sampling period t of the control system.
(V301 (i-1) -v301 (i-2)) / t is calculated. The result of this calculation is given in block 1002 to the rotator 150
Rotor 1 to be controlled with inertia J of 5
A torque of 505 is required.

The torque obtained in block 1002 is multiplied by a constant 1 / Nb in block 402 and
It is converted to a torque of 01. The conversion result of block 402 is provided to arithmetic unit 1004 via loop 1003.
The calculation unit 1004 calculates the difference eT (i) between the control target value R (i) output from the command generator 5 and the value from the loop 1003.
Is calculated. This eT (i) is calculated by the controller 1005
Is input to

The controller 1005 includes, for example, a PI
It is composed of a control system. ET calculated by operation unit 1004
(i) is integrated in block 1006 and
At 7, a constant KIT is multiplied and given to the arithmetic unit 1008. At the same time, eT (i) calculated by the arithmetic unit 1004
Is a constant KPT multiplied by the block 1009 and the operation unit 10
08. The operation unit 1008 is a block 100
7, the control voltage uT (i) of the rotation drive source 1501 is obtained by adding the two input signals from 1009.

The control voltage value u obtained by the arithmetic unit 1008
T (i) is output to the rotary drive source 1501 via the DC motor driving interface 6 and the DC motor driving device 7 to rotate the rotating body 1505, and the above loop operation is repeated. Here, the control controller unit 1005 uses a PI control system as an example, but is not limited thereto. All of the above operations are performed by numerical operations in the microcomputer 1 and can be easily realized.

Here, Nb is a static transmission ratio from the torque in the state of the rotary drive source 1501 to the torque in the state of the rotating body 1505, as described above.
03 and the reduction ratio by the timing belt 1504 can be easily obtained at the time of design.

According to the third embodiment, the rotary drive source 1
When the static transmission rate of torque from the motor 501 to the rotating body 1505 is Nb, the encoder 150 as a state detecting device
7 and the rotating body 1 detected by the interface device 401
By multiplying the state of 505 (here, torque) by 1 / Nb, it is regarded as the state of rotary drive source 1501 (here, torque),
Since the feedback control of the rotary drive source 1501 is performed based on the difference between this state and the target value of the state of the rotary drive source 1501, it is not a true transfer function, but a simple transfer function required for control is easily provided. This makes it possible to perform high-precision rotating body drive control.

Generally, by adding a minor loop of angular velocity control to angular displacement control of the rotating body, a more stable control system can be configured. Therefore, a fourth embodiment of the present invention is obtained by adding a minor loop of angular velocity control to angular displacement control of a rotating body. The fourth embodiment is an example of a rotating body drive control device to which the inventions according to the first and fifth aspects are applied, and is an embodiment of the inventions according to the sixth and tenth aspects. In the fourth embodiment, the rotating member 15 shown in FIG.
05, power transmission systems 1503, 1504, rotary drive source 15
01, an encoder 1507 is used.

FIG. 12 shows the state of the rotary drive source 1501 (here, angular displacement and angular velocity) in the fourth embodiment, which is determined by the state detection signal of the rotating body 1505 (here, the encoder 150).
7 shows a configuration of a control system that performs digital control based on the output signal (7). In the fourth embodiment, since the angular displacement and the angular velocity of the rotating body 1505 must be detected, the state detectors 8 and 401 are included. 12, the same reference numerals as those in FIG. 2 denote the same parts, and a description thereof will be omitted.

Next, the drive control of the rotating body according to the fourth embodiment having the above-described configuration will be described with reference to the block configuration of the fourth embodiment shown in FIG. In FIG.
Reference numeral 803 denotes a control object including the entire rotating body driving system shown in FIG. 1 and the DC motor driving interface 6, DC motor driving device 7, interface devices 8, 401, and encoder 1507 shown in FIG. It is.

The output of the interface device 8 for processing the output of the encoder 1507, that is, the angular displacement information P301 (i-1) of the rotating body 1505 is a constant 1 / Nb in a block 302.
And converted into an angular displacement of the rotary drive source 1501. The conversion result of block 302 is provided to operation unit 304 via loop 303. The arithmetic unit 304 controls the control target value (angular displacement command signal) R output from the command generator 5.
The difference e (i) between (i) and the value from the loop 303 is calculated. This e (i) is input to the controller 3001.

The controller 3001 is, for example, a PI
It is composed of a control system. E (i) calculated by the arithmetic unit 304
Is integrated in a block 306, multiplied by a constant KI3 in a block 3002, and given to the arithmetic unit 308. Also,
At the same time, e (i) calculated by the operation unit 304 is
At 003, the constant is multiplied by a constant KP3 and supplied to the calculation unit 308. The arithmetic unit 308 obtains a target value Rv (i) of the angular velocity minor loop of the rotary drive source 1501 by adding two input signals from the blocks 3002 and 3003.

At the same time, the output of the interface device 401 that processes the output of the encoder 1507, that is, the angular velocity information v301 (i-1) of the rotating body 1505 is output to the block 300.
At 4, a constant 1 / Nb is multiplied and converted into the angular velocity of the rotary drive source 1501. The conversion result of block 3004 is provided to arithmetic unit 3006 via loop 3005. The calculation unit 3006 calculates the target value Rv of the angular velocity minor loop.
The difference ev (i) between (i) and the value from the loop 3005 is calculated. This ev (i) is input to the control controller 3007.

The control controller 3007 is, for example, a PI
It is composed of a control system. Ev calculated by the arithmetic unit 3006
(i) is integrated in block 3008 and
In step 9, the constant KI4 is multiplied and the result is given to the operation unit 3010. At the same time, ev (i) calculated by the arithmetic unit 3006
Is multiplied by a constant KP4 in block 3011 to calculate
10 given. The operation unit 3010 includes the block 300
The control voltage ua (i) of the rotation drive source 1501 is obtained by adding the two input signals from the signals 9 and 3011.

The control voltage value u obtained by the arithmetic unit 3010
a (i) is output to the rotary drive source 1501 via the DC motor driving interface 6 and the DC motor driving device 7 to rotate the rotating body 1505, and the above loop operation is repeated. Here, the controller units 3001 and 3007
Used a PI control system as an example, but is not limited to this. All of the above operations are performed by numerical operations in the microcomputer 1 and can be easily realized. Here, 1 / Nb of blocks 302 and 3004
The method of obtaining the angular displacement and angular velocity is the same as that of the block 302 of the first embodiment and the block 402 of the second embodiment.

