JP2002305888A - Motor control device and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor control device of such a constitution that it can suppress the caloric value of a motor being the target of control, while suppressing the increase of drive operation time as a whole. SOLUTION: This motor control device and control method decide whether to set a drive stop time or not, according to the drive time in executed drive action and the quantity of a motor current per unit time, or not only the total quantity of the motor current and the drive time but also the drive time in succeeding unexecuted drive action and the quantity of the motor current per unit time, or according to the total quantity of the motor current and the drive time, too.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device and a control method, and more particularly to a motor control device and a control method used as a measure against heat generation of a carriage motor or a paper feed motor of a serial printer.

[0002]

2. Description of the Related Art In the control of a DC motor by a conventional DC motor control apparatus and control method, a D
There is a problem in that the heat generated by the C motor increases the heat generation resistance, resulting in insufficient current flowing into the DC motor.

[0003] Insufficient current flow into the DC motor
Decrease motor control accuracy. If the DC motor is, for example, a carriage motor or a paper feed motor of an ink jet printer, the print performance and print quality will be reduced.

Conventionally, braking has been performed during the driving operation or a limit has been imposed on the continuous printing length as a normal countermeasure. There was a drawback that it increased significantly.

[0005] Therefore, as means for solving the problem of suppressing the heat generation of the motor while suppressing the increase in the driving operation time as a whole, the driving operation time in the already executed driving operation and the DC motor current amount per unit time, or A DC motor control device and a control method for calculating and setting a drive stop time according to a total DC motor current and a drive operation time have been proposed. In other words, the DC motor control device and the control method perform the executed drive in accordance with the drive operation time and the DC motor current amount per unit time in the executed drive operation, or the total DC motor current amount and the drive operation time. The drive stop time is calculated and set so that the DC motor current amount per unit time in the operation is equal to or less than a predetermined value.

[0006]

However, the above-described DC motor control apparatus and control method are also inadequate with respect to solving the problems of suppressing an increase in drive operation time as a whole and suppressing heat generation of the motor as described below. There was a point.

That is, the driving operation time and the DC motor current amount per unit time in the executed driving operation, or
Even when it is determined that the drive stop time should be set in accordance with the DC motor current total amount and the drive operation time, when the DC motor current total amount with respect to the drive operation time in the subsequent unexecuted drive operation is small. That is, when the DC motor current amount per unit time in the subsequent unexecuted drive operation is small, the motor temperature does not reach the limit value even if the subsequent drive operation is executed without setting the drive stop time. Rather, it is often the case that the driving operation time as a whole can be suppressed.

Conversely, the driving operation time and the DC motor current amount per unit time in the executed driving operation, or
Even when it is determined that the drive stop time does not need to be set according to the DC motor current total amount and the drive operation time, the DC motor current total amount with respect to the drive operation time in the subsequent unexecuted drive operation is large. When the DC motor current amount per unit time in the subsequent unexecuted driving operation is large, when the subsequent driving operation is executed without setting the driving stop time, the motor temperature may reach the limit value. It cannot be said that it is not.

However, in the above-described DC motor control device and control method, the driving operation time and the DC motor current amount per unit time in the already executed driving operation, or Since it is determined whether to set the drive stop time only in accordance with the total amount of the DC motor current and the drive operation time, the problem of suppressing the increase in the drive operation time and the heat generation of the motor as a whole is solved. As for, there were insufficient aspects.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to suppress the amount of heat generated by a DC motor to be controlled while suppressing an increase in overall drive operation time. An object of the present invention is to provide a DC motor control device and a control method having a possible configuration.

[0011]

According to the motor control apparatus and the control method according to the first configuration of the present invention, the motor current of one series of drive operation is generated for each series of drive operation of the motor. A current total amount calculation unit (process) for calculating the total amount, and a drive time calculation unit (process) for calculating a motor drive time of one series of drive operations for each series of drive operations of the motor
For each one series of driving operations of the motor, based on the driving control data of the series of unexecuted driving operations following the series of executed driving operations, the motor current waveform in the series of unexecuted driving operations is calculated. A current waveform prediction forming section (process) for predicting and forming, for each one series of driving operations of the motor, an unexecuted series following a series of executed driving operations based on the predicted and formed motor current waveform; A subsequent current total amount calculation unit (process) for calculating a total subsequent current amount of the driving operation of
Subsequent driving time for calculating a subsequent driving time of an unexecuted series of driving operations subsequent to an already executed series of driving operations based on the motor current waveform predicted and formed for each series of driving operations of the motor. A calculating unit (process), a total extended current calculating unit (process) for calculating the total extended current by adding the total motor current and the total subsequent current, and adding the motor driving time and the subsequent driving time. An extended driving time calculating unit (process) for calculating an extended driving time by using the total amount of the extended current and the extended driving time, and a series of completed driving operations and a series of subsequent unexecuted driving operations An extended unit time current amount calculation unit (process) for calculating an extended motor current amount per unit time in operation; and an extended drive time and the unit before starting a subsequent drive operation for each of a series of drive operations. Extended drive stop time calculating unit for calculating the expansion motor current amount extended driving stop time for stopping only the motor driving time in accordance with the per between the (process), and further comprising a.

According to the motor control apparatus and the control method according to the second configuration of the present invention, the total current amount for calculating the total amount of the motor current in one series of driving operations for each series of driving operations of the motor A calculating unit (process), a driving time calculating unit (process) for calculating a motor driving time of one series of driving operations for each series of driving operations of the motor, and a series of driving of the motor For each operation, a current waveform prediction forming section (process) for predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations subsequent to a series of executed driving operations. ), And for each one series of driving operations of the motor, the subsequent current total amount of an unexecuted series of driving operations following the executed series of driving operations is calculated based on the predicted motor current waveform. Subsequent current total calculation Part (process) and, for each one series of driving operations of the motor, the subsequent driving time of a series of unexecuted driving operations subsequent to the series of executed driving operations based on the motor current waveform predicted and formed. A driving time calculating unit (process) for calculating the motor driving time, the motor driving time, and the subsequent driving time calculating unit (process). An extended drive time calculating unit (process) for calculating an extended drive time by adding the drive time, and before the start of a subsequent drive operation for each series of drive operations, the extended current total amount and the extended drive time are calculated. An extended drive stop time calculation unit (process) for calculating an extended drive stop time for stopping the motor drive for a corresponding time.

According to the motor control device and the control method according to the third configuration of the present invention, the total current amount for calculating the total amount of the motor current in one series of driving operation for each series of driving operation of the motor A calculating unit (process), a driving time calculating unit (process) for calculating a motor driving time of one series of driving operation for each series of driving operations of the motor, the motor driving time and the motor current A unit time current amount calculation unit (process) for calculating a motor current amount per unit time in one series of driving operations from the total amount; A drive stop time calculation unit (process) for calculating a drive stop time according to the motor drive time and the motor current amount per unit time, and a series of executed drive when the drive stop time is a positive value Subsequent to operation A current waveform prediction forming section (process) for predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations; ,
A subsequent current total amount calculation unit (process) for calculating a total subsequent current amount of a series of unexecuted driving operations following the executed series of driving operations; and a series of executed currents based on the predicted motor current waveform. A subsequent drive time calculating unit (process) for calculating a subsequent drive time of a series of unexecuted drive operations following the drive operation; and an extension for calculating the total extended current by adding the total motor current and the total subsequent current. A total current amount calculation unit (process), an extended drive time calculation unit (process) for adding the motor drive time and the subsequent drive time to calculate an extended drive time, and an extended current total amount and the extended drive time An extended unit time current amount calculation unit (process) for calculating an extended motor current amount per unit time in one executed series of driving operations and one subsequent unexecuted series of driving operations; An extended drive stop time calculation for calculating an extended drive stop time for stopping the motor drive for a time corresponding to the extended drive time and the extended motor current amount per unit time before starting the subsequent drive operation for each successive drive operation (Process).

According to the motor control device and the control method according to the fourth configuration of the present invention, the total current amount for calculating the total amount of the motor current in one series of driving operation for each series of driving operation of the motor A calculating unit (process), a driving time calculating unit (process) for calculating a motor driving time of one series of driving operations for each series of driving operations of the motor, and a driving time calculating unit (step) for each series of driving operations of the motor Before the start of the subsequent drive operation, a drive stop time calculation unit (process) that calculates a drive stop time according to the motor drive time and the motor current total amount; and, when the drive stop time is a positive value, A current waveform prediction forming unit (process) for predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations subsequent to the series of executed driving operations; Formed above Based on over motor current waveform, subsequent current amount calculation unit for calculating a subsequent current total amount of a series of driving operations unexecuted subsequent to the executed series of driving operations and (Process)
Subsequent drive time calculation unit (process) that calculates a subsequent drive time of a series of unexecuted drive operations following a series of executed drive operations based on the predicted and formed motor current waveform.
And an extended current total amount calculation unit (process) for adding the total motor current amount and the subsequent current amount to calculate an extended current total amount
And an extended drive time calculation unit (process) for adding the motor drive time and the subsequent drive time to calculate an extended drive time
And an extended drive stop time calculation for calculating an extended drive stop time for stopping the motor drive for a time corresponding to the total amount of the extended current and the extended drive time before starting a subsequent drive operation for each series of drive operations. (Process).

According to the motor control device and the control method according to the fifth configuration of the present invention, the total current amount for calculating the total amount of the motor current in one series of driving operations for each series of one driving operation of the motor A calculating unit (process); a driving time calculating unit (process) for calculating a motor driving time of one series of driving operation for each series of driving operations of the motor; A current waveform prediction forming unit for predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations subsequent to a series of executed driving operations for each of the driving operations (process)
Calculating, for each of a plurality of predetermined series of driving operations of the motor, a subsequent current total amount of an unexecuted series of driving operations subsequent to the already executed series of driving operations based on the predicted motor current waveform. Subsequent current total amount calculation unit (process)
Calculating, for each of a plurality of predetermined series of driving operations of the motor, a subsequent driving time of a series of unexecuted driving operations following the executed series of driving operations based on the predicted motor current waveform; A driving time calculating unit (process), a total extended current calculating unit (process) for adding a total of the motor current and a total of the following currents for a plurality of predetermined times to calculate a total extended current; An extended drive time calculating section (process) for calculating an extended drive time by adding the motor drive time and the subsequent drive time; and a series of one-time drive operation executed from the extended current total amount and the extended drive time An extended unit time current amount calculation unit (process) for calculating an extended motor current amount per unit time in one successive series of unexecuted driving operations; and a subsequent driving operation for each successive series of driving operations. Before starting, an extended drive stop time calculating unit (process) for calculating an extended drive stop time for stopping the motor drive for a time corresponding to the extended drive time and the extended motor current amount per unit time. It is characterized by.

According to the motor control apparatus and the control method according to the sixth configuration of the present invention, the total current amount for calculating the total amount of the motor current in one series of drive operations for each series of drive operations in the motor A calculating unit (process); a driving time calculating unit (process) for calculating a motor driving time of one series of driving operation for each series of driving operations of the motor; A current waveform prediction forming unit for predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations subsequent to a series of executed driving operations for each of the driving operations (process)
Calculating, for each of a plurality of predetermined series of driving operations of the motor, a subsequent current total amount of an unexecuted series of driving operations subsequent to the already executed series of driving operations based on the predicted motor current waveform. Subsequent current total amount calculation unit (process)
Calculating, for each of a plurality of predetermined series of driving operations of the motor, a subsequent driving time of a series of unexecuted driving operations following the executed series of driving operations based on the predicted motor current waveform; A driving time calculating unit (process), a total extended current calculating unit (process) for adding a total of the motor current and a total of the following currents for a plurality of predetermined times to calculate a total extended current; An extended drive time calculating section (process) for calculating an extended drive time by adding the motor drive time and the subsequent drive time, and the total amount of the extended current before starting the subsequent drive operation for each series of drive operations And an extended drive stop time calculation unit (process) for calculating an extended drive stop time for stopping the motor drive for a time corresponding to the extended drive time.

According to the motor control device and the control method according to the seventh configuration of the present invention, the total current amount for calculating the total amount of the motor current in one series of drive operations is calculated for each series of drive operations in the motor. A calculating unit (process), a driving time calculating unit (process) for calculating a motor driving time of one series of driving operation for each series of driving operations of the motor, the motor driving time and the motor current A unit time current amount calculation unit (process) for calculating a motor current amount per unit time in one series of drive operations from the total amount; and a motor drive time and the above A drive stop time calculating unit (process) for calculating a drive stop time according to a motor current amount per unit time; and a plurality of predetermined times before starting a subsequent drive operation for each of a plurality of predetermined series of drive operations. A series of drives A drive stop time integrated value calculating section (process) for calculating a drive stop time integrated value according to the integrated value of the drive stop time of the operation; and an executed drive stop time integrated value when the drive stop time integrated value is a positive value. A current waveform prediction forming unit (process) for predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations subsequent to the series of driving operations; A subsequent current total amount calculating unit (process) for calculating a total subsequent current amount of a series of unexecuted driving operations subsequent to a series of executed driving operations based on the motor current waveform; A subsequent driving time calculating unit (process) for calculating a subsequent driving time of a series of unexecuted driving operations following the executed series of driving operations, and adding the total motor current and the total subsequent current. An extended current total amount calculating unit (process) for calculating the total extended current; an extended driving time calculating unit (process) for adding the motor driving time and the subsequent driving time to calculate an extended driving time; And an extended unit time current amount calculation unit for calculating an extended motor current amount per unit time in one executed series of driving operations and one subsequent unexecuted series of driving operations from the extended driving time. Step) and before the start of the subsequent driving operation for each series of driving operations, the extended driving stop time for stopping the motor driving for a time corresponding to the extended driving time and the extended motor current amount per unit time is set. And an extended drive stop time calculation unit (process) for calculating.

According to the motor control device and the control method according to the eighth configuration of the present invention, the total current amount for calculating the total amount of the motor current in one series of driving operation for each series of one driving operation of the motor A calculating unit (process), a driving time calculating unit (process) for calculating a motor driving time of one series of driving operations for each series of driving operations of the motor, and a series of driving of the motor A drive stop time calculating unit (process) for calculating a drive stop time according to the motor drive time and the total amount of the motor current for each operation; and before starting a subsequent drive operation for each of a plurality of predetermined series of drive operations. A drive stop time integrated value calculating unit (process) for calculating a drive stop time integrated value according to the integrated value of the drive stop time in a predetermined series of drive operations; If the value is A current waveform prediction forming section (process) for predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations subsequent to the driving operation of A subsequent current total amount calculating unit (process) for calculating a total subsequent current amount of a series of unexecuted driving operations following the executed series of driving operations based on the motor current waveform, and based on the predicted motor current waveform A subsequent drive time calculating unit (process) for calculating a subsequent drive time of a series of unexecuted drive operations subsequent to the executed series of drive operations, and adding and expanding the total motor current and the total subsequent current An extended current total amount calculation unit (process) for calculating the total current amount, an extended drive time calculation unit (process) for adding the motor drive time and the subsequent drive time to calculate an extended drive time, An extended drive stop time calculating unit (process) for calculating an extended drive stop time for stopping motor driving for a time corresponding to the extended current amount and the extended drive time before starting a subsequent drive operation for each series of drive operations; , Is provided.

According to the motor control device and the control method according to the present invention, not only a series of executed driving operations but also
Since the motor is cooled during the extended drive stop time calculated in consideration of the subsequent unexecuted series of drive operation contents,
It is possible to prevent shortage of current from flowing into the motor due to heat generation of the motor due to continuous operation. In addition, since the drive stop time is calculated in consideration of the content of a series of subsequent unexecuted drive operations, it is possible to avoid providing an unnecessary drive stop time or failing to provide an originally necessary drive stop time. . Therefore, the increase in the driving time as a whole can be suppressed smaller.

The motor may be a carriage motor of a printer. Alternatively, the motor may be a paper feed motor of a printer.

According to a recording medium of a computer program according to the present invention, a computer program for executing any of the above-described printer control methods in a computer system is recorded.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a schematic configuration and a control method of an ink jet printer to which a printer control device and a printer control method according to the present invention are mainly applied will be described.

FIG. 26 is a block diagram showing a schematic configuration of the ink jet printer.

The ink jet printer shown in FIG. 26 includes a paper feed motor (hereinafter also referred to as a PF motor) 1 for feeding paper, a paper feed motor driver 2 for driving the paper feed motor 1, and ink on the printing paper 50. Head 9 for discharging
The carriage 3 is driven in a direction parallel to the printing paper 50 and perpendicular to the paper feeding direction, a carriage motor (hereinafter also referred to as a CR motor) 4 for driving the carriage 3, and a carriage motor 4. A CR motor driver 5 to be driven, a DC unit 6 for issuing a DC current command value to the CR motor driver 5, a pump motor 7 for controlling ink suction for preventing clogging of the head 9, and a drive for the pump motor 7 A pump motor driver 8, a head driver 10 for driving and controlling a head 9,
A linear encoder 11 fixed to the carriage 3,
A code plate 12 for a linear encoder 11 having slits formed at predetermined intervals; a rotary encoder 13 for a PF motor 1; a paper detection sensor 15 for detecting the end position of the paper being printed; C that controls
An interface unit (hereinafter, referred to as a “CPU 16”) that transmits and receives data to and from a PU 16, a timer IC 17 that periodically generates an interrupt signal to the CPU 16, and a host computer 18.
Also called IF. ) 19 and an ASIC 20 for controlling the printing resolution and the driving waveform of the head 9 based on the printing information sent from the host computer 18 via the IF 19.
And a PROM 21 and a RAM 22 used as a work area and a program storage area of the ASIC 20 and the CPU 16.
And the EEPROM 23, the platen 25 supporting the printing paper 50, and the printing paper 50 driven by the PF motor 1.
, A pulley 30 attached to the rotation shaft of the CR motor 4, and a timing belt 31 driven by the pulley 30.

The DC unit 6 controls the driving of the paper feed motor driver 2 and the CR motor driver 5 based on control commands sent from the CPU 16 and outputs of the encoders 11 and 13. Also, the paper feed motor 1 and the CR motor 4
Are all composed of DC motors.

FIG. 27 is a perspective view showing the structure around the carriage 3 of the ink jet printer.

As shown in FIG. 27, the carriage 3 is connected to the carriage motor 4 via a pulley 30 by a timing belt 31, and is driven by a guide member 32 to move in parallel with the platen 25. On the surface of the carriage 3 facing the printing paper, a recording head 9 having a nozzle array for discharging black ink and a nozzle array for discharging color ink is provided. Each nozzle receives ink supplied from an ink cartridge 34 to perform printing. Prints characters and images by ejecting ink droplets on paper.

In the non-printing area of the carriage 3, a capping device 35 for sealing the nozzle opening of the recording head 9 during non-printing, and a pump motor 7 shown in FIG.
And a pump unit 36 having the same. When the carriage 3 moves from the printing area to the non-printing area, the carriage 3 comes into contact with a lever (not shown), and the capping device 35 moves upward to seal the head 9.

When clogging occurs in the nozzle row of the head 9 or when the cartridge 34 is replaced,
When the ink is forcibly ejected from the pump unit, the pump unit is operated while the head 9 is sealed, and the ink is sucked out from the nozzle opening row by the negative pressure from the pump unit. As a result, dust and paper dust adhering in the vicinity of the nozzle opening row are washed, and the air bubbles in the head 9 are discharged to the cap 37 together with the ink.

FIG. 28 is an explanatory diagram schematically showing the configuration of the linear encoder 11 mounted on the carriage 3. As shown in FIG.

The encoder 11 shown in FIG. 28 includes a light emitting diode 11a, a collimator lens 11b, and a detection processing unit 11c. The detection processing unit 11c includes a plurality (four) of photodiodes 11d and the signal processing circuit 1
1e and two comparators 11fA and 11fB.

When a voltage VCC is applied to both ends of the light emitting diode 11a via a resistor, light is emitted from the light emitting diode 11a. This light is converged into parallel light by the collimator lens 11b and passes through the code plate 12. Code plate 1
2, slits are provided at predetermined intervals (for example, 1/180 inch (1 inch = 2.54 cm)).

The parallel light passing through the code plate 12 enters each photodiode 11d through a fixed slit (not shown) and is converted into an electric signal. The electric signals output from the four photodiodes 11d are subjected to signal processing in a signal processing circuit 11e, the signals output from the signal processing circuit 11e are compared in comparators 11fA and 11fB, and the comparison result is output as a pulse. Pulses ENC-A and E output from comparators 11fA and 11fB
NC-B is the output of the encoder 11.

FIG. 29 is a timing chart showing waveforms of two output signals of the encoder 11 at the time of forward rotation and reverse rotation of the CR motor.

As shown in FIGS. 29A and 29B, CR
In both forward and reverse rotations of the motor, the pulse EN
The phase of CA differs from that of pulse ENC-B by 90 degrees. When the CR motor 4 is rotating forward, that is, when the carriage 3 is moving in the main scanning direction, FIG.
As shown in (a), the pulse ENC-A is the pulse ENC
When the CR motor 4 is rotating in the reverse direction by 90 degrees with respect to −B, as shown in FIG.
The encoder 4 is configured so that the phase of NC-A is delayed by 90 degrees from the pulse ENC-B. One cycle T of the pulse corresponds to the slit interval of the code plate 12 (for example, 1/180 inch), and is equal to the time during which the carriage 3 moves through the slit interval.

On the other hand, the rotary encoder 13 for the PF motor 1 has the same configuration as the linear encoder 11 except that the code plate is a rotating disk that rotates according to the rotation of the PF motor 1. Output pulses ENC-A,
Outputs ENC-B. In the ink jet printer, the slit interval of the plurality of slits provided on the code plate of the rotary encoder 13 for the PF motor 1 is 1/180 inch. The paper is fed by 1440 inches.

FIG. 30 is a perspective view showing a portion related to sheet feeding and sheet detection. The position of the paper detection sensor 15 shown in FIG. 26 will be described with reference to FIG. FIG.
The printing paper 50 inserted into the paper feeding slot 61 of the printer 60 is fed into the printer 60 by a paper feeding roller 64 driven by a paper feeding motor 63. The leading end of the printing paper 50 sent into the printer 60 is detected by, for example, an optical paper detection sensor 15. The paper 50 whose leading end is detected by the paper detection sensor 15 is supplied to the paper feed roller 65 and the driven roller 6 driven by the PF motor 1.
6, the paper is fed.

Subsequently, printing is performed by dropping ink from a recording head (not shown) fixed to the carriage 3 moving along the carriage guide member 32. When the paper has been fed to a predetermined position, the end of the currently printed printing paper 50 is detected by the paper detection sensor 15. The printing paper 50 on which printing has been completed is transferred to the gear 6 via gears 67A and 67B driven by the PF motor 1.
7C driven by the paper discharge roller 68 and the driven roller 6
9, the paper is discharged from the paper discharge port 62 to the outside. The rotary shaft of the paper feed roller 65 includes a rotary encoder 13.
Are connected.

FIG. 31 is a perspective view showing in detail a portion related to paper feeding of the printer.

Referring to FIGS. 30 and 31, a more detailed description will be given of a portion of the printer shown in FIG. 30 relating to paper feeding.

When the leading end of the printing paper 50 inserted into the printer 60 through the paper feeding slot 61 of the printer 60 and fed into the printer 60 by the paper feeding roller 64 is detected by the paper detection sensor 15, the small gear 87 is driven by the PF motor 1. (Smap) shaft 8, which is the rotation axis of the large gear 67a driven through the
3 and a driven roller 66 provided at the leading end of the holder 89 that presses the printing paper 50 sent from the paper feeding side downward in the paper feeding direction. As a result, the printing paper 50 is fed.

The PF motor 1 is fixed to a frame 86 in the printer 60 by screws 85, a rotary encoder 13 is disposed at a predetermined position around the large gear 67a, and is a rotating shaft of the large gear 67a. Smap axis 83
Is connected to a rotary encoder code plate 14.

The printing paper 50 fed by the paper feed roller 65 and the driven roller 66 passes over a platen 84 that supports the printing paper 50, and has a small gear 87 and a large gear 67.
a, a discharge roller 68 driven by the PF motor 1 via the intermediate gear 67b, the small gear 88, and the discharge gear 67c.
Then, the paper is fed while being pinched by a toothed roller 69 which is a driven roller, and the paper is discharged from the paper discharge port 62 to the outside.

While the printing paper 50 is supported on the platen 84, the carriage 3 moves left and right in the space on the platen 84 along the guide member 32, and a recording head (not shown) fixed to the carriage 3 ), The ink is ejected to perform printing.

Next, the configuration of a DC unit 6 which is a conventional DC motor control device for controlling the CR motor 4 of the above-described ink jet printer and a control method by the DC unit 6 will be described.

FIG. 32 is a block diagram showing the structure of a DC unit 6 which is a conventional DC motor control device. FIG.
5 is a graph showing motor current and motor speed of FIG.

The DC unit 6 shown in FIG. 32 includes a position calculator 6a, a subtractor 6b, a target speed calculator 6c, a speed calculator 6d, a subtractor 6e, a proportional element 6f, and an integral element 6g. , A differential element 6h, an adder 6i, a D / A converter 6j, a timer 6k, and an acceleration control unit 6m.

The position calculating section 6a detects the rising edge and the falling edge of each of the output pulses ENC-A and ENC-B of the encoder 11, counts the number of detected edges, and based on the counted value. , The position of the carriage 3 is calculated. This count adds "+1" when one edge is detected when the CR motor 4 is rotating forward,
When the edge is reversed, if one edge is detected, “−”
1 "is added. Each period of the pulses ENC-A and ENC-B is equal to the slit interval of the code plate 12, and
Pulse ENC-A and pulse ENC-B differ in phase by 90 degrees. Therefore, the count value “1” of the above-mentioned count corresponds to １ ／ of the slit interval of the code plate 12. Thus, by multiplying the above-mentioned count value by １ ／ of the slit interval, the movement amount from the position of the carriage 3 corresponding to the count value of “0” can be obtained. At this time, the resolution of the encoder 11 is 1/1 of the interval between the slits of the code plate 12.
It becomes 4. If the interval between the slits is 1/180 inch, the resolution is 1/720 inch.

The subtractor 6b calculates a positional deviation between the target position sent from the CPU 16 and the actual position of the carriage 3 obtained by the position calculating section 6a.

The target speed calculator 6c calculates the target speed of the carriage 3 based on the position deviation output from the subtractor 6b. This calculation is performed by multiplying the position deviation by the gain KP. This gain KP is determined according to the position deviation. Incidentally, the value of the gain KP may be stored in a table (not shown).

The speed calculating section 6d determines the carriage 3 based on the output pulses ENC-A and ENC-B of the encoder 11.
Calculate the speed of This speed is determined as follows. First, the output pulses ENC-A, E of the encoder 11
Each rising edge and falling edge of NC-B is detected, and the time interval between edges corresponding to 1/4 of the slit interval of the code plate 12 is counted by a timer counter. If the count value is T and the slit interval of the code plate 12 is λ, the carriage speed is λ / (4T)
Is required. Here, the calculation of the speed is obtained by measuring one cycle of the output pulse ENC-A, for example, from the rising edge to the next rising edge using a timer counter.

The subtractor 6e has a target speed and a speed calculator 6
The speed deviation from the actual speed of the carriage 3 calculated by d is calculated.

The proportional element 6f is obtained by adding a constant Gp to the speed deviation.
And outputs the multiplication result. The integral element 6g integrates the value obtained by multiplying the speed deviation by a constant Gi. Differential element 6h
Multiplies the difference between the current speed deviation and the immediately preceding speed deviation by a constant Gd, and outputs the multiplication result. The calculation of the proportional element 6f, the integral element 6g, and the differential element 6h is performed by the encoder 11
, For example, in synchronization with the rising edge of the output pulse ENC-A for each cycle of the output pulse ENC-A.

The outputs of the proportional element 6f, integral element 6g and differential element 6h are added in an adder 6i. Then, the addition result, that is, the drive current of the CR motor 4 is sent to the D / A converter 6j and converted into an analog current. The CR motor 4 is driven by the driver 5 based on the analog voltage.

The timer 6k and the acceleration control unit 6m
PID control, which is used for acceleration control and uses the proportional element 6f, integral element 6g, and differential element 6h, is used for constant speed and deceleration control during acceleration.

The timer 6k generates a timer interrupt signal at predetermined time intervals based on a clock signal sent from the CPU 16.

The acceleration control unit 6m integrates a predetermined current value (for example, 20 mA) with the target current value every time the timer interrupt signal is received, and calculates the integration result, that is, the target current value of the DC motor 4 during acceleration. , D / A converter 6j. As in the case of the PID control, the target current value is D /
The current is converted into an analog current by the A converter 6j, and the CR motor 4 is driven by the driver 5 based on the analog current.

The driver 5 includes, for example, four transistors, and turns on or off each of the transistors based on the output of the D / A converter 6j. (A) The operation of rotating the CR motor 4 forward or backward. Mode, (b) regenerative brake operation mode (short brake operation mode, that is, mode in which CR motor is stopped), (c) mode in which CR motor is to be stopped,
Is performed.

Next, referring to FIGS. 33 (a) and 33 (b), D
The operation of the C unit 6, that is, a conventional DC motor control method will be described.

When the CR motor 4 is stopped, the CP
When a start command signal for starting the CR motor 4 is sent from the U16 to the DC unit 6, an initial start current value I0 is sent from the acceleration control unit 6m to the D / A converter 6j. The starting initial current value I0 is determined by the CPU together with the starting command signal.
16 to the acceleration control unit 6m. This current value I0 is converted into an analog voltage by the D / A converter 6j and sent to the driver 5, and the driver 5 starts the start of the CR motor 4 (FIGS. 33A and 33B).
reference). After receiving the start command signal, the timer 6k generates a timer interrupt signal at predetermined time intervals. Every time the acceleration control unit 6m receives the timer interrupt signal, the acceleration control unit 6m integrates a predetermined current value (for example, 20 mA) with the starting initial current value I0, and sends the integrated current value to the D / A converter 6j. Then, the integrated current value is converted into an analog current by the D / A converter 6j and sent to the driver 5. Then, the driver 5 controls the CR so that the value of the current supplied to the CR motor 4 becomes the integrated current value.
The motor is driven and the speed of the CR motor 4 increases (FIG. 3
3 (b)). Therefore, the current value supplied to the CR motor 4 has a step shape as shown in FIG. still,
At this time, the PID control system is also operating, but the D / A converter 6j selects and takes in the output of the acceleration control unit 6m.

The accumulating process of the current value by the acceleration control unit 6m is performed until the integrated current value becomes a constant current value IS.
When the current value integrated at time t1 reaches the predetermined value IS, the acceleration control unit 6m stops the integration process and supplies a constant current value IS to the D / A converter 6j. This gives C
The motor 5 is driven by the driver 5 so that the value of the current supplied to the R motor 4 becomes the current value IS (see FIG. 33A).

Then, in order to prevent the speed of the CR motor 4 from overshooting, the current supplied to the CR motor 4 is reduced when the CR motor 4 reaches a predetermined speed V1 (see time t2). Is controlled by the acceleration control unit 6m. At this time, the speed of the CR motor 4 further increases, but C
When the speed of the R motor 4 reaches a predetermined speed Vc (FIG. 33)
(See time t3 in (b)), the D / A converter 6j
The output of the ID control system, that is, the output of the adder 6i is selected.
ID control is performed.

That is, the target speed is calculated based on the positional deviation between the target position and the actual position obtained from the output of the encoder 11, and the speed between the target speed and the actual speed obtained from the output of the encoder 11 is calculated. The proportional element 6f, the integral element 6g, and the differential element 6h operate based on the deviation, and perform proportional, integral, and differential calculations, respectively, and control the CR motor 4 based on the sum of the calculation results. .
The above-described proportional, integral, and differential calculations are performed, for example, in synchronization with the rising edge of the output pulse ENC-A of the encoder 11. As a result, the speed of the DC motor 4 is controlled to a desired speed Ve. Note that a predetermined speed Vc
Is preferably 70 to 80% of the desired speed Ve.

From time t4, the DC motor 4 reaches the desired speed, so that the carriage 3 also reaches the desired constant speed Ve, and the printing process can be performed.

When the printing process is completed and the carriage 3 approaches the target position (see time t5 in FIG. 33 (b)), the position deviation becomes small, so that the target speed also becomes small. Therefore, the speed deviation, ie, the subtractor 6e Becomes negative, the DC motor 4 is decelerated, and stops at time t6.

Hereinafter, embodiments of a DC motor control device and a control method according to the present invention will be described with reference to the drawings.

The DC motor control device and the control method according to the present invention provide not only the driving time and the DC motor current amount per unit time in the executed driving operation, or the DC motor current total amount and the driving time, but also It is characterized in that it is determined whether or not to set the drive stop time according to the drive time and the DC motor current amount per unit time in the execution drive operation or the DC motor current total amount and the drive time. is there.

FIG. 1 is a block diagram showing the configuration of the DC motor control device according to the first embodiment of the present invention.
The DC motor control device according to the first embodiment of the present invention shown in FIG. 1 includes a DC unit 6 and a carriage drive stop time calculation unit 100 added to the DC unit 6. The configuration of the DC unit 6 is shown in FIG.
The configuration of the DC unit 6 in the conventional DC motor control device shown in FIG.
b, target speed calculator 6c, speed calculator 6d, subtractor 6e, proportional element 6f, integral element 6g, differential element 6h, adder 6i, D / A converter 6j, timer 6k And an acceleration control unit 6m. The DC motor 4, driver 5, and encoder 11 can be the same as those in the conventional inkjet printer, and the DC motor 4 can be a CR (carriage) motor or a PF (paper feed) motor.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the first embodiment of the present invention includes a timer interrupt timing from the timer 6k, an encoder interrupt timing from the encoder 11, and a timer interrupt timing. A buffer memory 101 that stores and holds a D / A converter output value (hereinafter, also referred to as a DAC output value) at an encoder interrupt timing and outputs them according to a predetermined drive stop determination condition; a timer interrupt timing or an encoder interrupt timing From the interval of and the DAC output value,
A current amount calculating unit 102 for calculating a DC motor current amount in each period between each interrupt timing, and a total current amount calculation for calculating a DC motor current amount in a series of executed driving operations from the DC motor current amount in each period Part 10
3, a drive time calculation unit 104 that calculates a drive time in a series of executed drive operations from an interval of a timer interrupt timing or an encoder interrupt timing, and drive control data of a subsequent series of unexecuted drive operations based on: A drive current waveform prediction forming unit 111 that predicts and forms a DC motor current waveform in a series of subsequent unexecuted driving operations according to a predetermined drive stop determination condition, A subsequent current total amount calculation unit 112 for calculating the total amount of the subsequent DC motor current in the series of driving operations to be executed; and a succeeding driving time for calculating the subsequent unexecuted series of driving operations based on the predicted DC motor current waveform. Driving time calculator 113
And an extended current total amount calculation unit 114 that calculates the total amount of extended DC motor current by adding the total amount of DC motor current and the total amount of subsequent DC motor current, and calculates an extended drive time by adding the drive time and the subsequent drive time. Extended drive time calculation unit 115
And an extended unit time current amount calculation for calculating an extended DC motor current amount per unit time in a series of executed driving operations and a series of subsequent unexecuted driving operations from the total amount of the extended DC motor current and the extended driving time. Based on the extended drive time and the extended DC motor current amount per unit time, the extended drive to stop the DC motor drive between a series of executed drive operations and a series of subsequent unexecuted drive operations Extended drive stop time calculator 1 for calculating stop time
17.