According to the fourth embodiment, the rotary driving source 1
In the apparatus for performing angular displacement control 501, a rotary drive source 1
Assuming that the static transmission rate of the angular velocity from 501 to the rotating body 1505 is Nb, the encoder 150 as a state detection device
7. Rotating body 15 detected by interface device 401
Since there is a minor loop of angular velocity feedback using a method of multiplying the angular velocity of 05 by 1 / Nb and considering the angular velocity of the rotary drive source 1501, it is not a true transfer function,
A simple transfer function required for control can be easily given, and high-precision rotating body drive control can be performed. Further, by adding a minor loop of angular velocity control to the angular displacement control of the rotating body, more stable control of the rotation drive source can be performed.

FIG. 8 shows a fifth embodiment of the present invention. The fifth embodiment is an example of an image forming apparatus including a color copying machine, and is an embodiment of the invention according to claims 11, 12, and 15. In FIG. 8, reference numeral 10 denotes an apparatus main body according to the fifth embodiment. The apparatus main body 10 includes a drum-shaped photoconductor (photoconductor drum) 12 as an image carrier, slightly to the right of the center in the outer case 11. Photoconductor 12
, A rotary developing device 14, an intermediate transfer unit 15, a cleaning device 16, and a static eliminator as developing means in order from the charger 13 installed thereon in the rotation direction (counterclockwise) as indicated by the arrow. 17 and the like are arranged.

The charger 13 and the rotary developing device 1
4. On the cleaning device 16 and the static eliminator 17, an optical writing device as an exposure unit, for example, a laser writing device 1
8 is installed. The rotary developing device 14 includes developing units 20A and 20A having developing rollers 21 and containing toners of yellow, magenta, cyan, and black, respectively.
B, 20C, and 20D, and rotate around the central axis to selectively move the developing units 20A, 20B, 20C, and 20D of the respective colors to a developing position facing the outer periphery of the photoconductor 12.

The intermediate transfer unit 15 includes a plurality of rollers 23
An endless intermediate transfer member as an image carrier, for example, an intermediate transfer belt 24 is wrapped around the intermediate transfer belt 24, and the intermediate transfer belt 24 is in contact with the photosensitive member 12. A transfer device 25 is provided inside the intermediate transfer belt 24, and a transfer device 26 and a cleaning device 27 are provided outside the intermediate transfer belt 24. The cleaning device 27 is provided to be able to freely contact and separate from the intermediate transfer belt 24.

The laser writing device 18 is used for the image reading device 2.
9, image signals of the respective colors are input via an image processing unit (not shown), and the laser beam L sequentially modulated by the image signals of the respective colors is irradiated on the photoreceptor 12 in a uniformly charged state to form a photoreceptor 1
By exposing 2, an electrostatic latent image is formed on the photoconductor 12. The image reading device 29 reads an image of a document G set on a document table 30 provided on an upper surface of the apparatus main body 10 by color separation, and converts the image into an electric image signal. The recording medium transport path 32 transports a recording medium such as a sheet from right to left. In the recording medium transport path 32, a registration roller 33 is installed before the intermediate transfer unit 15 and the transfer device 26, and a transport belt 34, a fixing device 35, and a paper discharge roller 36 are provided downstream of the intermediate transfer unit 15 and the transfer device 26. Is arranged.

The apparatus main body 10 is placed on a sheet feeding device 50. In the paper feeding device 50, a plurality of paper feeding cassettes 51 are provided in multiple stages, and one of the paper feeding rollers 52 is selectively driven to send out a recording medium from any one of the paper feeding cassettes 51. . This recording medium is transported to the recording medium transport path 32 through the automatic paper feed path 37 in the apparatus main body 10. Further, on the right side of the apparatus main body 10, a manual feed tray 38 is provided.
The recording medium inserted from the manual tray 38 is conveyed to the recording medium conveyance path 32 through a manual paper feed path 39 in the apparatus main body 10. Device body 10
A discharge tray (not shown) is detachably attached to the left side of the recording medium, and the recording medium discharged by the discharge rollers 36 through the recording medium transport path 32 is stored in the discharge tray.

In the fifth embodiment, when a color copy is to be made, the original G is set on the original platen 30 and a start switch (not shown) is pressed to start a copying operation. First, the image reading device 29 color-separates and reads the image of the document G on the document table 30. At the same time, a recording medium is selectively sent out from a paper supply cassette 51 in a paper supply device 50 by a paper supply roller 52, and the recording medium abuts against a registration roller 33 through an automatic paper supply path 37 and a recording medium transport path 32 and stops. .

The photoreceptor 12 rotates counterclockwise, and the intermediate transfer belt 24 rotates clockwise by rotation of the driving roller among the plurality of rollers 23. The photoconductor 12 is uniformly charged by the charger 13 with the rotation, and the image reading device 2
The laser light modulated by the first color image signal applied to the laser writing device 18 from 9 via the image processing unit is emitted from the laser writing device 18 to form an electrostatic latent image.

The electrostatic latent image on the photoreceptor 12 is developed by the first-color developing unit 20A of the rotary developing device 14 to become a first-color image. The first-color image on the photoreceptor 12 is transferred to the transfer device 25. Is transferred onto the intermediate transfer belt 24. After the transfer of the first color image, the photoreceptor 12 is cleaned by the cleaning device 16 to remove the residual toner, and is discharged by the discharger 17.

Subsequently, the photoreceptor 12 is uniformly charged by the charger 13, and the laser beam modulated by the image signal of the second color applied from the image reading device 29 to the laser writing device 18 via the image processing section. Is irradiated from the laser writing device 18 to form an electrostatic latent image. The electrostatic latent image on the photoreceptor 12 is developed by a second-color developing device 20B of the rotary developing device 14 to be a second-color image. The second-color image on the photoreceptor 12 is intermediately transferred by a transfer device 25. Belt 2
4 is superimposed and transferred on the first color image. Photoconductor 12
After the transfer of the second color image, the residual toner is removed by the cleaning device 16 after the transfer of the second color image, and the charge is removed by the charge remover 17.