FIG. 2 is a flowchart showing the operation of the DC motor control device according to the first embodiment of the present invention, that is, the procedure of the DC motor control method according to the first embodiment of the present invention. . FIG. 3 is a graph showing a method of calculating a DC motor current amount during a timer interrupt operation period, FIG. 4 is a graph showing a method of calculating a DC motor current amount during an encoder interrupt operation period, and FIG. 5 is a graph showing a method of calculating a DC motor drive stop time from a DC motor current amount.

Referring to FIGS. 1 to 5, the operation of the DC motor control device according to the first embodiment of the present invention, that is, the procedure of the DC motor control method according to the first embodiment of the present invention. Will be described.

A start command signal to the DC motor causes D
After the C motor is driven and the carriage starts to be driven, every time a timer interrupt from the timer 6k or an encoder interrupt from the encoder 11 occurs, the timing and the DA at each timing are determined.
The C output value is stored and held in the buffer memory 101.

After the start of the driving operation, the buffer memory 101 outputs the timer interrupt timing and the encoder interrupt timing stored therein and the DAC output value at each timing according to predetermined driving stop determination conditions (step S101). Here, the predetermined drive stop determination condition is, for example, when a timer interrupt does not occur and a reverse rotation of the encoder is detected, or when a timer interrupt does not occur and the encoder interrupt occurs for a predetermined time (for example, 5 ms) It is assumed that no occurrence occurs. That is, after shifting from timer interrupt control to encoder interrupt control,
When the reverse rotation of the encoder is detected, or when the encoder interrupt does not occur for a predetermined time, the buffer memory 101 determines that the DC motor drive stop has been determined, and
The respective timings and DAC output values are output.

When the DC motor drive stop is determined and the timer interrupt timing, the encoder interrupt timing, and the DAC output value at each timing are output, a series of operations of the current amount calculation unit 102, the total current amount calculation unit 103, and the drive time calculation unit 104 are performed. By the above operation, the DC motor current total amount and the driving time in a series of driving operations that have been executed are calculated (step S102). Note that a series of driving operations refers to a period from the start of one driving operation to the stop of the one driving operation.

In order to calculate the total amount of DC motor current in a series of driving operations, the DC motor current during each interrupt timing must be calculated.
The motor current must be determined.

First, a method of calculating the DC motor current amount between each interrupt timing in the timer interrupt control period and the encoder interrupt control period will be described.

In the timer interrupt control period, as shown in FIG. 3, a timer interrupt occurs at regular intervals.
Here, it is assumed that, for each interruption timing, the DC motor current amount in a period between the interruption timing immediately before and the interruption timing is calculated. A period between the nth interrupt timing and the immediately preceding (n-1) th interrupt timing, that is,
The DC motor current amount during the period from the time tn-1 to the time tn is determined by the time Tn-1 of the period and the DA motor during the period.
It can be obtained by multiplying the C output value DACn-1. That is, the current amount In calculated at the n-th interrupt timing is In = Tn-1 × DACn-1. Similarly, the current amount I calculated at the (n + 1) th interrupt timing
n + 1 is In + 1 = Tn × DACn.

Alternatively, the DC motor current amount at each timing may be obtained by multiplying only the increase or decrease from the current value in the immediately preceding period and adding or subtracting the increased or decreased amount to or from the current amount in the immediately preceding period. . Assuming that the time from the time tn + 1 to the time tn + 2 is Tn + 1 and the increase in the current value is ΔDAC1, the current amount In + 2 calculated at the (n + 2) th interrupt timing is In + 2 = In + 1 + Tn
+ 1 × ΔDAC1. From time tp to time tq (tp <t
q), the DAC output value is assumed to be a constant acceleration current value DACacc, and the time from time tq to time tq + 1 is defined as T
q, assuming that the current value decrease is ΔDAC2, the current amount Iq + 1 calculated at the (q + 1) th interrupt timing is Iq + 1 =
Iq + Tq × (−ΔDAC2).

The amount of current in each period from time tp to time tq at which the DAC output value reaches a constant acceleration current value DACacc is constant. For example, if the time from time tp to time tp + 1 is Tp, the current amount Ip + 1 calculated at the (P + 1) th interrupt timing is Ip + 1 = Tp × DACacc
Becomes Note that the lengths of the respective periods between the respective interrupt timings in the timer interrupt control period are all equal.

On the other hand, during the encoder interrupt control period, as shown in FIG. 4, encoder interrupts occur at indefinite time intervals corresponding to the rotation speed of the DC motor, but the DC motor current amount between each interrupt timing is calculated. The method is the same as that of the timer interrupt control period. For each interrupt timing, the DC motor current amount in the period between the interrupt timing and the interrupt timing immediately before that is calculated. The DC motor current amount during the period between the n-th interrupt timing and the immediately preceding (n-1) th interrupt timing, that is, the period from time tn-1 to time tn, is calculated based on the time Tn-1 and the time Tn-1 during that period. It can be obtained by multiplying the DAC output value DACn-1 in the period. That is, the current amount In calculated at the n-th interrupt timing is In = Tn-1 × DACn-1. Similarly, the current amount In + 1 calculated at the (n + 1) th interrupt timing is In + 1 = Tn × DACn.

As described above, the DC motor current amount during each interrupt timing in the series of driving operations is calculated, and all the DC motor current amounts are added to obtain the total DC motor current amount in the series of driving operations. Itota
Calculate l. Also, by adding all the time intervals between the interrupt timings in a series of driving operations,
The driving time Ttotal in a series of driving operations is calculated.

As described above, the DC motor current total amount and the driving time in a series of executed driving operations are calculated according to the DC motor driving stop determination (step S10).
2) Based on the drive control data of the subsequent series of unexecuted driving operations, the DC motor current waveform in the subsequent series of unexecuted driving operations is determined in accordance with the DC motor drive stop determination by the drive current waveform prediction forming unit 111. (Step S103).

When the DC motor is, for example, a CR motor or a PF motor of a printer, the maximum speed and the acceleration section of the motor are usually constant. The waveform can be easily predicted based on the drive control data of the series of drive operations. When the DC motor is, for example, a CR motor or a PF motor of a printer, the drive control data is print data.

The predicted DC motor current waveform is, for example, a current waveform as shown in FIG. 3, FIG. 4 or FIG.

After the prediction of the DC motor current waveform in the subsequent series of unexecuted driving operations, the subsequent current total amount calculator 112 and the subsequent driving time calculator 113 perform the following based on the predicted DC motor current waveform. The subsequent current total amount and the subsequent driving time in a series of unexecuted driving operations are calculated (step S104). The method of calculating the total amount of the subsequent current and the subsequent driving time is the same as the method of calculating the total amount of the DC motor current and the driving time described above.

After calculating the total amount of the subsequent current and the subsequent driving time,
The extended current total amount calculation unit 114 calculates the extended current total amount IEX by adding the DC motor current total amount and the subsequent current total amount, and the extended drive time calculation unit 115 adds the drive time and the subsequent drive time. The extended drive time TEX is calculated (step S105).

After calculating the total extended current amount IEX and the extended driving time TEX, the following formula is obtained from the total extended current amount IEX and the extended driving time TEX.
An extended DC motor current amount τEX = IEX / TEX per unit time in a series of executed driving operations and a series of subsequent unexecuted driving operations is calculated (step S106).

The amount of extended DC motor current τ per unit time
After calculating EX, the extended drive stop time ΔtEX is extended from the extended drive time TEX and the extended DC motor current amount τEX per unit time in a series of executed drive operations and a series of subsequent unexecuted drive operations. Stop time calculation unit 117
(Step S107). With reference to FIG. 5, a method of calculating the extended drive stop time ΔtEX will be described.

If the amount of DC motor current τ per unit time is small, the amount of heat generated by the DC motor is small. If the amount of DC motor current τ per unit time is large, the amount of heat generated by the DC motor is large. Insufficient current flow occurs. Therefore, in order to provide an extended drive stop time ΔtEX for stopping the DC motor drive operation when the extended DC motor current amount τEX per unit time exceeds a predetermined value, the DC motor current amount threshold τth per unit time is set in advance. I will decide.

Extended DC motor current amount τ per unit time
The total amount of current when the current flows for the extended drive time TEX in EX is the total amount of extended current IEX, but the time ΔtEX when the time required for flowing the total amount of extended current IEX with the threshold τth is TEX + ΔtEX is stopped for extended drive. Time ΔtEX. That is,
The following equation holds. τth × (TEX + ΔtEX) = τEX × TEX = IEX TEX + ΔtEX = (τEX / τth) × TEX = IEX / τth ΔtEX = (τEX / τth) × TEX−TEX = ((τEX / τth) −1) × TEX = IEX / τth−TEX (1) Therefore, the extended drive stop time ΔtEX may be calculated from the total extended current amount IEX and the extended drive time TEX in a series of executed drive operations and a series of subsequent unexecuted drive operations. However, in the first embodiment, the extended drive time TEX and the extended DC motor current amount τEX per unit time in the executed series of drive operations and the subsequent The stop time ΔtEX is calculated. From equation (1), if the extended DC motor current amount τEX per unit time is larger than the threshold value τth, ΔtEX
> 0, and the amount of extended DC motor current τ per unit time
If EX is smaller than the threshold τth, ΔtEX <0. Also,
The extended DC motor current amount τEX per unit time is the threshold τth
If it is equal to, ΔtEX = 0. Or IEX / τth
> TEX, ΔtEX> 0, IEX / τth <TEX, ΔtEX <0, and if IEX / τth = TEX, Δ
It can be said that tEX = 0.

Thus, the calculated extended drive stop time Δt
The subsequent drive control is performed according to the value of EX. That is, it is determined whether the extended drive stop time ΔtEX is a positive value (ΔtEX> 0) (step S108), and the extended drive stop time Δ
When tEX is 0 or less (ΔtEX ≦ 0), DC
Without providing a motor drive stop time, the process immediately proceeds to the subsequent drive operation immediately after the DC motor drive is stopped (step S109).

On the other hand, if the extended drive stop time ΔtEX is a positive value (ΔtEX> 0), the DC motor drive is stopped and then the DC motor is stopped for the extended drive stop time ΔtEX (step S110). Extended drive stop time Δ
After the elapse of tEX, the operation shifts to the subsequent driving operation.

As described above, according to the DC motor control apparatus and the control method according to the first embodiment of the present invention, not only a series of already executed driving operations but also a series of subsequent unexecuted driving operations Since the DC motor is cooled during the extended drive stop time ΔtEX calculated in consideration of the operation content, it is possible to prevent shortage of current from flowing into the DC motor due to heat generation of the DC motor due to continuous operation. Also, compared with the case where the drive stop time is calculated by considering only a series of executed drive operations, the drive stop time is calculated by also considering the subsequent series of unexecuted drive operations. It is possible to avoid providing a short drive stop time and failing to provide an originally necessary drive stop time. Therefore, the increase in the driving time as a whole can be suppressed smaller.

FIG. 6 is a block diagram showing a configuration of a DC motor control device according to the second embodiment of the present invention.

The DC motor control device according to the second embodiment of the present invention shown in FIG. 6 also includes a DC unit 6 and a carriage drive stop time calculation unit 100 added to the DC unit 6. However, the configuration of the carriage drive stop time calculation unit 100 is different from that of the first embodiment. The configuration of the DC unit 6 is the same as in the first embodiment.

As can be seen from the equation (1) shown in the description of the first embodiment, the extended drive stop time ΔtEX
Can be calculated from the values of the total extended current amount IEX and the extended drive time TEX without calculating the extended DC motor current amount τEX per unit time. Therefore, the carriage drive stop time calculation unit 100 in the DC motor control device according to the second embodiment of the present invention is different from the carriage drive stop time calculation unit 100 in the first embodiment.
Is a configuration in which the extension unit time current amount calculation unit 116 is removed from FIG.

That is, the D according to the second embodiment of the present invention
The carriage drive stop time calculation unit 100 in the C motor control device includes a timer interrupt timing from the timer 6k, an encoder interrupt timing from the encoder 11, and a D / A converter output value (hereinafter, DAC) at the timer interrupt timing and the encoder interrupt timing. Output value).
The DC motor current amount in each period between each interrupt timing is calculated from the buffer memory 101 that outputs them according to a predetermined drive stop determination condition, the interval between the timer interrupt timing or the encoder interrupt timing, and the DAC output value. The current amount calculation unit 102, the total current amount calculation unit 103 that calculates the total DC motor current amount in a series of executed driving operations from the DC motor current amount in each period, and the execution based on the timer interrupt timing or the encoder interrupt timing. Drive time calculator 104 for calculating the drive time in a series of completed drive operations
And D in the subsequent series of unexecuted driving operations based on the drive control data of the subsequent series of unexecuted driving operations.
A drive current waveform prediction forming unit 111 that predicts and forms a C motor current waveform; and a subsequent DC in a subsequent series of unexecuted drive operations based on the predicted DC motor current waveform.
Subsequent total current amount calculation unit 112 that calculates the total amount of motor current
And a subsequent drive time calculation unit 113 that calculates a subsequent drive time in a series of subsequent unexecuted drive operations based on the predicted and formed DC motor current waveform, and adds the DC motor current total amount and the subsequent DC motor current total amount. An extended current total amount calculating unit 114 that calculates an extended DC motor current total amount, an extended driving time calculating unit 115 that adds a driving time and a subsequent driving time to calculate an extended driving time, an extended driving time and an extended D
An extended drive stop time calculation unit 117 for calculating an extended drive stop time for stopping the DC motor drive between a series of executed drive operations and a series of subsequent unexecuted drive operations from the total amount of C motor current; It is composed of

FIG. 7 is a flowchart showing the operation of the DC motor control device according to the second embodiment of the present invention, that is, the procedure of the DC motor control method according to the second embodiment of the present invention. .

The operation of the DC motor control device according to the second embodiment of the present invention, that is, the procedure of the DC motor control method according to the second embodiment of the present invention is based on the total extended current amount IEX and the extended drive time. After calculating TEX (step S11
5) Except for calculating the extended DC motor current amount τEX per unit time and calculating the extended drive stop time ΔtEX from the value of the extended current total amount IEX and the value of the extended drive time TEX (step S116), All are the same as in the first embodiment. The fact that the extended drive stop time ΔtEX can be calculated directly from the values of the extended current total amount IEX and the extended drive time TEX is as described in the equation (1) in the description of the first embodiment, as described above. .

FIG. 8 is a block diagram showing a configuration of a DC motor control device according to a third embodiment of the present invention.
The DC motor control device according to the third embodiment of the present invention shown in FIG. 8 also includes a DC unit 6 and a carriage drive stop time calculation unit 100 added to the DC unit 6, The configuration of the drive stop time calculation unit 100 is different from that of the first embodiment. The configuration of the DC unit 6 is the same as in the first embodiment.

In the above-described DC motor control device and control method according to the first embodiment of the present invention, the driving time per unit time and the driving time per unit time in the executed driving operation and the subsequent unexecuted driving operation from the beginning. The extended drive stop time is calculated according to the DC motor current amount, and it is determined whether to set the extended drive stop time. However, the DC motor control device and control method according to the third embodiment of the present invention In, first, the drive stop time is calculated according to the drive time in the executed drive operation and the DC motor current amount per unit time, and only when it is determined that the drive stop time should be set, Calculating the extended drive stop time according to the drive time and the DC motor current amount per unit time in the executed drive operation and the subsequent unexecuted drive operation, To determine whether or not to set a time.

That is, D according to the third embodiment of the present invention.
The C motor control device and the control method first determine whether to set the drive stop time according to the content of the executed drive operation, and when it is determined that the drive stop time should be set, Furthermore, it is determined whether or not it is really necessary to set the drive stop time in accordance with the content of the executed driving operation and the content of the subsequent unexecuted driving operation.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the third embodiment of the present invention includes a timer interrupt timing from the timer 6k, an encoder interrupt timing from the encoder 11, and a timer interrupt timing. A buffer memory 101 that stores and holds a D / A converter output value (hereinafter, also referred to as a DAC output value) at an encoder interrupt timing and outputs them according to a predetermined drive stop determination condition; a timer interrupt timing or an encoder interrupt timing From the interval of and the DAC output value,
A current amount calculation unit 102 for calculating a DC motor current amount in each period between each interrupt timing, a current total amount calculation unit 103 for calculating a DC motor current amount in a series of driving operations from the DC motor current amount in each period; A drive time calculating unit 104 that calculates a drive time in a series of drive operations from an interval of a timer interrupt timing or an encoder interrupt timing, and calculates a DC motor current amount per unit time from the DC motor current total amount and the drive time. A unit time current amount calculation unit 105 calculates a drive stop time for stopping the DC motor drive between one drive operation and a subsequent drive operation from the drive time and the DC motor current amount per unit time. Based on the drive stop time calculation unit 106 and the drive control data of the subsequent series of unexecuted drive operations. If the drive stop time is a positive value, the drive current waveform prediction forming unit 1 for predicting forming a DC motor current waveform in a series of driving operations subsequent unexecuted
11, a subsequent current total amount calculation unit 112 that calculates a total amount of subsequent DC motor current in a series of subsequent unexecuted driving operations based on the predicted formed DC motor current waveform, and a subsequent current total amount calculation unit 112 based on the predicted formed DC motor current waveform A subsequent driving time calculation unit 113 for calculating a subsequent driving time in a series of unexecuted driving operations to be performed,
An extended current total amount calculating unit 114 for adding the total amount of C motor current to calculate an extended DC motor current total amount; an extended driving time calculating unit 115 for adding the driving time and the subsequent driving time to calculate an extended driving time; An extended unit time current amount calculation unit 116 that calculates an extended DC motor current amount per unit time in a series of executed driving operations and a series of subsequent unexecuted driving operations from the total amount of the extended DC motor current and the extended driving time. And extended drive time and extended DC per unit time
An extended drive stop time calculation unit 117 that calculates an extended drive stop time for stopping the DC motor drive between a series of executed drive operations and a series of subsequent unexecuted drive operations from the motor current amount. It is configured.

FIG. 9 is a flowchart showing the operation of the DC motor control device according to the third embodiment of the present invention, that is, the procedure of the DC motor control method according to the third embodiment of the present invention. .

Referring to FIGS. 8 and 9, the operation of the DC motor control device according to the third embodiment of the present invention, that is, the DC motor control method according to the third embodiment of the present invention will be described. I do.

A start command signal to the DC motor causes D
After the C motor is driven and the carriage starts to be driven, every time a timer interrupt from the timer 6k or an encoder interrupt from the encoder 11 occurs, the timing and the DA at each timing are determined.
The C output value is stored and held in the buffer memory 101.

After the start of the driving operation, the buffer memory 101 outputs the timer interrupt timing and the encoder interrupt timing stored therein and the DAC output value at each timing according to predetermined driving stop determination conditions (step S121). As in the first embodiment, the predetermined drive stop determination condition is, for example, that no timer interrupt occurs and that a reverse rotation of the encoder is detected, or that no timer interrupt occurs, and It is assumed that an interrupt does not occur for a predetermined time (for example, 5 ms). That is, when the encoder reverse rotation is detected after the transition from the timer interrupt control to the encoder interrupt control,
Or, if the encoder interrupt does not occur for a certain period of time,
Assuming that the DC motor drive stop has been determined, the buffer memory 101 outputs the above-described timings and DAC output values.

When it is determined that the DC motor is stopped, and the timer interrupt timing, the encoder interrupt timing, and the DAC output value at each timing are output, the current amount calculation unit 102, the total current amount calculation unit 103, the DC
Motor drive time calculation unit 104, unit time current amount calculation unit 1
05 in a series of driving operations,
The motor driving time, the total amount of the DC motor current, and the DC motor current amount τ per unit time are calculated (step S1).
22).

The method of calculating the DC motor drive time and the DC motor current total amount in a series of drive operations is as described in the first embodiment. The calculated DC motor drive time and total DC motor current amount are stored in the extended current total amount calculation unit 114 and the extended drive time calculation unit 115, respectively. The DC motor current amount τ per unit time in a series of drive operations is calculated in the same manner as the extended unit time current amount τEX (extended DC motor current amount τEX per unit time) described in the first embodiment. It is calculated by:

After calculating the DC motor current amount τ per unit time (unit time current amount τ), the DC motor drive stop time is calculated from the drive time Ttotal in a series of drive operations and the DC motor current amount τ per unit time. Δt is calculated by the drive stop time calculation unit 106 (step S123).
The DC motor drive stop time Δt is calculated by the same calculation method as the extended drive stop time ΔtEX described in the first embodiment. Note that the DC motor current amount threshold τth per unit time used in calculating the DC motor drive stop time Δt is generally equal to the DC motor current amount threshold τth per unit time used in calculating the extended drive stop time ΔtEX. The values are the same, but may be different.

Then, the subsequent drive control is performed according to the value of the calculated DC motor drive stop time Δt. That is, D
It is determined whether the C motor drive stop time Δt is a positive value (Δt> 0) (step S124). If the DC motor drive stop time Δt is a value equal to or less than 0 (Δt ≦ 0), the DC motor Without the drive stop time, D
Immediately after the driving of the C motor is stopped, the process proceeds to the subsequent driving operation (step S125).

On the other hand, when the DC motor drive stop time Δt is a positive value (Δt> 0), the DC motor drive stop time is not immediately provided, and not only the completed series of drive operation contents but also An operation procedure for calculating the extended drive stop time ΔtEX in order to determine whether or not it is necessary to provide a DC motor drive stop time in consideration of a series of subsequent unexecuted drive operations. To start.

That is, when the DC motor drive stop time Δt is a positive value (Δt> 0), first, based on the drive control data of the subsequent unexecuted series of drive operations, the subsequent unexecuted series of A DC motor current waveform in the driving operation is predicted and formed by the driving current waveform prediction forming unit 111 (step S126).

After the predictive formation of the DC motor current waveform in the subsequent series of unexecuted drive operations, the subsequent current total amount calculating unit 112 and the subsequent driving time calculating unit 113 perform the following based on the predicted and formed DC motor current waveform. The subsequent current total amount and the subsequent driving time in a series of unexecuted driving operations are calculated (step S127).

After calculating the total amount of the subsequent current and the subsequent driving time,
The extended current total amount calculation unit 114 calculates the extended current total amount IEX by adding the DC motor current total amount and the subsequent current total amount, and the extended drive time calculation unit 115 adds the drive time and the subsequent drive time. The extended drive time TEX is calculated (step S128).

After calculating the total extended current amount IEX and the extended drive time TEX, from the total extended current amount IEX and the extended drive time TEX,
An extended DC motor current amount τEX = IEX / TEX per unit time in a series of executed driving operations and a series of subsequent unexecuted driving operations is calculated (step S129).

Extended DC motor current τ per unit time
After calculating EX, the extended drive stop time ΔtEX is extended from the extended drive time TEX and the extended DC motor current amount τEX per unit time in a series of executed drive operations and a series of subsequent unexecuted drive operations. Stop time calculation unit 117
(Step S129). The method of calculating the extended drive stop time ΔtEX is as described in the first embodiment.

Then, the calculated extended drive stop time Δt
The subsequent drive control is performed according to the value of EX. That is, it is determined whether the extended drive stop time ΔtEX is a positive value (ΔtEX> 0) (step S131), and the extended drive stop time ΔtEX is determined.
When tEX is 0 or less (ΔtEX ≦ 0), DC
Without providing a motor drive stop time, the process immediately proceeds to the subsequent drive operation immediately after the DC motor drive is stopped (step S125).

On the other hand, when the extended drive stop time ΔtEX is a positive value (ΔtEX> 0), the DC motor drive is stopped, and then the DC motor is stopped for the extended drive stop time ΔtEX (step S132). Extended drive stop time Δ
After the elapse of tEX, the operation shifts to the subsequent driving operation.

As described above, according to the DC motor control apparatus and the control method according to the third embodiment of the present invention, not only a series of already executed driving operations but also a series of subsequent unexecuted driving operations Since the DC motor is cooled during the extended drive stop time ΔtEX calculated in consideration of the operation content, it is possible to prevent shortage of current from flowing into the DC motor due to heat generation of the DC motor due to continuous operation. Also, compared with the case where the drive stop time is calculated by considering only a series of executed drive operations, the drive stop time is calculated by also considering the subsequent series of unexecuted drive operations. It is possible to avoid providing a short drive stop time and failing to provide an originally necessary drive stop time. Therefore, the increase in the driving time as a whole can be suppressed smaller.

FIG. 10 is a block diagram showing a configuration of a DC motor control device according to a fourth embodiment of the present invention.

A DC motor control device according to the fourth embodiment of the present invention shown in FIG.
And a carriage drive stop time calculation unit 100 added to the unit 6. The configuration of the carriage drive stop time calculation unit 100 is similar to the configuration of the carriage drive stop time calculation unit 100 in the DC motor control device according to the third embodiment of the present invention, but is partially different. The configuration of the DC unit 6 is the same as in the first embodiment.

As can be seen from the equation (1) shown in the description of the first embodiment, the DC motor drive stop time Δt and the extended drive stop time ΔtEX are expressed by D per unit time.
Even if the C motor current amount τ and the extended DC motor current amount τEX are not calculated, the DC motor current total amount Itotal and the driving time Tt
otal, the total amount of extension current IEX, and the value of the extension drive time TEX. Therefore, the fourth aspect of the present invention
The carriage drive stop time calculation unit 100 in the DC motor control device according to the third embodiment is different from the carriage drive stop time calculation unit 10 in the third embodiment.
From 0, the unit time current amount calculation unit 105 and the extended unit time current amount calculation unit 116 are removed.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the fourth embodiment of the present invention includes a timer interrupt timing from the timer 6k, an encoder interrupt timing from the encoder 11, and a timer interrupt timing. A buffer memory 101 that stores and holds a D / A converter output value (hereinafter, also referred to as a DAC output value) at an encoder interrupt timing and outputs them according to a predetermined drive stop determination condition; a timer interrupt timing or an encoder interrupt timing From the interval of and the DAC output value,
A current amount calculation unit 102 for calculating a DC motor current amount in each period between each interrupt timing, a current total amount calculation unit 103 for calculating a DC motor current amount in a series of driving operations from the DC motor current amount in each period; A drive time calculation unit 104 that calculates a drive time in a series of drive operations from an interval of a timer interrupt timing or an encoder interrupt timing; and one drive operation and a subsequent drive operation based on the DC motor current total amount and the drive time. And a drive stop time calculating unit 106 that calculates a drive stop time for stopping the DC motor drive, and a drive stop time having a positive value based on drive control data of a series of subsequent unexecuted drive operations. In some cases, a drive current waveform that predicts and forms a DC motor current waveform in a subsequent series of unexecuted drive operations A measuring section 111, predicted form D
A subsequent current total amount calculation unit 112 that calculates the total amount of the subsequent DC motor current in the subsequent series of unexecuted driving operations based on the C motor current waveform, and a series of subsequent unexecuted series based on the predicted formed DC motor current waveform. Subsequent driving time calculation unit 113 that calculates the subsequent driving time in the driving operation
And an extended current total amount calculation unit 114 that calculates the total amount of extended DC motor current by adding the total amount of DC motor current and the total amount of subsequent DC motor current, and calculates an extended drive time by adding the drive time and the subsequent drive time. Extended drive time calculation unit 115
And an extended drive stop time for stopping the DC motor drive between a series of executed drive operations and a series of subsequent unexecuted drive operations from the total amount of extended DC motor current and the extended drive time And a drive stop time calculation unit 117.

FIG. 11 is a flowchart showing the operation of the DC motor control device according to the fourth embodiment of the present invention, that is, the procedure of the DC motor control method according to the fourth embodiment of the present invention. .

The operation of the DC motor control device according to the fourth embodiment of the present invention, that is, the procedure of the DC motor control method according to the fourth embodiment of the present invention is based on the total DC motor current amount Itotal and the driving time. After calculating Ttotal, the DC motor driving stop time Δt is calculated from the DC motor current total amount Itotal and the driving time Ttotal without calculating the DC motor current amount τ per unit time (step S142,
S143) Point, extended current total amount IEX and extended drive time TEX
Is calculated (step S148), the extended DC motor current amount τEX per unit time is not calculated, and the extended drive stop time Δ is calculated from the value of the extended current total amount IEX and the extended drive time TEX.
Except for calculating tEX (step S149),
All are the same as in the third embodiment. The DC motor drive stop time Δt can be calculated directly from the values of the total DC motor current Itotal and the drive time Ttotal.
The fact that the extended drive stop time ΔtEX can be directly calculated from the values of EX and the extended drive time TEX is as described in the equation (1) in the description of the first embodiment, as described above.

FIG. 12 is a block diagram showing a configuration of a DC motor control device according to a fifth embodiment of the present invention. D according to the fifth embodiment of the present invention shown in FIG.
The C motor control device also includes a DC unit 6 and a carriage drive stop time calculation unit 1 added to the DC unit 6.
00. The configuration of the carriage drive stop time calculation unit 100 is similar to the configuration of the carriage drive stop time calculation unit 100 in the DC motor control device according to the first embodiment of the present invention, but is partially different. The configuration of the DC unit 6 is the same as in the first embodiment.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the fifth embodiment of the present invention is configured to control the timer interrupt timing from the timer 6k or the encoder interrupt timing from the encoder 11, and the timer interrupt timing. The current amount calculation unit 102 calculates the DC motor current amount in each period between the interrupt timings from the DAC output value at the timing and the encoder interrupt timing.
A total current amount calculator 103 for calculating the total amount of C motor current;
A DC motor drive time calculation unit 104 that calculates a drive time in a series of drive operations from an interval of the timer interrupt timing or the encoder interrupt timing, and updates the DC motor current total amount and the drive time for each timer interrupt timing or encoder interrupt timing. The buffer memory 101 outputs and stores them in accordance with a predetermined drive stop determination condition. Current waveform prediction forming unit 111 for predicting and forming a DC motor current waveform in a series of unexecuted driving operations to be performed, and a subsequent D in a subsequent series of unexecuted driving operations based on the predicted and formed DC motor current waveform.
Subsequent total current amount calculation unit 112 for calculating the total amount of C motor current
And a subsequent drive time calculating unit 113 that calculates a subsequent drive time in a series of subsequent unexecuted drive operations based on the predicted and formed DC motor current waveform, and adds the DC motor current total amount and the subsequent DC motor current total amount. Extended current calculating unit 114 for calculating the total extended DC motor current, extended driving time calculating unit 115 for adding the driving time and the subsequent driving time to calculate the extended driving time, total extended DC motor current and the extended driving An extended unit time current amount calculation unit 116 for calculating an extended DC motor current amount per unit time in a series of executed driving operations and a series of subsequent unexecuted driving operations from the time, an extended driving time and a unit time Between the executed series of driving operations and the subsequent series of unexecuted driving operations,
And an extended drive stop time calculation unit 117 for calculating an extended drive stop time for stopping the C motor drive.

As described above, in the DC motor control device according to the first embodiment of the present invention, the timer interrupt timing, the encoder interrupt timing, and the DAC output value at each interrupt timing are stored and held. The DC motor current amount, the DC motor current total amount, and the drive time are calculated according to the drive stop determination condition.

On the other hand, in the DC motor control device according to the fifth embodiment of the present invention, after starting the driving operation,
The amount of DC motor current, the amount of DC current,
The total motor current and the drive time are calculated for each interrupt timing, and the total DC motor current and the drive time are updated for each interrupt timing and stored in the buffer memory 101. Then, according to a predetermined drive stop determination condition,
The total DC motor current is output from the buffer memory 101 to the extended current total calculator 114 and held, and the drive time is output from the buffer memory 101 to the extended drive time calculator 115 and held.

On the other hand, based on the drive control data of the subsequent series of unexecuted driving operations, the DC motor current waveform in the subsequent series of unexecuted driving operations is formed in accordance with the drive motor waveform prediction formation in accordance with the DC motor drive stop determination. Each operation procedure after the operation procedure predicted and formed by the unit 111 is the same as in the first embodiment. Therefore, the flowchart showing the procedure of the DC motor control method according to the fifth embodiment of the present invention is similar to the flowchart shown in FIG.

FIG. 13 is a block diagram showing a configuration of a DC motor control device according to a sixth embodiment of the present invention. D according to the sixth embodiment of the present invention shown in FIG.
The C motor control device also includes a DC unit 6 and a carriage drive stop time calculation unit 1 added to the DC unit 6.
00. The configuration of the carriage drive stop time calculation unit 100 is similar to the configuration of the carriage drive stop time calculation unit 100 in the DC motor control device according to the second embodiment of the present invention, but is partially different. The configuration of the DC unit 6 is the same as in the first embodiment.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the sixth embodiment of the present invention is capable of controlling the timer interrupt timing from the timer 6k or the encoder interrupt timing from the encoder 11 and the timer interrupt timing. The current amount calculation unit 102 calculates the DC motor current amount in each period between the interrupt timings from the DAC output value at the timing and the encoder interrupt timing.
A total current amount calculator 103 for calculating the total amount of C motor current;
A DC motor drive time calculation unit 104 that calculates a drive time in a series of drive operations from an interval of the timer interrupt timing or the encoder interrupt timing, and updates the DC motor current total amount and the drive time for each timer interrupt timing or encoder interrupt timing. The buffer memory 101 outputs and stores them in accordance with a predetermined drive stop determination condition. Current waveform prediction forming unit 111 for predicting and forming a DC motor current waveform in a series of unexecuted driving operations to be performed, and a subsequent D in a subsequent series of unexecuted driving operations based on the predicted and formed DC motor current waveform.
Subsequent total current amount calculation unit 112 for calculating the total amount of C motor current
And a subsequent drive time calculating unit 113 that calculates a subsequent drive time in a series of subsequent unexecuted drive operations based on the predicted and formed DC motor current waveform, and adds the DC motor current total amount and the subsequent DC motor current total amount. Extended current calculating unit 114 for calculating the total extended DC motor current, extended driving time calculating unit 115 for adding the driving time and the subsequent driving time to calculate the extended driving time, total extended DC motor current and the extended driving And an extended drive stop time calculation unit 117 that calculates an extended drive stop time for stopping the DC motor drive between a series of executed drive operations and a series of subsequent unexecuted drive operations from the time. ing.

As described above, in the DC motor control device according to the second embodiment of the present invention, the timer interrupt timing, the encoder interrupt timing, and the DAC output value at each interrupt timing are stored and held. The DC motor current amount, the DC motor current total amount, and the drive time are calculated according to the drive stop determination condition.

On the other hand, in the DC motor control device according to the sixth embodiment of the present invention, after starting the driving operation,
The amount of DC motor current, the amount of DC current,
The total motor current and the drive time are calculated for each interrupt timing, and the total DC motor current and the drive time are updated for each interrupt timing and stored in the buffer memory 101. Then, according to a predetermined drive stop determination condition,
The total DC motor current is output from the buffer memory 101 to the extended current total calculator 114 and held, and the drive time is output from the buffer memory 101 to the extended drive time calculator 115 and held.