Next, the photoreceptor 12 is uniformly charged by the charger 13 and is modulated by a third color image signal applied from the image reading device 29 to the laser writing device 18 via the image processing section. Is irradiated from the laser writing device 18 to form an electrostatic latent image. The electrostatic latent image on the photoconductor 12 is developed by the third-color developing device 20C of the rotary developing device 14 to be a third-color image. The third-color image on the photoconductor 12 is intermediately transferred by the transfer device 25. Belt 24
The image is transferred on top of the first color image and the second color image.
After the transfer of the third color image, the photoreceptor 12 is cleaned by the cleaning device 16 to remove the residual toner, and is discharged by the discharger 17.

Further, the photoconductor 12 is uniformly charged by the charger 13, and the laser beam modulated by the image signal of the fourth color applied from the image reading device 29 to the laser writing device 18 via the image processing section is applied to the photoconductor 12. Irradiation is performed from the laser writing device 18 to form an electrostatic latent image. The electrostatic latent image on the photoconductor 12 is developed by a fourth-color developing device 20D of the rotary developing device 14 to become a fourth-color image, and the fourth-color image on the photoconductor 12 is intermediately transferred by the transfer device 25. Belt 2
A full-color image is formed by transferring the first color image, the second color image, and the third color image on the image 4 in a superimposed manner. After the transfer of the fourth color image, the photoconductor 12 is cleaned by the cleaning device 16 to remove the residual toner, and is discharged by the discharger 17.

Then, the registration roller 33 rotates in a timely manner, and the recording medium is sent out. The recording medium transfers a full-color image on the intermediate transfer belt 24 by the transfer device 26. This recording medium is transported by a conveyor belt 34.
The full-color image is fixed by the fixing device 35 and discharged to the discharge tray by the discharge roller 36.
After the transfer of the full-color image, the intermediate transfer belt 24 is cleaned by the cleaning device 27 to remove the residual toner.

The operation for forming a four-color superimposed image has been described above.
Three different single-color images are sequentially formed on the intermediate transfer belt 24, are transferred on the intermediate transfer belt 24 in a superimposed manner, are collectively transferred to a recording medium, and are formed on the photoconductor 12 when a two-color overlapped image is formed. Two different single-color images are sequentially formed and transferred on the intermediate transfer belt 24 in a superimposed manner, and then are collectively transferred to a recording medium. When a single-color image is formed, one single-color image is formed on the photoreceptor 12, transferred to the intermediate transfer belt 24, and then transferred to a recording medium.

In such a color copying machine, the rotational accuracy of the image carriers 12 and 24 greatly affects the quality of the final image, and it is desired to control the driving of the image carriers 12 and 24 with higher accuracy.

Therefore, in the fifth embodiment, the drive control of the photosensitive drum 12 is performed by any one of the first to fourth embodiments of the rotating body drive control device. The drive control of the transfer belt 24 is performed by the rotating body drive control device according to any one of the first to fourth embodiments. In this case, the intermediate transfer belt 24 rotates by rotating the shaft of the drive roller among the plurality of rollers 23 via the power transmission system by the rotation drive source, and rotates the intermediate transfer belt 24 from the rotation drive source to the drive shaft. Let Nb be the static transmission rate.

According to the fifth embodiment, the image carrier 1
Since the drive control of 2 and 24 is performed by any one of the rotating body drive control devices of the first to fourth embodiments,
The accuracy of drive control of the image carrier is improved, and highly accurate image carrier drive control can be performed, and a high-quality image can be obtained.

FIG. 9 shows a sixth embodiment of the present invention. The sixth embodiment is an embodiment of the invention according to claims 11, 13 and 14, and is an example of an image forming apparatus including a color copying machine. A photoreceptor 101 as an image carrier is provided with an organic optical semiconductor (OP) on the outer peripheral surface of a closed loop Ni belt substrate.
C) is a photoreceptor belt having a photosensitive layer formed in a thin film shape. The photoconductor 101 has three photoconductor transport rollers 10.
Drive motor (not shown) supported by 2-104
To rotate in the direction of arrow A.

Around the photoreceptor 101, a charger 105, an exposure optical system (hereinafter referred to as LSU) 106 as an exposure means, and each color of black, yellow, magenta, and cyan are arranged in the rotation direction of the photoreceptor 101 as indicated by an arrow A. Developing unit 107
To 110, an intermediate transfer unit 111, a photoconductor cleaning unit 112, and a static eliminator 113. The charger 105 is applied with a high voltage of about −4 to 5 kV from a power supply device (not shown), and charges a portion of the photoconductor 101 facing the charger 105 to give a uniform charging potential.

The LSU 106 sequentially modulates the image signals of each color from the gradation conversion means (not shown) by a laser drive circuit (not shown) with light intensity modulation or pulse width modulation, and modulates the semiconductor laser (see FIG. (Not shown), an exposure light beam 114 is obtained.
By scanning 01, an electrostatic latent image corresponding to each color image signal is sequentially formed on the photoconductor 101. The seam sensor 115 detects a seam of the photoconductor 101 formed in a loop shape. When the seam sensor 115 detects a seam of the photoconductor 101, the seam sensor 115 detects the seam of the photoconductor 101 and avoids the seam of the photoconductor 101. The timing controller 116 controls the light emission timing of the LSU 106 so that the electrostatic latent image formation positions are the same.

Each of the developing units 107 to 110 stores toner corresponding to each developing color, and selectively exposes toner at a timing corresponding to an electrostatic latent image corresponding to an image signal of each color on the photosensitive member 101. By contacting the body 101 and developing the electrostatic latent image on the photoreceptor 101 with toner to form an image of each color, a full-color image is formed by a four-color superimposed image.

The intermediate transfer unit 111 includes a transfer drum 117 as an intermediate transfer body in which a belt-like sheet made of a conductive resin or the like is wound around a metal tube such as aluminum.
The intermediate transfer member cleaning means 118 is formed of rubber or the like in the form of a blade. The intermediate transfer member cleaning means 118 is separated from the intermediate transfer member 117 while a four-color superimposed image is formed on the intermediate transfer member 117. ing. The intermediate transfer member cleaning unit 118 contacts the intermediate transfer member 117 only when cleaning the intermediate transfer member 117, and removes toner remaining from the intermediate transfer member 117 without being transferred to the recording paper 119 as a recording medium. The recording paper is sent one by one from a recording paper cassette 120 to a paper transport path 122 by a paper feed roller 121.