On the other hand, based on the drive control data of the following series of unexecuted driving operations, the DC motor current waveform in the subsequent series of unexecuted driving operations is formed based on the drive motor data predictive formation in response to the determination of DC motor drive stop. Each operation procedure after the operation procedure predicted and formed by the unit 111 is the same as in the second embodiment. Therefore, the flowchart showing the procedure of the DC motor control method according to the sixth embodiment of the present invention is similar to the flowchart shown in FIG.

FIG. 14 is a block diagram showing a configuration of a DC motor control device according to the seventh embodiment of the present invention. D according to the seventh embodiment of the present invention shown in FIG.
The C motor control device also includes a DC unit 6 and a carriage drive stop time calculation unit 1 added to the DC unit 6.
00. The configuration of the carriage drive stop time calculation unit 100 is similar to the configuration of the carriage drive stop time calculation unit 100 in the DC motor control device according to the third embodiment of the present invention, but is partially different. The configuration of the DC unit 6 is the same as in the first embodiment.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the seventh embodiment of the present invention includes a timer interrupt timing from the timer 6k or an encoder interrupt timing from the encoder 11, and a timer interrupt timing. The current amount calculation unit 102 calculates the DC motor current amount in each period between the interrupt timings from the DAC output value at the timing and the encoder interrupt timing.
A total current amount calculator 103 for calculating the total amount of C motor current;
A DC motor drive time calculation unit 104 that calculates a drive time in a series of drive operations from an interval of the timer interrupt timing or the encoder interrupt timing, and updates the DC motor current total amount and the drive time for each timer interrupt timing or encoder interrupt timing. A buffer memory 101 which stores and holds the DC motor current in accordance with a predetermined drive stop determination condition; and a unit time current amount calculation unit which calculates a DC motor current amount per unit time from the DC motor current total amount and the drive time. A drive stop time calculation unit for calculating a drive stop time for stopping the DC motor drive between one drive operation and a subsequent drive operation based on the drive time and the DC motor current amount per unit time; 106, based on the drive control data of the subsequent series of unexecuted drive operations, If serial drive stop time is a positive value, the drive current to predict form DC motor current waveform in a series of driving operations subsequent unexecuted waveform prediction forming unit 11
1, a subsequent current total amount calculation unit 112 that calculates the total amount of subsequent DC motor current in a series of subsequent unexecuted driving operations based on the predicted formed DC motor current waveform, and a subsequent current A subsequent drive time calculation unit 113 for calculating a subsequent drive time in a series of unexecuted drive operations to be performed;
An extended current total amount calculation unit 114 that adds the total motor current amount to calculate an extended DC motor current total amount; an extended drive time calculation unit 115 that adds the drive time and the subsequent drive time to calculate an extended drive time; An extended unit time current amount calculation unit 116 that calculates an extended DC motor current amount per unit time in a series of executed driving operations and a series of subsequent unexecuted driving operations from the DC motor current total amount and the extended driving time; From the extended drive time and the amount of the extended DC motor current per unit time, an extended drive stop time for stopping the DC motor drive between a series of executed drive operations and a series of subsequent unexecuted drive operations is determined. And an extended drive stop time calculating unit 117 to calculate.

As described above, in the DC motor control device according to the third embodiment of the present invention, the timer interrupt timing, the encoder interrupt timing, and the DAC output value at each interrupt timing are stored and held. The DC motor current amount, the total DC motor current amount, and the drive time are calculated according to the drive stop determination condition, and the DC motor current amount τ per unit time is calculated.
The motor drive stop time is calculated.

On the other hand, in the DC motor control device according to the seventh embodiment of the present invention, after starting the driving operation,
The amount of DC motor current, the amount of DC current,
The total motor current and the drive time are calculated for each interrupt timing, and the total DC motor current and the drive time are updated for each interrupt timing and stored in the buffer memory 101. Then, according to a predetermined drive stop determination condition,
DC motor current total and drive time buffer memory 10
1 to the unit time current amount calculation unit 105, and
The total DC motor current is output from the buffer memory 101 to the extended current total calculator 114 and held, and the drive time is output from the buffer memory 101 to the extended drive time calculator 115 and held.

On the other hand, when the DC motor drive stop time Δt is a positive value (Δt> 0), the subsequent unexecuted series of drive operations are performed based on the drive control data of the subsequent unexecuted series of drive operations. The operation procedures after the operation procedure of predicting and forming the DC motor current waveform by the drive current waveform prediction forming unit 111 in the above are the same as those in the third embodiment. Therefore, the flowchart showing the procedure of the DC motor control method according to the seventh embodiment of the present invention is similar to the flowchart shown in FIG.

FIG. 15 is a block diagram showing a configuration of a DC motor control device according to an eighth embodiment of the present invention. D according to the fifth embodiment of the present invention shown in FIG.
The C motor control device also includes a DC unit 6 and a carriage drive stop time calculation unit 1 added to the DC unit 6.
00. The configuration of the carriage drive stop time calculation unit 100 is similar to the configuration of the carriage drive stop time calculation unit 100 in the DC motor control device according to the fourth embodiment of the present invention, but is partially different. The configuration of the DC unit 6 is the same as in the first embodiment.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the eighth embodiment of the present invention includes: a timer interrupt timing from the timer 6k or an encoder interrupt timing from the encoder 11; The current amount calculation unit 102 calculates the DC motor current amount in each period between the interrupt timings from the DAC output value at the timing and the encoder interrupt timing.
A total current amount calculator 103 for calculating the total amount of C motor current;
A DC motor drive time calculation unit 104 that calculates a drive time in a series of drive operations from an interval of the timer interrupt timing or the encoder interrupt timing, and updates the DC motor current total amount and the drive time for each timer interrupt timing or encoder interrupt timing. A buffer memory 101 that stores and holds them according to a predetermined drive stop determination condition, and a DC motor between one drive operation and a subsequent drive operation based on the total DC motor current and the drive time. If the drive stop time is a positive value based on the drive stop time calculation unit 106 that calculates the drive stop time to stop driving and the drive control data of the subsequent series of unexecuted drive operations, A drive current waveform predictor for predicting and forming a DC motor current waveform in a series of unexecuted drive operations. A forming section 111, predicted formed DC
A subsequent current total amount calculation unit 112 that calculates a total amount of subsequent DC motor current in a subsequent series of unexecuted driving operations based on the motor current waveform, and a subsequent series of unexecuted driving based on the predicted formed DC motor current waveform. A subsequent drive time calculation unit 113 that calculates a subsequent drive time in the operation;
An extended current total amount calculation unit 114 that calculates the extended DC motor current amount by adding the total DC motor current amount and the subsequent DC motor current amount, and an extended drive that calculates the extended drive time by adding the drive time and the subsequent drive time The extended drive stop time for stopping the DC motor drive between a series of executed driving operations and a series of subsequent unexecuted driving operations based on the time calculating unit 115 and the total amount of the extended DC motor current and the extended driving time. And an extended drive stop time calculation unit 117 for calculating

As described above, in the DC motor control device according to the fourth embodiment of the present invention, the timer interrupt timing, the encoder interrupt timing, and the DAC output value at each interrupt timing are stored and held. The DC motor current amount, the DC motor current total amount, and the drive time are calculated according to the drive stop determination condition.
The DC motor drive stop time is calculated.

On the other hand, in the DC motor control device according to the eighth embodiment of the present invention, after starting the driving operation,
The amount of DC motor current, the amount of DC current,
The total motor current and the drive time are calculated for each interrupt timing, and the total DC motor current and the drive time are updated for each interrupt timing and stored in the buffer memory 101. Then, according to a predetermined drive stop determination condition,
DC motor current total and drive time buffer memory 10
1 to the drive stop time calculation unit 106 and D
The total amount of the C motor current is output from the buffer memory 101 to the extended current amount calculation unit 114 and held, and the drive time is output from the buffer memory 101 to the extended drive time calculation unit 115 and held.

On the other hand, when the DC motor drive stop time Δt is a positive value (Δt> 0), the subsequent unexecuted series of drive operations are performed based on the drive control data of the subsequent unexecuted series of drive operations. Each operation procedure after the operation procedure of predicting and forming the DC motor current waveform by the drive current waveform prediction forming unit 111 in the second embodiment is the same as that of the fourth embodiment. Therefore, the flowchart showing the procedure of the DC motor control method according to the eighth embodiment of the present invention is similar to the flowchart shown in FIG.

FIG. 16 is a block diagram showing the configuration of the DC motor control device according to the ninth embodiment of the present invention. D according to the ninth embodiment of the present invention shown in FIG.
The C motor control device also includes a DC unit 6 and a carriage drive stop time calculation unit 1 added to the DC unit 6.
However, the configuration of the carriage drive stop time calculation unit 100 is different from those of the first to eighth embodiments. The configuration of the DC unit 6 is the same as in the first embodiment.

In the above-described first to eighth embodiments, each of a series of driving operations of the DC motor is executed once, and a series of driving operations already executed and a series of unexecuted subsequent driving operations are performed. Calculate the driving time and the DC motor current amount per unit time in the driving operation, or the DC motor current total amount and the driving time, and calculate the calculated value before starting the subsequent driving operation for each series of driving operations. A drive stop time for stopping the DC motor drive for a corresponding time is provided.

On the other hand, the ninth to the first to be described below
In the sixth embodiment, the driving time and the DC motor current amount per unit time in one executed series of driving operations are calculated for each series of driving operations of the DC motor.
Alternatively, the DC motor current total amount and the driving time are calculated, and before the subsequent driving operation is started for each of the plural series of driving operations, a series of a plurality of executed driving operations and a series of a predetermined number of unexecuted driving operations are performed. Is characterized by providing a drive time and a DC motor current amount per unit time in the drive operation, or a drive stop time for stopping the DC motor drive for a time corresponding to the DC motor current amount and the drive time.

By providing a drive stop time for each of a plurality of series of drive operations rather than for each of a series of drive operations, the amount of heat generated by the DC motor can be reduced while suppressing an increase in the overall drive time. Can be suppressed. For example, if the drive stop time calculated in one drive operation is a negative value and the drive stop time calculated in the subsequent drive operation is a positive value, the drive stop time is canceled to make the drive stop time shorter. Thus, the amount of heat generated by the DC motor can be suppressed.

On the other hand, the number of a series of unexecuted driving operations to be considered when calculating the driving stop time may be one or a plurality of times. It should be smaller than the number of times of a series of driving operations. That is, the influence of the series of unexecuted driving operations on the magnitude of the driving stop time is made smaller than the influence of the series of executed driving operations on the magnitude of the driving stop time. This is because determined elements should be evaluated more than undetermined elements.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the ninth embodiment of the present invention includes a timer interrupt timing from the timer 6k, an encoder interrupt timing from the encoder 11, and a timer interrupt timing. The buffer memory 101 that stores and holds the DAC output values at the encoder interrupt timing and outputs them in accordance with predetermined drive stop determination conditions, and determines the timing of each interrupt timing based on the timer interrupt timing or the interval of the encoder interrupt timing and the DAC output value. DC in each period between
A current amount calculator 102 for calculating a motor current amount; a current total amount calculator 103 for calculating a DC motor current amount in one series of driving operations from a DC motor current amount in each period; a timer interrupt timing or an encoder interrupt DC motor drive time calculation unit 1 that calculates a drive time in one series of drive operations from timing intervals
04, a counter 107 for counting the number of times of calculating the total amount of the DC motor current and the drive time, and issuing a drive current waveform prediction forming command when the number of calculations reaches a predetermined number of times (K times); Based on the drive control data of a series of drive operations (p times), D in a subsequent p series of unexecuted drive operations in response to a drive current waveform prediction formation command
A driving current waveform prediction forming unit 111 for predicting and forming a C motor current waveform, and a subsequent current for calculating a total amount of a subsequent DC motor current in a subsequent series of unexecuted p driving operations based on the predicted DC motor current waveform Total amount calculation unit 1
12, a subsequent drive time calculation unit 113 for calculating a subsequent drive time in a series of subsequent unexecuted p drive operations based on the predicted and formed DC motor current waveform, and a DC motor current total amount for K times. , An extended current total amount calculation unit 114 for adding the total DC motor current amount for the K times and the subsequent DC motor current amount to calculate an extended DC motor current total amount;
The extended drive time calculation unit 115 that holds the K drive times and adds the K drive time and the subsequent drive time to calculate the extended drive time, and executes the extended DC motor current total amount and the extended drive time. An extended unit time current amount calculator 116 for calculating an extended DC motor current amount per unit time in the completed K series of driving operations and the subsequent unexecuted p series of driving operations; From the amount of the extended DC motor current per unit time, the extended drive stop time for stopping the DC motor drive between the executed K series of drive operations and the subsequent unexecuted p series of drive operations is calculated. And an extended drive stop time calculating unit 117 to calculate.

FIG. 17 is a flowchart showing the operation of the DC motor control device according to the ninth embodiment of the present invention, that is, the procedure of the DC motor control method according to the ninth embodiment of the present invention. .

Referring to FIGS. 16 and 17, the operation of the DC motor control apparatus according to the ninth embodiment of the present invention, that is, the DC motor control method according to the ninth embodiment of the present invention will be described. I do.

[0155] In response to a start command signal for the DC motor, D
After the C motor is driven and the carriage starts to be driven, every time a timer interrupt from the timer 6k or an encoder interrupt from the encoder 11 occurs, the timing and the DA at each timing are determined.
The C output value is stored and held in the buffer memory 101.

After the start of the driving operation, the buffer memory 101 outputs the stored timer interruption timing and encoder interruption timing and the DAC output value at each timing according to predetermined driving stop judgment conditions (step S161). As in the first embodiment, the predetermined drive stop determination condition is, for example, that no timer interrupt occurs and that a reverse rotation of the encoder is detected, or that no timer interrupt occurs, and It is assumed that an interrupt does not occur for a predetermined time (for example, 5 ms). That is, when the encoder reverse rotation is detected after the transition from the timer interrupt control to the encoder interrupt control,
Or, if the encoder interrupt does not occur for a certain period of time,
Assuming that the DC motor drive stop has been determined, the buffer memory 101 outputs the above-described timings and DAC output values.

When it is determined that the DC motor is to be stopped, and the timer interrupt timing, the encoder interrupt timing, and the DAC output value at each timing are output, the current amount calculation unit 102, the total current amount calculation unit 103, the DC
By the series of operations of the motor drive time calculation unit 104, the DC motor drive time and the DC
The total motor current is calculated (step S122).

The method of calculating the DC motor drive time and the total amount of DC motor current in a series of drive operations is as described in the first embodiment. The calculated DC motor drive time and the total amount of DC motor current are stored in an extended current total amount calculation unit 114 and an extended drive time calculation unit 115, respectively, as described later.

When the DC motor driving time and the DC motor current total amount are calculated by the total current amount calculating section 103 and the DC motor driving time calculating section 104, the counter 107 counts the number of times of calculation. The counter 107 performs the drive current waveform prediction formation only when the number N of times of calculating the DC motor drive time and the total amount of the DC motor current becomes an integral multiple of K (N = mK (m = 1, 2,...)). A driving current waveform prediction forming command is issued by outputting a command signal (step S16).
3).

On the other hand, unless the drive current waveform prediction formation and the subsequent operation procedure are performed in response to the drive current waveform prediction formation command from the counter 107, the calculated DC motor drive time and DC motor current total amount are the extended current total amount. Calculation unit 1
14, and sequentially stored in the extended drive time calculation unit 115 (step S164).

The drive current waveform prediction forming command signal is input from the counter 107 to the drive current waveform prediction forming section 111 when the DC motor drive time and the number N of times of calculating the total DC motor current amount become an integral multiple of K (N = mK). Then, based on the drive control data of the subsequent p unexecuted series of drive operations, the drive current waveform prediction forming unit 111
A DC motor current waveform in a series of driving operations is predicted and formed (step S165).

After the DC motor current waveform is predicted and formed in the subsequent series of unexecuted p driving operations, the subsequent current total amount calculating unit 112 and the subsequent driving time calculating unit 113 determine the DC motor current waveform based on the predicted and formed DC motor current waveform. Then, the total amount of the subsequent current and the subsequent driving time in the subsequent series of unexecuted p driving operations are calculated (step S166).

After calculating the total amount of the subsequent current and the subsequent driving time,
The extended current total amount calculation unit 114 calculates the stored D
The total extended current amount IEX is calculated by adding the total amount of the C motor current and the total amount of the subsequent current, and the extended drive time calculating unit 11
5 calculates the extended drive time TEX by adding the held drive time for K times and the subsequent drive time (step S167).

After calculating the total extended current amount IEX and the extended drive time TEX, from the total extended current amount IEX and the extended drive time TEX,
Extension D per unit time in the executed K series of driving operations and the subsequent unexecuted p series of driving operations
The C motor current amount τEX = IEX / TEX is calculated (step S168).

Extended DC motor current amount τ per unit time
After calculating EX, the extended drive time TEX and the extended DC motor current amount τ per unit time in the K series of executed drive operations and the subsequent p series of unexecuted drive operations
From EX, the extended drive stop time ΔtEX is calculated by the extended drive stop time calculation unit 117 (step S169). The method of calculating the extended drive stop time ΔtEX is as described in the first embodiment.

Then, the calculated extended drive stop time Δt
The subsequent drive control is performed according to the value of EX. That is, it is determined whether the extended drive stop time ΔtEX is a positive value (ΔtEX> 0) (step S170), and the extended drive stop time Δ
When tEX is 0 or less (ΔtEX ≦ 0), DC
Without providing a motor drive stop time, the process immediately proceeds to the subsequent drive operation immediately after the DC motor drive is stopped (step S171).

On the other hand, when the extended drive stop time ΔtEX is a positive value (ΔtEX> 0), the DC motor drive is stopped and then the DC motor is stopped for the extended drive stop time ΔtEX (step S172). Extended drive stop time Δ
After the elapse of tEX, the operation shifts to the subsequent driving operation.

As described above, according to the DC motor control device and the control method according to the ninth embodiment of the present invention, instead of one series of drive operations, instead of one series of drive operations, , As well as a series of executed driving operations,
By providing a drive stop time calculated in consideration of the contents of a series of subsequent unexecuted drive operations, it is possible to reduce the amount of heat generated by the DC motor while suppressing the increase in the overall drive time even further. It is possible to prevent shortage of current from flowing into the DC motor due to heat generated by the DC motor. For example, if the drive stop time calculated in one drive operation is a negative value and the drive stop time calculated in the subsequent drive operation is a positive value, the drive stop time is canceled to make the drive stop time shorter. Thus, the amount of heat generated by the DC motor can be suppressed.

FIG. 18 is a block diagram showing a configuration of a DC motor control device according to the tenth embodiment of the present invention.

The DC motor control device according to the tenth embodiment of the present invention shown in FIG.
And a carriage drive stop time calculation unit 100 added to the C unit 6. The configuration of the carriage drive stop time calculation unit 100 is similar to the configuration of the carriage drive stop time calculation unit 100 in the DC motor control device according to the ninth embodiment of the present invention, but is partially different. The configuration of the DC unit 6 is as follows.
This is the same as in the first embodiment.

As can be seen from equation (1) shown in the description of the first embodiment, the extended drive stop time ΔtEX
Can be calculated from the values of the total extended current amount IEX and the extended drive time TEX without calculating the extended DC motor current amount τEX per unit time. Therefore, the tenth aspect of the present invention
The carriage drive stop time calculation unit 100 in the DC motor control device according to the ninth embodiment is different from the carriage drive stop time calculation unit 10 in the ninth embodiment.
The configuration is such that the extension unit time current amount calculation unit 116 is removed from 0.

That is, the carriage drive stop time calculation unit 100 in the DC motor control device according to the tenth embodiment of the present invention is different from the carriage drive stop time calculation unit 100 in the DC motor control device according to the ninth embodiment of the present invention. The calculation unit 100 stores and holds the timer interrupt timing from the timer 6k, the encoder interrupt timing from the encoder 11, and the DAC output values at the timer interrupt timing and the encoder interrupt timing, and stores them in accordance with predetermined drive stop determination conditions. Output buffer memory 101, timer interrupt timing or encoder interrupt timing interval and DAC
A current amount calculation unit 102 that calculates a DC motor current amount in each period between each interrupt timing from the output value,
From a DC motor current amount in each period, a total current amount calculating unit 103 that calculates a total DC motor current amount in one series of driving operations, and an interval of a timer interruption timing or an encoder interruption timing, a single series of driving operations is performed. A DC motor drive time calculation unit 104 for calculating the drive time, and a counter for counting the total number of DC motor currents and the number of times the drive time is calculated, and issuing a drive current waveform prediction forming command when the number of calculations reaches a predetermined number (K times). 107,
A DC motor current waveform in a subsequent p series of unexecuted drive operations in response to a drive current waveform prediction formation command based on drive control data of a series of subsequent unexecuted predetermined times (p times) of drive operation Drive current waveform prediction forming section 111 for predicting and forming the following, and the subsequent current total amount calculating section 112 for calculating the subsequent DC motor current total in the subsequent series of unexecuted p driving operations based on the predicted and formed DC motor current waveform And, based on the predicted DC motor current waveform,
A subsequent drive time calculation unit 113 for calculating a subsequent drive time in a series of unexecuted p-time drive operations, holding the total DC motor current for K times, and calculating the total DC motor current for K times and the subsequent DC motor current Extended DC by adding the total amount
Extended current total amount calculation unit 114 that calculates the total motor current amount
And an extended drive time calculation unit 115 that holds the drive time for K times, adds the drive time for K times and the subsequent drive time to calculate an extended drive time, and calculates the extended DC motor current total amount and the extended drive time. , Between the executed K series of driving operations and the subsequent unexecuted p series of driving operations.
And an extended drive stop time calculation unit 117 for calculating an extended drive stop time for stopping the C motor drive.

FIG. 19 shows the operation of the DC motor control device according to the tenth embodiment of the present invention, that is, the operation of the tenth embodiment of the present invention.
4 is a flowchart showing a procedure of a DC motor control method according to the embodiment.

The operation of the DC motor control device according to the tenth embodiment of the present invention, that is, the procedure of the DC motor control method according to the tenth embodiment of the present invention,
After calculating EX and the extended drive time TEX (step S18)
7), except that the extended drive stop time ΔtEX is calculated from the value of the total extended current IEX and the value of the extended drive time TEX without calculating the extended DC motor current amount τEX per unit time (step S188), All are the same as the ninth embodiment. The fact that the extended drive stop time ΔtEX can be calculated directly from the values of the extended current total amount IEX and the extended drive time TEX is as described in the equation (1) in the description of the first embodiment, as described above. .

FIG. 20 is a block diagram showing a configuration of a DC motor control device according to an eleventh embodiment of the present invention. The DC motor control device according to the eleventh embodiment of the present invention shown in FIG. 20 also includes a DC unit 6 and a carriage drive stop time calculation unit 100 added to the DC unit 6, The configuration of the drive stop time calculation unit 100 is different from that of the ninth embodiment. The configuration of the DC unit 6 is the same as in the first embodiment.

In the DC motor control apparatus and control method according to the ninth embodiment of the present invention described above, a series of K drive operations already executed and p subsequent unexecuted drive operations are performed from the beginning. , The extended drive stop time is calculated according to the drive time and the DC motor current amount per unit time, and it is determined whether to set the extended drive stop time. On the other hand, D according to the eleventh embodiment of the present invention
In the C motor control device and the control method, first, a drive stop time for K times is calculated according to a drive time and a DC motor current amount per unit time in a series of K drive operations that have been executed, and The drive stop time integrated value is calculated from the drive stop time, and only when it is determined that the drive stop time should be set based on the drive stop time integrated value, the K drive operations already performed and the subsequent Calculating an extended drive stop time according to the drive time and the DC motor current amount per unit time in the p unexecuted drive operations;
It is determined whether to set the extended drive stop time.

That is, in the DC motor control device and the control method according to the eleventh embodiment of the present invention, first, it is determined whether or not to set the drive stop time in accordance with the content of the K drive operations that have been performed. However, if it is determined that the drive stop time should be set, further, according to the executed K drive operation contents and the subsequent unexecuted p drive operation contents,
This is to determine whether it is really necessary to set the drive stop time.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the eleventh embodiment of the present invention includes a timer interrupt timing from the timer 6k, an encoder interrupt timing from the encoder 11, and a timer interrupt timing. The buffer memory 101 which stores and holds the DAC output values at the encoder interrupt timing and outputs them in accordance with predetermined drive stop determination conditions, and the interval of the timer interrupt timing or the encoder interrupt timing and the DAC output value and the DAC output value determines each interrupt timing. DC in each period between
A current amount calculator 102 for calculating a motor current amount; a current total amount calculator 103 for calculating a DC motor current amount in one series of driving operations from a DC motor current amount in each period; a timer interrupt timing or an encoder interrupt DC motor drive time calculation unit 1 that calculates a drive time in one series of drive operations from timing intervals
A unit time current amount calculation unit 105 that calculates a DC motor current amount per unit time in one series of drive operations from the DC motor current total amount and the drive time in one series of drive operations; From the drive time in a series of drive operations and the DC motor current amount per unit time,
A DC motor drive stop time calculation unit 106 that calculates a DC motor drive stop time for stopping the DC motor drive between one drive operation and a subsequent drive operation;
Counter 10 for counting the number of times the motor drive stop time is calculated
7 and a predetermined number of times (K times) of DC motor drive stop time are stored and stored, and when the number of times of calculation of the DC motor drive stop time becomes K times, the DC motor drive stop time of K times is output. From the buffer memory 108 and the DC motor drive stop time for K times, the DC
The DC motor drive stop time is calculated based on the DC motor drive stop time integrated value calculation unit 109 for calculating the motor drive stop time integrated value and the drive control data of a series of drive operations of a predetermined number of times (p times) that have not been executed. When the integrated value is a positive value, a driving current waveform prediction forming unit 111 that predicts and forms a DC motor current waveform in a series of subsequent unexecuted p driving operations, based on the predicted and formed DC motor current waveform A subsequent current total amount calculating unit 112 for calculating a total subsequent DC motor current amount in a series of subsequent unexecuted p driving operations, and a predicted DC motor current waveform,
A subsequent drive time calculation unit 113 for calculating a subsequent drive time in a series of unexecuted p-time drive operations, holding the total DC motor current for K times, and calculating the total DC motor current for K times and the subsequent DC motor current Extended DC by adding the total amount
Extended current total amount calculation unit 114 that calculates the total motor current amount
And an extended drive time calculation unit 115 that holds the drive time for K times, adds the drive time for K times and the subsequent drive time to calculate an extended drive time, and calculates the extended DC motor current total amount and the extended drive time. An extended unit time current amount calculator 116 for calculating an extended DC motor current amount per unit time in a series of executed K driving operations and a subsequent series of unexecuted p driving operations; Extended drive stop to stop the DC motor drive between the executed K series of drive operations and the subsequent unexecuted p series of drive operations, based on and the extended DC motor current amount per unit time. And an extended drive stop time calculation unit 117 for calculating time.

FIG. 21 shows the operation of the DC motor control device according to the eleventh embodiment of the present invention, that is, the eleventh embodiment of the present invention.
4 is a flowchart showing a procedure of a DC motor control method according to the embodiment.

The operation of the DC motor control device according to the eleventh embodiment of the present invention, that is, the DC motor control method according to the eleventh embodiment of the present invention will be described with reference to FIGS. I do.

Judgment of DC motor drive stop determination conditions (step S201), calculation of DC motor current total and DC motor drive time, calculation of DC motor current τ per unit time (step S202), DC motor drive stop time Δ
The calculation and control operation of each numerical value in each step of the calculation of t (step S203) are the same as in the third embodiment. The DC motor driving time and the DC motor current total amount calculated in step S202 are stored in the extended current total amount calculating unit 114 and the extended driving time calculating unit 115, respectively.

After the DC motor drive stop time Δt is calculated, the counter 107 counts the number of times the DC motor drive stop time Δt is calculated. The counter 107 determines that the number N of times of calculation of the DC motor drive stop time Δt is an integral multiple of K (N
= MK (m = 1, 2,...)), An output command signal is output (step S204).

On the other hand, the buffer memory 108 sequentially stores and holds the calculated DC motor drive stop time Δt unless an output command signal is input from the counter 107 (step S205).

Calculation number N of DC motor drive stop time Δt
Becomes an integral multiple of K (N = mK) and an output command signal is input from the counter 107 to the buffer memory 108,
The buffer memory 108 sequentially outputs the DC motor drive stop time Δt for the last K times to the DC motor drive stop time integrated value calculation unit 109. The DC motor drive stop time integrated value calculating unit 109 calculates the DC motor drive stop time integrated value ΣΔt in a series of K drive operations by adding all of the DC motor drive stop times Δt for the last K times. Step S206).

Then, subsequent drive control is performed according to the calculated value of the DC motor drive stop time integrated value ΣΔt.
That is, it is determined whether the DC motor drive stop time integrated value ΣΔt is a positive value (ΣΔt> 0) (step S20).
7) When the integrated value of the DC motor drive stop time ΣΔt is a value of 0 or less (ΣΔt ≦ 0), the DC motor drive stop time is not provided, and the subsequent drive is performed immediately after the DC motor drive stop as usual. Move to operation (step S20)
8).

On the other hand, the DC motor drive stop time integrated value 時間 Δ
When t is a positive value (ΣΔt> 0), a drive stop time equal to the DC motor drive stop time integrated value ΣΔt is not immediately provided, and if only a series of K drive operations that have been executed are performed. In addition, the extended drive stop time ΔtEX is calculated in order to determine whether or not it is necessary to provide the DC motor drive stop time in consideration of the content of a series of subsequent unexecuted drive operations. To start the operation procedure.

That is, the integrated value of the DC motor drive stop time ΣΔ
When t is a positive value (ΣΔt> 0), first, based on the drive control data of the subsequent unexecuted p series of driving operations, DC in the subsequent unexecuted p series of driving operations is performed. The motor current waveform is predicted and formed by the drive current waveform prediction forming unit 111 (step S209).

After the DC motor current waveform is predicted and formed in the subsequent series of unexecuted p driving operations, the subsequent current total amount calculating unit 112 and the subsequent driving time calculating unit 113 determine the DC motor current waveform based on the predicted and formed DC motor current waveform. Then, the subsequent current total amount and the subsequent driving time in the subsequent series of unexecuted p driving operations are calculated (step S210).

After calculating the total amount of the subsequent current and the subsequent driving time,
The extended current total amount calculation unit 114 calculates the stored D
The total extended current amount IEX is calculated by adding the total amount of the C motor current and the total amount of the subsequent current, and the extended drive time calculating unit 11
5 calculates the extended drive time TEX by adding the held drive time for K times and the subsequent drive time (step S211).

After calculating the total extended current amount IEX and the extended driving time TEX, the following formula is obtained from the total extended current amount IEX and the extended driving time TEX.
Extension D per unit time in the executed K series of driving operations and the subsequent unexecuted p series of driving operations
The C motor current amount τEX = IEX / TEX is calculated (step S212).

Extended DC motor current amount τ per unit time
After calculating EX, the extended drive time TEX and the extended DC motor current amount τ per unit time in the K series of executed drive operations and the subsequent p series of unexecuted drive operations
From EX, the extended drive stop time ΔtEX is calculated by the extended drive stop time calculation unit 117 (step S213). The method of calculating the extended drive stop time ΔtEX is as described in the first embodiment.

Then, the calculated extended drive stop time Δt
The subsequent drive control is performed according to the value of EX. That is, it is determined whether or not the extended drive stop time ΔtEX is a positive value (ΔtEX> 0) (step S214), and the extended drive stop time Δ
When tEX is 0 or less (ΔtEX ≦ 0), DC
Without providing a motor drive stop time, the process immediately proceeds to the subsequent drive operation immediately after the DC motor drive is stopped (step S208).

On the other hand, when the extended drive stop time ΔtEX is a positive value (ΔtEX> 0), the DC motor drive is stopped and then the DC motor is stopped for the extended drive stop time ΔtEX (step S215). Extended drive stop time Δ
After the elapse of tEX, the operation shifts to the subsequent driving operation.

As described above, according to the DC motor control device and the control method according to the eleventh embodiment of the present invention, instead of every single series of driving operations, each series of plural driving operations is performed. By providing a drive stop time calculated in consideration of not only a series of executed driving operations but also a series of subsequent unexecuted driving operations, it is possible to further suppress an increase in the entire driving time. However, it is possible to suppress the amount of heat generated by the DC motor and prevent shortage of current from flowing into the DC motor due to heat generated by the DC motor due to continuous operation. For example, if the drive stop time calculated in one drive operation is a negative value and the drive stop time calculated in the subsequent drive operation is a positive value, the drive stop time is canceled to make the drive stop time shorter. Thus, the amount of heat generated by the DC motor can be suppressed.

FIG. 22 is a block diagram showing a configuration of a DC motor control device according to the twelfth embodiment of the present invention.

A DC motor control device according to the twelfth embodiment of the present invention shown in FIG.
And a carriage drive stop time calculation unit 100 added to the C unit 6. The configuration of the carriage drive stop time calculation unit 100 is the same as that of the eleventh embodiment of the present invention.
Although the configuration is similar to that of the carriage drive stop time calculation unit 100 in the DC motor control device according to the present embodiment, the configuration is partially different. The configuration of the DC unit 6 is the same as in the first embodiment.

As can be seen from the equation (1) shown in the description of the first embodiment, the DC motor drive stop time Δt and the extended drive stop time ΔtEX are expressed by D per unit time.
Even if the C motor current amount τ and the extended DC motor current amount τEX are not calculated, the DC motor current total amount Itotal and the driving time Tt
otal, the total amount of extension current IEX, and the value of the extension drive time TEX. Therefore, the first of the present invention
The carriage drive stop time calculation unit 100 in the DC motor control device according to the second embodiment is different from the carriage drive stop time calculation unit 100 in the eleventh embodiment in the unit time current amount calculation unit 105 and the extended unit time current amount calculation. The configuration is such that the part 116 is removed.