The transfer unit 123 as a transfer unit is
The full-color image on the intermediate transfer member 117 is transferred to the recording paper 119. The transfer belt 124 formed of conductive rubber or the like in a belt shape, and the full-color image on the intermediate transfer member 117 is transferred to the recording paper 119. 125 for applying a transfer bias to the intermediate transfer member 117 for printing, and the recording paper 119 after the full-color image is transferred to the recording paper 119.
12 applies a bias to the intermediate transfer member 117 so as to prevent the toner from electrostatically sticking to the intermediate transfer member 117.
6 is comprised.

The fixing device 127 includes a heat roller 128 having a heat source therein and a pressure roller 129.
The full-color image transferred on the recording paper 119 is fixed to the recording paper 119 by applying pressure and heat to the recording paper 119 in accordance with the rotation of the heat roller 128 and the pressure roller 129 to sandwich the recording paper. To form
The operation of the sixth embodiment configured as described above will be described below. Here, the description will proceed assuming that the development of the electrostatic latent image is performed in the order of black, cyan, magenta, and yellow.

The photosensitive member 101 and the intermediate transfer member 117 are driven in the directions of arrows A and B by respective drive sources (not shown). In this state, first, a high voltage of about −4 to 5 kV is applied to the charger 105 from a power supply device (not shown), and the charger 105 uniformly charges the surface of the photoconductor 101 to about −700 V. Next, the seam sensor 11
5 detects the seam of the photoconductor 101,
After a certain period of time has passed so as to avoid the seam 1, the LSU 106 irradiates the photoconductor 101 with an exposure light beam 114 of a laser beam corresponding to a black image signal. The charge disappears and an electrostatic latent image is formed.

On the other hand, the black developing device 107 comes into contact with the photosensitive member 101 at a predetermined timing. Black developer 1
A negative charge is given to the black toner in 07 in advance, and the black toner adheres only to a portion (electrostatic latent image portion) of the photoreceptor 101 where the charge has been lost by irradiation with the exposure light beam 114, so-called negative-positive process. Is performed. The black toner image formed on the surface of the photoconductor 101 by the black developing device 107 is an intermediate transfer member 117.
Is transferred to Residual toner not transferred from the photoconductor 101 to the intermediate transfer body 117 is removed by the photoconductor cleaning unit 1.
Then, the charge on the photoconductor 101 is removed by the charge remover 113.

Next, the charger 105 uniformly charges the surface of the photosensitive member 101 to about -700V. Then, after the seam sensor 115 detects the seam of the photoconductor 101,
After a certain period of time has elapsed so as to avoid the seam of the photoconductor 101, the photoconductor 101 is irradiated with the exposure light beam 114 of the laser beam corresponding to the cyan image signal from the LSU 106, and the photoconductor 101 is irradiated with the exposure light beam 114. Part of the charge disappears and an electrostatic latent image is formed.

On the other hand, a cyan developing unit 108 is brought into contact with the photosensitive member 101 at a predetermined timing. Cyan developing unit 10
The cyan toner in 8 has been given a negative charge in advance,
The cyan toner adheres only to a portion (electrostatic latent image portion) on the photoconductor 101 where the charge has been lost by the irradiation of the exposure light beam 114, and development is performed by a so-called negative-positive process. The cyan toner image formed on the surface of the photoconductor 101 by the cyan developing device 108 is transferred onto the intermediate transfer member 117 so as to overlap the black toner image. The residual toner that has not been transferred from the photoconductor 101 to the intermediate transfer body 117 is removed by the photoconductor cleaning unit 112, and the charge on the photoconductor 101 is further removed by the charge eliminator 113.

Next, the charger 105 uniformly charges the surface of the photosensitive member 101 to about -700V. Then, after the seam sensor 115 detects the seam of the photoconductor 101,
After a certain period of time has passed so as to avoid the seam of the photoconductor 101, the photoconductor 101 is irradiated with an exposure light beam 114 of a laser beam corresponding to a magenta image signal from the LSU 106, and the exposure light beam 114 is irradiated on the photoconductor 101. Part of the charge disappears and an electrostatic latent image is formed.

On the other hand, a magenta developing device 109 is brought into contact with the photosensitive member 101 at a predetermined timing. The magenta toner in the magenta developing device 109 is given a negative charge in advance, and the magenta toner adheres only to a portion (electrostatic latent image portion) of the photoconductor 101 where the charge has been lost by irradiation with the exposure light beam 114, Development by a so-called negative-positive process is performed. The magenta toner image formed on the surface of the photoconductor 101 by the magenta developing device 109 is
7 is superimposed and transferred on the black toner image and the cyan toner image. The residual toner that has not been transferred from the photoconductor 101 to the intermediate transfer body 117 is removed by the photoconductor cleaning unit 112, and further, the photoconductor 10 is removed by the neutralizer 113.
1 is removed.

Further, the charger 105 uniformly charges the surface of the photosensitive member 101 to about -700V. After the seam sensor 115 detects the seam of the photoconductor 101, a predetermined time elapses so as to avoid the seam of the photoconductor 101, and the photoconductor 101 is exposed to the laser beam corresponding to the yellow image signal from the LSU 106. When the light beam 114 is irradiated, the charge of the portion of the photoconductor 101 irradiated with the exposure light beam 114 disappears, and an electrostatic latent image is formed.

On the other hand, a yellow developing unit 110 is brought into contact with the photosensitive member 101 at a predetermined timing. The yellow toner in the yellow developing unit 110 is given a negative charge in advance, and the yellow toner adheres only to a portion (electrostatic latent image portion) of the photoconductor 101 where the charge has been lost by irradiation with the exposure light beam 114, Development by a so-called negative-positive process is performed. The yellow toner image formed on the surface of the photoconductor 101 by the yellow developing device 110 is an intermediate transfer member 117.
The black toner image, the cyan toner image, and the magenta toner image are superimposed and transferred thereon, and a full-color image is formed on the intermediate transfer member 117. From the photoconductor 101 to the intermediate transfer body 11
7 is removed by the photoconductor cleaning unit 112, and the charge on the photoconductor 101 is further removed by the static eliminator 113.