The carriage drive stop time calculation unit 100 in the DC motor control device according to the twelfth embodiment of the present invention includes a timer interrupt timing from the timer 6k, an encoder interrupt timing from the encoder 11, and a timer interrupt timing. The buffer memory 101 that stores and holds the DAC output values at the encoder interrupt timing and outputs them in accordance with predetermined drive stop determination conditions, and determines the timing of each interrupt timing based on the timer interrupt timing or the interval of the encoder interrupt timing and the DAC output value. DC in each period between
A current amount calculator 102 for calculating a motor current amount; a current total amount calculator 103 for calculating a DC motor current amount in one series of driving operations from a DC motor current amount in each period; a timer interrupt timing or an encoder interrupt DC motor drive time calculation unit 1 that calculates a drive time in one series of drive operations from timing intervals
04 and the DC motor current total amount and the drive time in one series of drive operations, the DC motor drive should be stopped between one drive operation and the subsequent drive operation.
A DC motor drive stop time calculation unit 106 that calculates the C motor drive stop time, a counter 107 that counts the number of times the DC motor drive stop time is calculated, and stores a predetermined plurality (K) of DC motor drive stop times. When the number of times the DC motor drive stop time is calculated reaches K times, K times D
Buffer memory 108 for outputting C motor drive stop time
A DC motor drive stop time integrated value calculation unit 109 that calculates a DC motor drive stop time integrated value in a series of K drive operations from the K times of DC motor drive stop time;
If the DC motor drive stop time integrated value is a positive value based on the drive control data of a series of subsequent unexecuted predetermined times (p times) of drive operation, the subsequent unexecuted p series of unexecuted times A driving current waveform prediction forming unit 111 for predicting and forming a DC motor current waveform in a driving operation;
A subsequent current total amount calculation unit 112 that calculates the total amount of the subsequent DC motor current in the subsequent series of unexecuted p driving operations based on the C motor current waveform, and the subsequent unexecuted based on the predicted formed DC motor current waveform A subsequent driving time calculation unit 113 for calculating a subsequent driving time in a series of p driving operations, and holding a total DC motor current amount for K times,
An extended current total amount calculation unit 114 for calculating the extended DC motor current amount by adding the total DC motor current amount for the K times and the subsequent DC motor current amount;
An extended drive time calculation unit 115 that calculates an extended drive time by adding the current drive time and the subsequent drive time, and performs a series of K drive operations that have been performed from the extended DC motor current total amount and the extended drive time. An extended drive stop time calculation unit 117 for calculating an extended drive stop time for stopping the DC motor drive between the subsequent unexecuted series of p drive operations.

FIG. 23 shows the operation of the DC motor control apparatus according to the twelfth embodiment of the present invention, that is, the twelfth embodiment of the present invention.
4 is a flowchart showing a procedure of a DC motor control method according to the embodiment.

The operation of the DC motor control apparatus according to the twelfth embodiment of the present invention, that is, the procedure of the DC motor control method according to the twelfth embodiment of the present invention is based on the total DC motor current Itotal and the driving time. After calculating Ttotal, the DC motor drive stop time Δt is calculated from the DC motor current total Itotal and the drive time Ttotal without calculating the DC motor current amount τ per unit time (step S22).
(2, S223), after calculating the total extended current amount IEX and the extended drive time TEX (step S231), without calculating the extended DC motor current amount τEX per unit time, calculate the total extended current amount IEX and the extended drive time TEX. Except for the point that the extended drive stop time ΔtEX is calculated from the value (step S232), the configuration is the same as that of the eleventh embodiment. From the values of the total DC motor current Itotal and the drive time Ttotal, D
The fact that the C motor drive stop time Δt can be calculated and that the extended drive stop time ΔtEX can be calculated directly from the values of the total extended current amount IEX and the extended drive time TEX are as described above in the description of the first embodiment. This is as shown in equation (1).

In each of the above embodiments, the motor to be controlled by the motor control device and the control method according to the present invention is a DC motor, and the motor control device and the control method according to the present invention are the DC motor control device and the control method. Described as a method.

However, according to the present invention, it is determined whether or not to set the drive stop time in accordance with not only the executed driving operation contents but also the following unexecuted driving operation contents. The basic configuration of the method is not limited to the case where the motor to be controlled is a DC motor, and can be applied to the case where another type of motor such as a stepping motor is to be controlled.

FIG. 24 is an explanatory diagram showing a recording medium on which a computer program for executing the printer control method according to the present invention is recorded, and an external configuration of a computer system using the recording medium. 3 is a block diagram illustrating a configuration of the computer system illustrated in FIG.

The computer system 70 shown in FIG.
Are a computer main body 71 housed in a mini-tower type housing or the like, a display device 72 such as a DC motor T (Cathode Ray Tube: cathode ray tube), a plasma display, a liquid crystal display device, and a printer 73 as a recording output device. A keyboard 74a and a mouse 74b as input devices, a flexible disk drive device 76, and a CD-ROM
And a drive device 77. FIG. 25 is a block diagram showing the configuration of the computer system 70. An internal memory 75 such as a random access memory (RAM) and a hard disk drive unit 78
And the like. The recording medium on which the computer program for executing the printer control method according to the present invention is recorded is the computer system 70
Used in. As a recording medium, for example, a flexible disk 81, a CD-ROM (Read Only Memory) 8
2, MO (Magneto Optical)
A disk, a DVD (Digital Versatile Disk), another optical recording disk, a card memory, a magnetic tape, or the like may be used.

[0205]

According to the motor control device and the control method according to the present invention, not only the driving time and the motor current amount per unit time in the already executed driving operation, or the total motor current amount and the driving time, but also the following. Since it is determined whether to set the drive stop time according to the drive time and the motor current amount per unit time in the unexecuted drive operation, or the total motor current amount and the drive time, unnecessary drive is determined. Avoiding the provision of a stop time or the failure to provide the originally required drive stop time, and suppressing the increase in the overall drive time to a smaller amount, while allowing the current to flow into the motor due to the heat generated by the motor due to continuous operation. Shortage can be prevented.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a DC motor control device according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing the operation of the DC motor control device according to the first embodiment of the present invention.

FIG. 3 is a graph showing a method of calculating a DC motor current amount during a timer interrupt operation period.

FIG. 4 is a graph showing a method of calculating a DC motor current amount during an encoder interrupt operation period.

FIG. 5 shows the DC from the DC motor current per unit time.
7 is a graph showing a method for calculating a motor drive stop time.

FIG. 6 is a block diagram showing a configuration of a DC motor control device according to a second embodiment of the present invention.

FIG. 7 is a flowchart showing an operation of the DC motor control device according to the second embodiment of the present invention.

FIG. 8 is a block diagram showing a configuration of a DC motor control device according to a third embodiment of the present invention.

FIG. 9 is a flowchart showing the operation of the DC motor control device according to the third embodiment of the present invention.

FIG. 10 is a block diagram showing a configuration of a DC motor control device according to a fourth embodiment of the present invention.

FIG. 11 is a flowchart showing an operation of the DC motor control device according to the fourth embodiment of the present invention.

FIG. 12 is a block diagram showing a configuration of a DC motor control device according to a fifth embodiment of the present invention.

FIG. 13 is a block diagram showing a configuration of a DC motor control device according to a sixth embodiment of the present invention.

FIG. 14 is a block diagram showing a configuration of a DC motor control device according to a seventh embodiment of the present invention.

FIG. 15 is a block diagram showing a configuration of a DC motor control device according to an eighth embodiment of the present invention.

FIG. 16 is a block diagram showing a configuration of a DC motor control device according to a ninth embodiment of the present invention.

FIG. 17 is a flowchart showing the operation of the DC motor control device according to the ninth embodiment of the present invention.

FIG. 18 is a block diagram showing a configuration of a DC motor control device according to a tenth embodiment of the present invention.

FIG. 19 is a flowchart showing the operation of the DC motor control device according to the tenth embodiment of the present invention.

FIG. 20 is a block diagram showing a configuration of a DC motor control device according to an eleventh embodiment of the present invention.

FIG. 21 is a flowchart showing the operation of the DC motor control device according to the eleventh embodiment of the present invention.

FIG. 22 is a block diagram showing a configuration of a DC motor control device according to a twelfth embodiment of the present invention.

FIG. 23 is a flowchart showing the operation of the DC motor control device according to the twelfth embodiment of the present invention.

FIG. 24 is an explanatory diagram showing an external configuration of a recording medium on which a program for executing the printer control method according to the present invention is recorded and a computer system using the recording medium.

FIG. 25 is an exemplary block diagram showing the configuration of the computer system shown in FIG. 24.

FIG. 26 is a block diagram illustrating a schematic configuration of an inkjet printer.

FIG. 27 is a perspective view showing a configuration around a carriage 3 of the inkjet printer.

FIG. 28 is an explanatory diagram schematically showing a configuration of the linear encoder 11 attached to the carriage 3.

FIG. 29 is a timing chart showing waveforms of two output signals of the encoder 11 at the time of forward rotation and reverse rotation of the DC motor.

FIG. 30 is a perspective view showing a portion related to paper feeding and paper detection.

FIG. 31 is a perspective view showing a portion related to paper feeding of the printer in detail.

FIG. 32 is a block diagram showing a configuration of a DC unit 6 which is a DC motor control device.

FIG. 33 is a graph showing motor current and motor speed of the DC motor 4 controlled by the DC unit 6;

[Explanation of symbols]

1 Paper feed motor (PF motor) 2 Paper feed driver 3 Carriage 4 Carriage motor (DC motor motor) 5 Carriage motor driver (DC motor motor driver) 6 DC unit 6a Position calculation unit 6b Subtractor 6c Target speed calculation unit 6d Speed calculation Unit 6e Subtractor 6f Proportional element 6g Integral element 6h Differential element 6j D / A converter 7 Pump motor 8 Pump motor driver 9 Recording head 10 Head driver 11 Linear encoder 12 Code plate 13 Encoder (rotary encoder) 14 For rotary encoder Code plate 15 Paper detection sensor 16 CPU 17 Timer IC 18 Host computer 19 Interface unit 20 ASIC 21 PROM 22 RAM 23 EEPROM 25 Platen 30 Pulley 31 Timing Guide 32 Carriage motor guide member 34 Ink cartridge 35 Capping device 36 Pump unit 37 Cap 50 Recording paper 60 Printer 61 Feed insertion slot 62 Discharge port 64 Feed roller 65 Paper feed roller 66 Follower roller 67a Large gear 67b Intermediate gear 67c Discharge gear 68 Discharge roller 69 Follower roller (jagged roller) 83 Smap shaft 84 Platen 87 Small gear 88 Small gear 89 Holder 100 Carriage drive stop time calculation unit 101 Buffer memory 102 Current amount calculation unit 103 Current total amount calculation unit 104 DC motor drive Time calculation unit 105 Unit time current amount calculation unit 106 DC motor drive stop time calculation unit 107 Counter 108 Buffer memory 109 DC motor drive stop time integrated value calculation unit 111 Drive current waveform prediction Generating unit 112 subsequent current amount calculating unit 113 subsequent driving time calculator 114 extended current amount calculating section 115 extended drive time calculating section 116 extended unit time current amount calculation section 117 extended drive stop time calculator

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Claims (22)