In the full-color image formed on the intermediate transfer member 117, the transfer unit 123 which has been separated from the intermediate transfer member 117 contacts the intermediate transfer member 117, and a high voltage of about +1 kV is applied to the transfer device 125. The recording paper 119 conveyed from the recording paper cassette 120 along the paper conveyance path 122 by being applied from an apparatus (not shown).
Are transferred collectively by the transfer device 125.

Further, a voltage is applied to the separator 126 from a power supply device so that an electrostatic force for attracting the recording paper 119 works, and the recording paper 119 is separated from the intermediate transfer body 117.
Subsequently, the recording paper 119 is sent to the fixing device 127, where the full-color image is fixed by the nip pressure between the heat roller 128 and the pressure roller 129 and the heat of the heat roller 128, and the paper is discharged by the paper discharge roller 130 to the paper discharge tray. It is discharged to 131.

Further, the recording unit 1 is transferred by the transfer unit 123.
Residual toner on the intermediate transfer member 117 that has not been transferred onto the intermediate transfer member 19 is removed by the intermediate transfer member cleaning unit 118. The intermediate transfer member cleaning unit 118 is located at a position separated from the intermediate transfer member 117 until a full-color image is obtained, and contacts the intermediate transfer member 117 after the full-color image has been transferred to the recording paper 119, and is on the intermediate transfer member 117. Remove residual toner. Through the above series of operations, the formation of one full-color image is completed.

In such a color copying machine, the rotation accuracy of the image carriers 101 and 117 greatly affects the quality of the final image, and it is desired to control the driving of the image carriers 101 and 117 with higher accuracy.

Therefore, in the sixth embodiment, the drive control of the photoreceptor belt 101 is performed by any one of the first to fourth embodiments.
In addition, the drive control of the transfer drum 117 is performed by the rotating body drive control device according to any one of the first to fourth embodiments. In this case, the photoreceptor 101 is rotated by the rotation of a drive roller shaft among the plurality of rollers 102 to 104 via a power transmission system by a rotation drive source.
The static transmission rate of the state from the rotary drive source to the drive shaft is N
b.

According to the sixth embodiment, the image carrier 10
Since the drive control of the first and the fourth embodiments is performed by any one of the first to fourth embodiments, the precision of the drive control of the image carrier is improved and the image carrier with high accuracy is realized. Body driving control can be performed, and a high-quality image can be obtained.

FIG. 14 shows a seventh embodiment of the present invention. This seventh embodiment is an embodiment of the invention according to claim 16,
1 is an example of a tandem type image forming apparatus. In the seventh embodiment, a plurality of colors, for example, black (hereinafter, referred to as Bk), magenta (hereinafter, referred to as M), and yellow (hereinafter, referred to as Y)
), And a plurality of image forming units 221Bk and 221 for forming cyan (hereinafter referred to as C) images, respectively.
M, 221Y, 221C are arranged in the vertical direction, and the image forming units 221Bk, 221M, 221Y, 22
1C is an image carrier 2 composed of a drum-shaped photoreceptor.
22Bk, 222M, 222Y, 222C, charging device (for example, contact charging device) 223Bk, 223M, 223
Y, 223C, developing devices 224Bk, 224M, 224
Y, 224C, cleaning device 225Bk, 225
M, 225Y, 225C and the like.

The photosensitive members 222Bk, 222M, 222Y,
The transfer belt 222C is arranged in the vertical direction so as to face the endless transfer belt 226, and is driven to rotate at the same peripheral speed as the transfer belt 226. This photoconductor 222Bk, 222M, 2
22Y and 222C are charging devices 223Bk,
After being uniformly charged by 223M, 223Y and 223C, exposure means 227Bk and 2
Exposure is performed by 27M, 227Y, and 227C, respectively, to form an electrostatic latent image.

Optical writing devices 227Bk, 227M, 2
27Y and 227C drive the semiconductor laser by the semiconductor laser driving circuit in accordance with image signals of Y, M, C and Bk, respectively, and deflect and scan the laser beam from the semiconductor laser by the polygon mirrors 229Bk, 229M, 229Y and 229C. , This polygon mirror 229Bk, 229
M, 229Y, 229C, and the respective photoconductors 222Bk,
By forming an image on the photoconductors 22B, 222Y, and 222C, the photoconductors 222Bk, 222M, 222Y, and 222C are exposed to form electrostatic latent images.

The photosensitive members 222Bk, 222M, 222
The electrostatic latent images on Y and 222C are respectively
The toner image is developed by Bk, 224M, 224Y, and 224C to form Bk, M, Y, and C color toner images. Therefore,
Charging devices 223Bk, 223M, 223Y, 223C,
Optical writing device 227Bk, 227M, 227Y, 22
7C and developing devices 224Bk, 224M, 224Y, 2
24C is a photoconductor 222Bk, 222M, 222Y, 2
An image forming means for forming an image (toner image) of each color of Bk, M, Y, and C on 22C.

On the other hand, transfer paper such as plain paper, OHP sheet, etc., is fed from a paper feeder 230, which is provided at the bottom of this embodiment, using a paper feed cassette, along with a registration roller 231 along a transfer paper transport path. Is fed to the registration rollers 23
Reference numeral 1 denotes a first color image forming unit (an image forming unit for first transferring an image on a photoconductor onto a transfer paper) 221Bk, and transfers the transfer paper in synchronization with the toner image on the photoconductor 222Bk to the transfer belt 226 and the photoconductor. 222Bk
To the transfer nip.

The transport transfer belt 226 is stretched over a drive roller 232 and a driven roller 233 arranged in a vertical direction, and the drive roller 232 is driven to rotate by a drive unit (not shown) so that the transport transfer belt 226 is moved to the photosensitive members 222Bk, 222B.
It rotates at the same peripheral speed as 22M, 222Y, and 222C. The transfer paper sent from the registration roller 231 is conveyed by the conveyance transfer belt 226, and the photoconductors 222Bk and 22B.
A transfer unit 234Bk comprising a corona discharger for transferring toner images of Bk, M, Y, and C on 2M, 222Y, and 222C.
The full-color image is formed by being sequentially transferred and superimposed by the action of the electric field formed by the 234M, 234Y, and 234C, and at the same time, the toner is electrostatically attracted to the transfer belt 226 and is surely conveyed.

The transfer paper is gradually discharged by a separation means 236 comprising a separation charger, separated from the transfer belt 226, and then a full-color image is fixed by a fixing device 237. The paper is discharged to a paper discharge unit 239 provided. In addition, the photoconductors 222Bk, 222M, 222Y, and 222C have cleaning devices 225Bk, 225M,
The cleaning is performed by 225Y and 225C to prepare for the next image forming operation.

In such a color copying machine, the rotational accuracy of the image carriers 222Bk, 222M, 222Y, and 222C greatly affects the quality of the final image, and the higher accuracy of the image carriers 222Bk, 222M, 222Y, and 222C. Drive control is desired. Therefore, in the seventh embodiment, the drive control of the image carriers 222Bk, 222M, 222Y, and 222C is performed by using any one of the first to fourth embodiments.
This is performed by two rotating body drive control devices.

According to the seventh embodiment, in an image forming apparatus for forming a color image by rotating a plurality of image carriers 222Bk, 222M, 222Y and 222C, the plurality of image carriers 222Bk, 222M and 222Y are provided. , 22
Since each drive control of 2C is performed by any one of the rotary member drive control devices of the first embodiment to the fourth embodiment, the accuracy of the drive control of the image carrier is improved, and a plurality of image carriers are controlled. High-precision image carrier drive control can be performed without variation in body drive control, and a high-quality image can be obtained.

FIG. 10 shows an example of a computer device using the eighth embodiment of the present invention. This eighth embodiment is an embodiment of the invention according to claims 17 and 18. A floppy (registered trademark) disk 2003 as a recording medium is detected by a personal computer 2000 with a state detection device when a static transmission rate of a state from a rotation drive source that rotationally drives the rotation body to the rotation body is Nb. A procedure of multiplying the state of the rotating body (here, angular displacement) by 1 / Nb to be regarded as the state of the rotary drive source (here, angular displacement), and the state of the rotary drive source and the state of the rotary drive source. A computer-readable recording medium that stores a program for executing a procedure for performing feedback control of the rotary drive source based on a difference from a target value.

That is, the floppy disk 2003
Sets the personal computer 2000 to the block 302, the loop 303, and the arithmetic unit 3 in the first embodiment.
04, a computer-readable recording medium in which a program for functioning as the controller 305 (block 306, block 307, arithmetic unit 308, block 309) is recorded. Note that, similarly to the first embodiment, the rotating body 1505, the power transmission system 1503,
1504 and a rotary drive source 1501, a DC motor driving interface 6, a DC motor driving device 7, and an encoder 1507 shown in FIG. 2 are used. The personal computer 2000 has a detection interface device 8, a DC motor driving interface 6, Encoder 15
07 is connected.

The floppy disk 2003 is set in the floppy disk drive 2002, and the recorded contents are read out by the floppy disk drive 2002. The personal computer 2000 controls the floppy disk drive device 2002 to fetch a program recorded on the floppy disk 2003, and executes the program in accordance with an instruction from the keyboard 2001 to control the rotating body 1505.

According to the eighth embodiment, the computer 2000 supplies the static transmission rate of the state (here, angular displacement) from the rotary drive source 1501 for driving the rotary body 1505 to the rotary body 1505 to Nb. , The encoder 1507 and the interface device 8 as the state detection device
A procedure in which 1 / Nb is applied to the state of the rotating body 1505 (here, angular displacement) detected in the above, and the state is regarded as the state of the rotary drive source 1501 (here, angular displacement); and this state and the state of the rotary drive source 1501 It is not a true transfer function because it is a computer-readable recording medium that records a program for executing a procedure for performing feedback control of the rotary drive source 1501 based on a difference from the target value.
High-precision rotating body drive control that can easily provide a simple transfer function required for control can be realized.

The ninth embodiment of the present invention relates to claims 17 and 1
9 is an embodiment of the invention according to No. 9, and is an example of a recording medium formed of a floppy disk. This ninth embodiment corresponds to FIG.
Is used in place of the floppy disk 2003 in the computer device shown in FIG. In the ninth embodiment, when the personal computer 2000 sets the static transmission rate of the state from the rotary drive source for rotating the rotary body to the rotary body to Nb, the state of the rotary body detected by the state detection device is Nb. (Angular velocity in this case) multiplied by 1 / Nb to consider the state of the rotary drive source (here, angular velocity), and a difference between the state of the rotary drive source and a target value of the state of the rotary drive source And a computer-readable recording medium on which a program for executing a procedure for performing feedback control of the rotary drive source is recorded.

That is, in the ninth embodiment, the personal computer 2000 uses the block 402, the loop 403, the arithmetic unit 404, and the controller unit 405 (block 406, block 407, arithmetic unit 408, 409) is a computer-readable recording medium on which a program for functioning as a computer is recorded. The personal computer 2000 is connected with a detection interface device 401 and an interface 6 for driving a DC motor.

According to the ninth embodiment, the computer 2000 sets the static transmission rate of the state (here, angular velocity) from the rotary drive source 1501 for rotating the rotary body 1505 to the rotary body 1505 to Nb. The encoder 1507 as a state detection device and the interface device 4
01: the state of the rotating body 1505 (here, the angular velocity) multiplied by 1 / Nb to be regarded as the state of the rotary driving source 1501 (here, the angular velocity); This is a computer-readable recording medium that records a program for executing a procedure for performing feedback control of the rotary drive source 1501 based on a difference from a target value. A high-precision rotating body drive control that can easily provide a simple transfer function can be realized.

The tenth embodiment according to the present invention is characterized in that:
20 is an embodiment of the invention according to No. 20, and is an example of a recording medium formed of a floppy disk. This tenth embodiment is used in place of the floppy disk 2003 in the computer shown in FIG. The tenth embodiment is
The static transmission rate of the state from the rotation drive source for rotating the rotating body to the rotating body is given to the personal computer 2000 by N.
b, the state of the rotating body (torque) detected by the state detection device is multiplied by 1 / Nb to be regarded as the state of the rotary drive source (torque), and the state of the rotary drive source And a computer-readable recording medium storing a program for executing a procedure for performing feedback control of the rotary drive source based on a difference between the rotation drive source and a target value of the state of the rotary drive source.

That is, in the tenth embodiment, the personal computer 2000 is replaced by the blocks 1001, 1002, 402 and 402 in the third embodiment.
This is a computer-readable recording medium on which a program for functioning as a loop 1003, an operation unit 1004, and a control controller unit 1005 (block 1006, block 1007, operation unit 1008, block 1009) is recorded. The personal computer 2000 is connected with a detection interface device 401 and an interface 6 for driving a DC motor.