[Claims] 1. A total current calculating section for calculating a total amount of motor current in one series of driving operations for each series of driving operations of the motor; A drive time calculating unit for calculating a motor drive time of a series of drive operations; and a drive of an unexecuted series of drive operations subsequent to the executed series of drive operations for each series of drive operations of the motor. A current waveform prediction forming unit that predicts and forms a motor current waveform in a series of unexecuted driving operations based on the control data; and for each one series of driving operations of the motor, based on the predicted and formed motor current waveform, A subsequent current total amount calculation unit for calculating a total subsequent current amount of a series of unexecuted driving operations subsequent to a series of executed driving operations; and a motor current predicted and formed for each series of driving operations of the motor. Based on the waveform A subsequent driving time calculation unit that calculates a subsequent driving time of a series of unexecuted driving operations subsequent to the executed series of driving operations; and An extended current total amount calculating unit that calculates the extended driving time calculating unit that adds the motor driving time and the subsequent driving time to calculate an extended driving time; An extended unit time current amount calculation unit that calculates an extended motor current amount per unit time in one series of driving operations and a subsequent series of unexecuted driving operations, and for each series of driving operations Before starting the subsequent driving operation, the extended driving stop calculating the extended driving stop time for stopping the motor driving for a time corresponding to the extended driving time and the extended motor current amount per unit time A time calculation unit,
A motor control device comprising: 2. A total current calculating unit for calculating a total amount of motor current in one series of driving operations for each series of driving operations of the motor; and one unit for each series of driving operations of the motor. A drive time calculating unit for calculating a motor drive time of a series of drive operations; and a drive of an unexecuted series of drive operations subsequent to the executed series of drive operations for each series of drive operations of the motor. A current waveform prediction forming unit that predicts and forms a motor current waveform in a series of unexecuted driving operations based on the control data; and for each one series of driving operations of the motor, based on the predicted and formed motor current waveform, A subsequent current total amount calculation unit for calculating a total subsequent current amount of a series of unexecuted driving operations subsequent to a series of executed driving operations; and a motor current predicted and formed for each series of driving operations of the motor. Based on the waveform A subsequent driving time calculation unit that calculates a subsequent driving time of a series of unexecuted driving operations subsequent to the executed series of driving operations; and An extended current total amount calculating unit for calculating the following, an extended driving time calculating unit for adding the motor driving time and the subsequent driving time to calculate an extended driving time, and a subsequent driving operation for each of a series of driving operations An extended drive stop time calculation unit that calculates an extended drive stop time for stopping the motor drive for a time corresponding to the total amount of the extended current and the extended drive time before starting. 3. A total current calculating section for calculating a total amount of motor current in one series of driving operations for each series of driving operations of the motor; A drive time calculation unit that calculates a motor drive time of a series of drive operations; and a unit time that calculates a motor current amount per unit time in a series of drive operations from the motor drive time and the total amount of the motor current. A current amount calculation unit, and a drive stop time calculation unit that calculates a drive stop time according to the motor drive time and the motor current amount per unit time before starting a subsequent drive operation for each of a series of drive operations. And when the drive stop time is a positive value, the motor power in the unexecuted series of drive operations is determined based on the drive control data of the unexecuted series of drive operations following the executed series of drive operations. A current waveform prediction forming unit that predicts and forms a flow waveform; and a subsequent current that calculates a total amount of subsequent current of a series of unexecuted driving operations subsequent to a series of executed driving operations based on the predicted motor current waveform. A total amount calculating unit, a subsequent driving time calculating unit that calculates a subsequent driving time of a series of unexecuted driving operations following the executed series of driving operations based on the predicted motor current waveform, and the motor current An extended current total amount calculation unit that calculates an extended current total amount by adding the total amount and the subsequent current total amount; and an extended drive time calculation unit that calculates an extended drive time by adding the motor drive time and the subsequent drive time. From the total amount of the extension current and the extension drive time, the extension motor power per unit time in one executed series of drive operations and one subsequent unexecuted series of drive operations An extension unit time current amount calculation unit for calculating an amount, and a motor corresponding to the extension drive time and the extension motor current amount per unit time before starting a subsequent drive operation for each series of drive operations. An extended drive stop time calculation unit that calculates an extended drive stop time for stopping driving,
A motor control device comprising: 4. A total current calculating unit for calculating a total amount of motor current in one series of driving operations for each series of driving operations of the motor; A drive time calculating unit for calculating a motor drive time of a series of drive operations; and a drive stop according to the motor drive time and the total amount of the motor current before starting a subsequent drive operation for each series of drive operations. A drive stop time calculating unit for calculating a time, when the drive stop time is a positive value, based on the drive control data of a series of unexecuted drive operations subsequent to the executed series of drive operations, A current waveform prediction forming unit for predicting and forming a motor current waveform in a series of driving operations of the following, based on the predicted and formed motor current waveform, following a series of unexecuted driving operations following a series of executed driving operations Current A subsequent current total amount calculating unit for calculating a total amount; and a subsequent drive time calculation for calculating a subsequent drive time of a series of unexecuted drive operations following the executed series of drive operations based on the predicted and formed motor current waveform. An extended current total amount calculating unit that calculates the total extended current amount by adding the total motor current amount and the subsequent current amount; and calculates an extended drive time by adding the motor drive time and the subsequent drive time. An extended drive time calculating unit, which calculates an extended drive stop time for stopping motor driving for a time corresponding to the total amount of the extended current and the extended drive time before starting a subsequent drive operation for each series of drive operations. A motor control device comprising: an extended drive stop time calculation unit. 5. A total current calculating section for calculating a total amount of motor current in one series of driving operations for each series of driving operations of the motor; A drive time calculating unit for calculating a motor drive time of a series of drive operations; and a series of unexecuted drive operations following the executed series of drive operations for each of a plurality of predetermined series of drive operations of the motor. A current waveform prediction forming unit for predicting and forming a motor current waveform in a series of unexecuted driving operations based on the driving control data of the motor; and a motor current predicted and formed for each of a plurality of predetermined series of driving operations of the motor. A subsequent current total amount calculation unit that calculates a total amount of subsequent current of a series of unexecuted driving operations following a series of executed driving operations based on the waveform; and a prediction for each of a plurality of predetermined series of driving operations of the motor. Been formed A subsequent driving time calculation unit that calculates a subsequent driving time of a series of unexecuted driving operations following the executed series of driving operations based on the motor current waveform; and a predetermined plurality of times of the motor current total amount and the subsequent An extended current total amount calculating unit that calculates an extended current amount by adding the total current amount; and an extended driving time calculating unit that calculates an extended driving time by adding the motor driving time and the subsequent driving time for a plurality of predetermined times. And an extension unit for calculating an extension motor current amount per unit time in one executed series of driving operations and one subsequent unexecuted series of driving operations from the total amount of extension current and the extension drive time. A time current amount calculation unit, and a motor corresponding to the extended drive time and the extended motor current amount per unit time before starting the subsequent drive operation for each series of drive operations. An extended drive stop time calculation unit that calculates an extended drive stop time for stopping the motor drive,
A motor control device comprising: 6. A total current calculating section for calculating a total amount of motor current in one series of driving operations for each series of driving operations of the motor; A drive time calculating unit for calculating a motor drive time of a series of drive operations; and a series of unexecuted drive operations following the executed series of drive operations for each of a plurality of predetermined series of drive operations of the motor. A current waveform prediction forming unit for predicting and forming a motor current waveform in a series of unexecuted driving operations based on the driving control data of the motor; and a motor current predicted and formed for each of a plurality of predetermined series of driving operations of the motor. A subsequent current total amount calculation unit that calculates a total amount of subsequent current of a series of unexecuted driving operations following a series of executed driving operations based on the waveform; and a prediction for each of a plurality of predetermined series of driving operations of the motor. Been formed A subsequent driving time calculation unit that calculates a subsequent driving time of a series of unexecuted driving operations following the executed series of driving operations based on the motor current waveform; and a predetermined plurality of times of the motor current total amount and the subsequent An extended current total amount calculating unit that calculates an extended current amount by adding the total current amount; and an extended driving time calculating unit that calculates an extended driving time by adding the motor driving time and the subsequent driving time for a plurality of predetermined times. An extended drive stop time calculation for calculating an extended drive stop time for stopping the motor drive for a time corresponding to the total amount of the extended current and the extended drive time before starting a subsequent drive operation for each series of drive operations. And a motor control device. 7. A motor according to claim 1, wherein each time a series of driving operations of the motor is performed,
Total current to calculate the total motor current for a series of drive operations
Quantity calculation unit, and a series of driving operations for each series of driving operations of the motor.
A drive time calculation unit that calculates a motor drive time of a dynamic operation; and, from the motor drive time and the total amount of motor current, once
Motor current per unit time in a series of drive operations
A unit time current amount calculation unit for calculating the amount;
Drive according to time and the amount of motor current per unit time.
A drive stop time calculation unit for calculating a drive stop time, and a subsequent drive operation for each of a plurality of predetermined series of drive operations
Before the start, the drive stop of a series of predetermined multiple drive operations is performed.
Calculate the integrated value of drive stop time according to the integrated value of stop time
A drive stop time integrated value calculation unit, and when the drive stop time integrated value is a positive value,
Series of unexecuted drive operations that follow the previous series of drive operations
A series of unexecuted drive operations based on the drive control data
Waveform Prediction to Predict and Form Motor Current Waveform
Based on the motor current waveform formed and predicted
Of a series of unexecuted drive operations following the series of drive operations
Based on the following current total amount calculating unit that calculates the total subsequent current amount, and based on the predicted motor current waveform,
Of a series of unexecuted drive operations following the series of drive operations
A subsequent drive time calculation unit for calculating a subsequent drive time; and adding and expanding the total motor current and the total subsequent current.
An extension current total amount calculation unit for calculating the total extension current amount;
An extended drive time calculation unit for calculating the extension drive time; and
One series of drive operations and one subsequent unexecuted one
Extended motor current per unit time in continuous drive operation
An extension unit time current amount calculation unit for calculating the amount, and before the start of the subsequent drive operation for each series of drive operations
The extended drive time and the extended mode per unit time
Motor drive is stopped for a time corresponding to the
An extended drive stop time calculation unit that calculates the tension drive stop time,
A motor control device comprising: 8. A total current calculating unit for calculating a total amount of motor current in one series of driving operations for each series of driving operations of the motor, and one unit for each series of driving operations of the motor. A drive time calculating unit for calculating a motor drive time of a series of drive operations; and a drive for calculating a drive stop time according to the motor drive time and the total amount of the motor current for each series of drive operations of the motor. A stop time calculating unit, before starting a subsequent drive operation for each of a plurality of predetermined series of drive operations, a drive stop time integrated value corresponding to an integrated value of the drive stop time of the predetermined plurality of series of drive operations. A drive stop time integrated value calculation unit that calculates a drive stop time integrated value based on drive control data of a series of unexecuted drive operations subsequent to a series of executed drive operations when the drive stop time integrated value is a positive value. , A series of unexecuted drive motions A current waveform prediction forming unit for predicting and forming a motor current waveform in the operation, and calculating a subsequent current total amount of a series of unexecuted driving operations subsequent to a series of executed driving operations based on the predicted motor current waveform. A subsequent drive total amount calculation unit, based on the predicted motor current waveform, a subsequent drive time calculation unit that calculates a subsequent drive time of a series of unexecuted drive operations following the executed series of drive operations, An extended current total amount calculation unit that calculates an extended current amount by adding the total motor current amount and the subsequent current amount; and an extended drive time that calculates an extended drive time by adding the motor drive time and the subsequent drive time A calculating unit for stopping motor driving for a time corresponding to the total amount of the extended current and the extended driving time before starting a subsequent driving operation for each of a series of driving operations; Motor control apparatus characterized by comprising a, and extended drive stop time calculating unit for calculating a moving stop time. 9. An interrupt timing generator for generating an interrupt timing for storing and holding a motor current value at predetermined time intervals; a storage unit for storing and holding the interrupt timing and the motor current value of the interrupt timing; The interrupt timing, and a current amount calculating unit that calculates a motor current amount between the respective interrupt timings from the motor current value of the interrupt timing, the current total amount calculating unit calculates the motor current amount from Calculating the total amount of current, the drive time calculation unit calculates the motor drive time from the interrupt timing, the storage unit, according to a predetermined drive stop determination conditions, the interrupt timing, And outputting the motor current value of the interrupt timing to the current amount calculation unit, The drive time calculating section, a motor control device according to any one of claims 1 to 8, characterized in that the outputs. 10. An interrupt timing generator for generating an interrupt timing for taking in a motor current value at predetermined time intervals, a motor current between the interrupt timings based on the interrupt timing and the motor current value at the interrupt timing. A motor current amount calculating unit that calculates an amount; and a storage unit that stores and holds the total motor current amount and the motor driving time. The total current amount calculating unit calculates the total motor current amount from the motor current amount Wherein the drive time calculation unit calculates the motor drive time from the interrupt timing. The storage unit stores the motor current total amount and the motor drive time according to a predetermined drive stop determination condition. To the unit time current amount calculation unit and the motor drive time to the drive stop time calculation unit. The motor control device according to claim 1 or 3, characterized in that. 11. An interrupt timing generator for generating an interrupt timing for taking in a motor current value at predetermined time intervals; and a motor current between the interrupt timings based on the interrupt timing and the motor current value at the interrupt timing. A motor current amount calculating unit that calculates an amount; and a storage unit that stores and holds the total motor current amount and the motor driving time. The total current amount calculating unit calculates the total motor current amount from the motor current amount Wherein the drive time calculation unit calculates the motor drive time from the interrupt timing, and the storage unit stores the motor current total amount and the motor drive time according to a predetermined drive stop determination condition. 5 is output to the drive stop time calculation unit. Motor controller. 12. The motor control device according to claim 1, wherein the motor is a carriage motor of a printer. 13. The motor control device according to claim 1, wherein said motor is a paper feed motor of a printer. 14. A single series of driving operations of the motor,
A total current amount calculating process of calculating a total motor current amount of one series of driving operations, and a driving time calculating process of calculating a motor driving time of one series of driving operations for each one series of driving operations of the motor For each one series of driving operations of the motor, based on the driving control data of the series of unexecuted driving operations following the series of executed driving operations, the motor current waveform in the series of unexecuted driving operations is calculated. A current waveform prediction forming step of predicting and forming, and for each of a series of driving operations of the motor, a series of unexecuted driving operations following a series of executed driving operations based on the predicted motor current waveform. A subsequent current total amount calculating step of calculating a total current amount of the following, and for each of a series of driving operations of the motor, based on the motor current waveform predicted and formed, a series of subsequent driving operations that have been executed A subsequent driving time calculating step of calculating a subsequent driving time of a series of driving operations to be executed; an extended current total amount calculating step of calculating an extended current total amount by adding the total motor current and the subsequent current amount; and An extended driving time calculating step of calculating an extended driving time by adding a time and the subsequent driving time; and, based on the total amount of the extended current and the extended driving time, a series of executed driving operations and a subsequent unexecuted operation An extended unit time current amount calculating step of calculating an extended motor current amount per unit time in one series of driving operations, and the extended driving time before starting a subsequent driving operation in each series of driving operations. And an extended drive stop time calculating step of calculating an extended drive stop time for stopping the motor drive for a time corresponding to the extended motor current amount per unit time. Motor control method. 15. Each time a series of drive operations of the motor is performed,
A total current amount calculating process of calculating a total motor current amount of one series of driving operations, and a driving time calculating process of calculating a motor driving time of one series of driving operations for each one series of driving operations of the motor For each one series of driving operations of the motor, based on the driving control data of the series of unexecuted driving operations following the series of executed driving operations, the motor current waveform in the series of unexecuted driving operations is calculated. A current waveform prediction forming step of predicting and forming, and for each of a series of driving operations of the motor, a series of unexecuted driving operations following a series of executed driving operations based on the predicted motor current waveform. A subsequent current total amount calculating step of calculating a total current amount of the following, and for each of a series of driving operations of the motor, based on the motor current waveform predicted and formed, a series of subsequent driving operations that have been executed A subsequent drive time calculating step of calculating a subsequent drive time of a series of drive operations to be executed; an extended current total amount calculating step of adding the total motor current and the subsequent current total to calculate an extended current total amount; An extended driving time calculating step of calculating an extended driving time by adding a time and the subsequent driving time; and before starting a subsequent driving operation for each of a series of driving operations, the extended current total amount and the extended driving time An extended drive stop time calculating step of calculating an extended drive stop time for stopping the motor drive for a time according to the following. 16. In each of a series of driving operations of the motor,
A total current amount calculating process of calculating a total motor current amount of one series of driving operations, and a driving time calculating process of calculating a motor driving time of one series of driving operations for each one series of driving operations of the motor A unit time current amount calculating step of calculating a motor current amount per unit time in one series of driving operation from the motor driving time and the total amount of motor current; and Before the start of the drive operation, a drive stop time calculation step of calculating a drive stop time according to the motor drive time and the motor current amount per unit time, and if the drive stop time is a positive value, execution has been completed. Current waveform prediction forming step of predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations subsequent to the series of driving operations A step of calculating a total amount of subsequent current of a series of unexecuted driving operations subsequent to a series of executed driving operations based on the predicted and formed motor current waveform; and Based on the current waveform, a subsequent drive time calculating step of calculating a subsequent drive time of a series of unexecuted drive operations following the executed series of drive operations, and adding the motor current total amount and the subsequent current total amount An extended current total amount calculating step of calculating an extended current total amount; an extended driving time calculating step of adding the motor driving time and the subsequent driving time to calculate an extended driving time; and from the extended current total amount and the extended driving time. An extended unit time current for calculating an extended motor current amount per unit time in one executed series of driving operations and one subsequent unexecuted series of driving operations Before the start of the subsequent driving operation for each of a series of driving operations, the calculation process and the extended driving stop time for stopping the motor driving for a time corresponding to the extended motor current amount per unit time are set as the extended driving stop time. And a step of calculating an extended drive stop time to be calculated. 17. For each one series of driving operation of the motor,
A total current calculating process for calculating a total amount of motor current for one series of driving operations, and a driving time calculating process for calculating a motor driving time for one series of driving operations for each series of driving operations of the motor A drive stop time calculating step of calculating a drive stop time according to the motor drive time and the total amount of the motor current before starting a subsequent drive operation in each of a series of drive operations; A current waveform prediction formation for predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations subsequent to a series of executed driving operations when Based on the motor current waveform predicted and formed, a subsequent current total amount calculating step of calculating a subsequent current total amount of a series of unexecuted driving operations subsequent to the executed series of driving operations, A subsequent driving time calculating step of calculating a subsequent driving time of a series of unexecuted driving operations following the executed series of driving operations based on the measured and formed motor current waveform; and A total extended current amount calculating step of adding the total amount to calculate an extended current total amount; an extended driving time calculating step of adding the motor driving time and the subsequent driving time to calculate an extended driving time; An extended drive stop time calculating step of calculating an extended drive stop time for stopping the motor drive for a time corresponding to the extended current total amount and the extended drive time before starting the subsequent drive operation for each drive operation. A motor control method comprising: 18. A single series of driving operations of the motor,
A total current calculating process for calculating a total amount of motor current for one series of driving operations, and a driving time calculating process for calculating a motor driving time for one series of driving operations for each series of driving operations of the motor And for each of a plurality of predetermined series of driving operations of the motor, the motor current in the series of unexecuted driving operations based on the driving control data of the series of unexecuted driving operations following the executed series of driving operations. A current waveform prediction forming step of predicting and forming a waveform, and for each of a plurality of predetermined series of drive operations of the motor, an unexecuted series of drive steps following an executed series of drive operations based on the predicted and formed motor current waveform. Calculating a total amount of subsequent currents for a series of driving operations; and calculating a total amount of subsequent currents for each of a plurality of predetermined series of driving operations of the motor based on the motor current waveform predicted and formed. A subsequent drive time calculating step of calculating a subsequent drive time of a series of unexecuted drive operations subsequent to the continuous drive operation; and adding a total of the motor current and a total of the subsequent current for a plurality of predetermined times to obtain an extended current Calculating the total amount of the extended current, calculating the total amount of the extended current, and calculating the extended drive time by adding the motor drive time and the subsequent drive time for a plurality of predetermined times to calculate the extended drive time. An extended unit time current amount calculating step of calculating an extended motor current amount per unit time in one executed series of driving operations and one subsequent unexecuted series of driving operations from the time; At the time of an extended drive stop in which the motor drive is stopped for a time corresponding to the extended drive time and the extended motor current amount per unit time before the start of the subsequent drive operation for each series of drive operations. An extended drive stop time calculating step of calculating an interval. 19. Each time a series of driving operations of the motor are performed,
A total current calculating process for calculating a total amount of motor current for one series of driving operations, and a driving time calculating process for calculating a motor driving time for one series of driving operations for each series of driving operations of the motor And for each of a plurality of predetermined series of driving operations of the motor, the motor current in the series of unexecuted driving operations based on the driving control data of the series of unexecuted driving operations following the executed series of driving operations. A current waveform prediction forming step of predicting and forming a waveform, and for each of a plurality of predetermined series of drive operations of the motor, an unexecuted series of drive steps following an executed series of drive operations based on the predicted and formed motor current waveform. Calculating a total amount of subsequent currents for a series of driving operations; and calculating a total amount of subsequent currents for each of a plurality of predetermined series of driving operations of the motor based on the motor current waveform predicted and formed. A subsequent drive time calculating step of calculating a subsequent drive time of a series of unexecuted drive operations subsequent to the continuous drive operation; and adding a total of the motor current and a total of the subsequent current for a plurality of predetermined times to obtain an extended current An extended drive time calculating step of calculating the extended drive time by adding the motor drive time and the subsequent drive time for a plurality of predetermined times to calculate an extended drive time. Before the start of the subsequent drive operation, an extended drive stop time calculating step of calculating an extended drive stop time for stopping the motor drive for a time corresponding to the extended current total amount and the extended drive time. Motor control method. 20. Each time a series of driving operations of the motor are performed,
A total current calculating process for calculating a total amount of motor current for one series of driving operations, and a driving time calculating process for calculating a motor driving time for one series of driving operations for each series of driving operations of the motor A unit time current amount calculating step of calculating a motor current amount per unit time in one series of drive operations from the motor drive time and the total amount of motor current; and for each one series of drive operations of the motor. A drive stop time calculating step of calculating a drive stop time according to the motor drive time and the motor current amount per unit time; and a predetermined drive start time for each of a plurality of predetermined successive drive operations. A drive stop time integrated value calculating step of calculating a drive stop time integrated value according to the integrated value of the drive stop time of a series of drive operations of a plurality of times, wherein the drive stop time integrated value is a positive value A current waveform prediction forming step of predicting and forming a motor current waveform in a series of unexecuted drive operations based on drive control data of a series of unexecuted drive operations subsequent to the series of executed drive operations; A subsequent current total amount calculating step of calculating a total subsequent current amount of a series of unexecuted driving operations subsequent to a series of executed driving operations based on the predicted formed motor current waveform; and the predicted formed motor current waveform. A subsequent driving time calculating step of calculating a subsequent driving time of an unexecuted series of driving operations subsequent to the executed series of driving operations, and adding the total motor current and the total subsequent current to the extended current. An extended current total amount calculating step of calculating a total amount; an extended driving time calculating step of adding the motor driving time and the subsequent driving time to calculate an extended driving time; An extended unit time current amount calculation for calculating an extended motor current amount per unit time in one executed series of driving operations and one subsequent unexecuted series of driving operations from the flow total amount and the extended driving time. Calculating the extended drive stop time for stopping the motor drive for a time corresponding to the extended drive time and the extended motor current amount per unit time before starting the subsequent drive operation for each series of drive operations. A motor control method, comprising: 21. In each of a series of driving operations of the motor,
A total current calculating process for calculating a total amount of motor current for one series of driving operations, and a driving time calculating process for calculating a motor driving time for one series of driving operations for each series of driving operations of the motor A drive stop time calculating step of calculating a drive stop time according to the motor drive time and the motor current total amount for each of a series of drive operations of the motor; and A drive stop time integrated value calculating step of calculating a drive stop time integrated value corresponding to an integrated value of the drive stop time of a predetermined plurality of series of drive operations before starting the subsequent drive operation; When the value is a positive value, an electric current for predicting and forming a motor current waveform in a series of unexecuted driving operations based on drive control data of a series of unexecuted driving operations subsequent to a series of executed driving operations. A flow waveform prediction forming step, a subsequent current total amount calculating step of calculating a subsequent current total amount of a series of unexecuted driving operations subsequent to the executed series of driving operations based on the predicted motor current waveform, A subsequent driving time calculating step of calculating a subsequent driving time of a series of unexecuted driving operations subsequent to a series of executed driving operations based on the formed motor current waveform; and a total motor current amount and a total subsequent current amount. A total extended current amount calculating step of calculating the total extended current amount by adding the following, an extended drive time calculating step of adding the motor drive time and the subsequent drive time to calculate an extended drive time, Extended driving for calculating an extended driving stop time for stopping motor driving for a time corresponding to the total amount of the extended current and the extended driving time before starting the subsequent driving operation for each driving operation. The motor control method characterized by comprising: the stop time calculation process, the. 22. A recording medium for a computer program, wherein a computer program for executing the printer control method according to claim 14 in a computer system is recorded.