According to the tenth embodiment, the computer 2000 sets the static transmission rate of the state (torque in this case) from the rotary drive source 1501 for driving the rotary body 1505 to the rotary body 1505 to Nb. Then, 1 / Nb is applied to the state (here, torque) of the rotating body 1505 detected by the encoder 1507 as the state detection device and the interface device 401, and the state is regarded as the state (here, torque) of the rotary drive source 1501. And a computer-readable recording medium storing a program for executing a procedure for performing feedback control of the rotary drive source 1501 based on a difference between this state and a target value of the state of the rotary drive source 1501. High-precision rotation that is not a true transfer function, but can easily provide a simple transfer function required for control Driving control can be realized.

The eleventh embodiment of the present invention is an embodiment of the present invention according to claim 21 and is an example of a recording medium composed of a floppy disk. The eleventh embodiment is different from the computer system shown in FIG.
Used in place of 003. In the eleventh embodiment, when the static transmission rate of the state (here, angular displacement) from the rotation drive source 1501 for rotating the rotating body 1505 to the rotating body 1505 is set to Nb, the personal computer 2000 detects the state. A procedure of multiplying the state (here, angular displacement) of the rotating body 1505 detected by the encoder 1507 as the device and the interface device 8 (here, angular displacement) by 1 / Nb, and deeming it as the state of the rotary drive source 1501 (here, angular displacement). In a computer-readable recording medium storing a program for executing a procedure for performing feedback control of the rotary drive source 1501 based on a difference between the state of the rotary drive source 1501 and a target value, Fifteen
From N. 01 to the rotating body 1505 by N
When b is set, the encoder 1507 as a state detection device
And the rotating body 15 detected by the interface device 401
The rotational speed of the rotary drive source 1501 is determined by multiplying the angular speed of the rotary drive source 1501 by
And a program for executing a procedure for controlling the angular velocity.

That is, in the eleventh embodiment, the personal computer 2000 uses the block 302, the loop 303, the arithmetic unit 304, and the controller 3001 (block 306, block 300) in the fourth embodiment.
2, arithmetic unit 308, block 3003), block 30
04, loop 3005, arithmetic unit 3006, control controller unit 3007 (block 3008, block 300
9, a computing unit 3010, and a computer-readable recording medium on which a program for functioning as the block 3011) is recorded. Personal computer 200
0 is connected to interface devices 8 and 401 for detection and an interface 6 for driving a DC motor.

According to the eleventh embodiment, the computer 2000 supplies the static transmission rate of the state (here, angular displacement) from the rotary drive source 1501 for driving the rotary body 1505 to the rotary body 1505 to Nb. Then, 1 / Nb is applied to the state (here, angular displacement) of the rotary body 1505 detected by the encoder 1507 as the state detecting device and the interface device 8, and the state of the rotary drive source 1501 (here, angular displacement). And a computer-readable recording program for executing a procedure for performing feedback control of the rotary drive source 1501 based on a difference between this state and a target value of the state of the rotary drive source 1501. In the medium, the program defines a static transmission rate of the angular velocity from the rotary drive source 1501 to the rotary body 1505 as Nb. At this time, an angular velocity feedback minor loop using a method of multiplying the angular velocity of the rotating body 1505 detected by the encoder 1507 as the state detecting device and the interface apparatus 401 by 1 / Nb and considering the angular velocity of the rotary drive source 1501 is executed. Since the program includes a program for performing the control, it is not a true transfer function, but a high-precision rotating body drive control that can easily provide a simple transfer function required for control can be realized.

The present invention is not limited to the above embodiments. For example, in the eighth to eleventh embodiments, the rotating member 1505 may be a photosensitive belt, a transfer drum, or an intermediate transfer belt. good. In each of the above embodiments, another object, for example, a movable optical system of a scanner may be moved in conjunction with the rotating body.
Further, the present invention can be applied to an image forming apparatus other than a copying machine, such as a printer or a facsimile, and can also be applied to a case where drive control of a machine tool, a measuring device, or the like is performed. Further, the present invention can be applied to a recording medium such as a hard disk other than a floppy disk, an optical disk, and a RAM.

[0125]

As described above, according to the first to tenth aspects of the present invention, a simple transfer function necessary for control can be easily given, although the transfer function is not a true transfer function. Drive control can be performed.

According to the present invention, the accuracy of the drive control of the image carrier is improved, and the image carrier drive control can be performed with high accuracy, and a high-quality image can be obtained. .

According to the inventions according to the seventeenth to twenty-first aspects, it is possible to realize a high-precision rotating body drive control which can easily provide a simple transfer function which is not a true transfer function but is necessary for control. .

[Brief description of the drawings]

FIG. 1 is a perspective view showing a rotating body, a power transmission system, and a rotary drive source according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a control system for digitally controlling a state of a rotary drive source based on a state detection signal of a rotating body in the first embodiment.

FIG. 3 is a block diagram showing a block configuration of the first embodiment.

FIG. 4 is a block diagram showing a configuration of a control system for digitally controlling a state of a rotary drive source based on a state detection signal of a rotating body in a second embodiment of the present invention.

FIG. 5 is a timing chart showing the operation timing of the second embodiment.

FIG. 6 is a flowchart showing an interrupt routine according to the second embodiment.

FIG. 7 is a block diagram showing a block configuration of the second embodiment.

FIG. 8 is a sectional view showing a fifth embodiment of the present invention.

FIG. 9 is a sectional view showing a sixth embodiment of the present invention.

FIG. 10 is a perspective view showing an example of a computer device using an eighth embodiment of the present invention.

FIG. 11 is a block diagram showing a block configuration of a third embodiment of the present invention.

FIG. 12 is a block diagram showing a configuration of a control system for digitally controlling the state of a rotary drive source based on a state detection signal of a rotating body in a fourth embodiment of the present invention.

FIG. 13 is a block diagram showing a block configuration of the fourth embodiment.

FIG. 14 is a sectional view showing a seventh embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Microcomputer 2 Microprocessor 3 Read-only memory 4 Random access memory 5 Command generator 6 DC motor drive interface 7 DC motor drive 8, 401 Detection interface device 9 Bus 12 Photoconductor drum 24 Intermediate transfer belt 101 Photoconductor Belt 117 Transfer drum Photoconductor drum 222Bk, 222M, 222Y,
222C 1501 Motor 1503 Gear train 1504 Timing belt 1505 Photoconductor drum 1506 Shaft 1507 Encoder 2003 Floppy disk

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G03G 21/14 H02P 7/06 B H02P 7/06 G03G 21/00 372 F term (Reference) 2H027 DA17 ED02 EE03 EE04 EE06 ZA07 2H030 AB02 AD16 BB02 BB23 BB24 BB42 2H032 AA15 BA01 BA09 BA16 BA23 CA02 2H035 CA07 CB06 CG01 5H571 AA13 GG02 HA08 JJ02 JJ03 LL07 LL29 PP01

Claims (21)

[Claims] 1. A rotating body drive control method for rotating a rotating body by a rotating drive source, detecting a state of the rotating body by a state detecting device, and performing drive control of the rotating body. Let the static transmission rate of the state to the rotating body be N
When b, the state of the rotating body detected by the state detecting device is multiplied by 1 / Nb to be regarded as the state of the rotary drive source, and the difference between this state and the target value of the state of the rotary drive source is also calculated. And a feedback control of the rotary drive source. 2. The method for controlling driving of a rotating body according to claim 1, wherein the state of the rotating body is an angular displacement of an axis of the rotating body, and a target value of the state of the rotating drive source is an axis of the rotating drive source. A rotating body drive control method, characterized in that: 3. The rotating body drive control method according to claim 1, wherein the state of the rotating body is an angular velocity of an axis of the rotating body, and a target value of the state of the rotating drive source is an axis of the rotating drive source. A rotating body drive control method characterized by an angular velocity. 4. The rotating body drive control method according to claim 1, wherein the state of the rotating body is a torque of an axis of the rotating body, and a target value of the state of the rotating drive source is a torque of the axis of the rotating drive source. A rotating body drive control method characterized by torque. 5. A method according to claim 1, wherein when the static transmission rate of the angular velocity from the rotary drive source to the rotary body is Nb, a state detection different from the state detection device is performed. A rotating body drive control method using a minor loop of angular velocity feedback using a method of multiplying the angular velocity of the rotating body detected by an apparatus by 1 / Nb and considering the angular velocity of the rotary drive source. 6. A rotating body drive control device for controlling the rotation of a rotating body, comprising: a rotating drive source for rotatingly rotating the rotating body; and a state detecting device for detecting a state of the rotating body. When the static transmission rate of the state from the source to the rotating body is Nb, the state of the rotating body detected by the state detection device is multiplied by 1 / Nb to be regarded as the state of the rotating drive source. State detecting means, and performing feedback control of the rotary drive source based on a difference between the state of the rotary drive source and the target value of the state of the rotary drive source considered by the rotary drive source state detector. Characteristic rotating body drive control device. 7. The rotating body drive control device according to claim 6, wherein the state of the rotating body is an angular displacement of an axis of the rotating body, and a target value of the state of the rotating drive source is the axis of the rotating drive source. A rotating body drive control device, characterized by the angular displacement of 8. The rotating body drive control device according to claim 6, wherein the state of the rotating body is an angular velocity of an axis of the rotating body, and a target value of the state of the rotating drive source is an axis of the rotating drive source. A rotating body drive control device characterized by an angular velocity. 9. The rotating body drive control device according to claim 6, wherein the state of the rotating body is a torque of an axis of the rotating body, and a target value of the state of the rotating drive source is a torque of the axis of the rotating drive source. A rotating body drive control device characterized by torque. 10. The rotating body drive control device according to claim 7, wherein when a static transmission rate of the angular velocity from the rotating drive source to the rotating body is Nb, a state detection different from the state detection apparatus is performed. A rotating body drive control device having a minor loop of angular velocity feedback using a method of multiplying the angular velocity of the rotating body detected by the device by 1 / Nb and considering the angular velocity of the rotary drive source. 11. An image forming apparatus for forming an image by rotating an image carrier, wherein the drive control of the image carrier is performed by the rotator drive control device according to any one of claims 6 to 10. An image forming apparatus comprising: 12. An image forming apparatus according to claim 11, wherein said image carrier is a photosensitive drum. 13. An image forming apparatus according to claim 11, wherein said image carrier is a photoreceptor belt. 14. An image forming apparatus according to claim 11, wherein said image carrier is a transfer drum. 15. An image forming apparatus according to claim 11, wherein said image carrier is an intermediate transfer belt. 16. An image forming apparatus for forming a color image by rotating a plurality of image carriers, wherein each drive control of said plurality of image carriers is performed according to any one of claims 6 to 10. An image forming apparatus characterized in that the image forming apparatus is performed by a rotating body drive control device. 17. A computer according to claim 1, wherein a static transmission rate of a state from a rotation drive source for rotating the rotating body to the rotating body is N.
b, when 1 / Nb is applied to the state of the rotating body detected by the state detection device, the state is regarded as the state of the rotary drive source, and the difference between this state and the target value of the state of the rotary drive source is calculated. A computer-readable recording medium on which a program for executing a procedure for performing feedback control of the rotary drive source is recorded. 18. The recording medium according to claim 17, wherein the state of the rotating body is an angular displacement of an axis of the rotating body, and a target value of the state of the rotating drive source is an angular displacement of an axis of the rotating drive source. A recording medium, characterized in that: 19. The recording medium according to claim 17, wherein the state of the rotating body is an angular velocity of an axis of the rotating body, and a target value of the state of the rotary driving source is an angular velocity of the axis of the rotary driving source. A recording medium characterized by the above-mentioned. 20. The recording medium according to claim 17, wherein the state of the rotating body is a torque of the shaft of the rotating body, and a target value of the state of the rotating drive source is a torque of the shaft of the rotating drive source. A recording medium characterized by the above-mentioned. 21. The recording medium according to claim 17, wherein the program is different from the state detecting device when a static transmission rate of the angular velocity from the rotary driving source to the rotating body is Nb. A program for executing a procedure using a minor loop of angular velocity feedback using a method of multiplying the angular velocity of the rotating body detected by a detection device by 1 / Nb and regarding the angular velocity as the angular velocity of the rotary drive source. recoding media.