JP2003186545A - Speed control method and speed control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a speed control method and a speed control device that can suppress the occurrence of overshoot and damped oscillations, to make the moving speed of an moving bode reach a target-speed. <P>SOLUTION: A carriage control device 1 controls the rotational speed of a CR motor 35 so that the traveling speed of a carriage 31 follows a first target- speed value, until a comparison processing part 62 detects that the carriage 31 has reached a target-speed switching position set in a target-speed switching position register 51. Moreover, if the comparison part 62 detects that the carriage 31 has reached the target-speed switching position, a target-speed value selector 71 is actuated, the target-speed value supplied to a feedback processing part 72 is switched form a first target-speed value to a final target-speed value, and the carriage control device 1 controls the rotational speed of the CR motor 35 so that the traveling speed of the carriage 31 follows the final target-speed value. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control method and speed control device for controlling the speed of a moving body.

[0002]

2. Description of the Related Art Conventionally, in a printer such as an ink jet printer, which prints on a printing paper while the print head moves, a carriage for carrying the print head in order to print at an accurate printing position. The movement speed is controlled.

Generally, in an inject printer, a DC motor (hereinafter referred to as "CR motor") is used to drive a carriage. Then, the moving speed of the carriage is controlled by controlling the rotation speed of the CR motor with a voltage signal (hereinafter referred to as “PWM signal”) that is pulse width modulated (PWM).

Then, as shown in FIG. 13A, when the printing process is started, the carriage is set in advance by the time it reaches the printing start position from the position where it is currently stopped, that is, the origin which is the movement start position. After being accelerated to reach the target speed, the speed is controlled so that the target speed is maintained from the print start position.

In the acceleration section from the origin to the print start position, the rotation speed of the CR motor is open-loop controlled, and the duty ratio of the PWM signal (ratio of ON time in one cycle of ON / OFF control) is gradually increased. By increasing the rotation speed, the rotation speed of the CR motor is gradually accelerated.

When the carriage reaches the print start position, the rotation speed control of the CR motor is shifted from the open loop control to the feedback control (PID control etc.) to eliminate the deviation between the carriage movement speed and the target speed. The rotation speed of the CR motor is adjusted.

[0007]

By the way, in recent years,
As the printer becomes smaller, the acceleration section of the carriage is becoming shorter. However, in order to reach the target speed of the carriage in a short acceleration section, if the duty ratio of the PWM signal is rapidly increased and the rotation speed of the CR motor is open-loop controlled, by the time the carriage reaches the print start position, The moving speed of the carriage may overshoot the target speed. Then, as shown in FIG. 13B, when the rotation speed of the CR motor is feedback-controlled in a state where the movement speed of the carriage largely overshoots the target speed, a damping vibration occurs in the movement speed of the carriage, and the carriage movement The print head may print at a position deviated from the print position until the moving speed converges to the target speed.

In particular, when the amount of ink in the print head is small and the print head is light, the degree of overshoot is larger than when there is ink, and the moving speed of the carriage reaches the target speed. Since it takes time to converge, the printing performance of the inkjet printer may be significantly reduced.

Therefore, in order to solve the above problems, the present invention provides a speed control method and a speed control method capable of suppressing the occurrence of overshoot and damped vibration to make the motion speed of a moving body reach a target speed. An object is to provide a control device.

[0010]

According to a first aspect of the invention, there is provided a speed control method according to the first aspect of the present invention, wherein a motion of a moving body is controlled so that a detected motion speed matches a set motion speed. In a speed control method for controlling a speed, a switching timing is set within a starting section from a motion start timing of the moving body to a final target speed reaching timing for making the moving speed of the moving body reach a final target speed, and the motion start is started. In the first section from the timing to the switching timing, the moving speed of the moving body is controlled so that the detected moving speed of the moving body matches the first target speed value, and after the switching timing, The moving speed of the moving body is controlled so that the detected moving speed of the moving body matches a final target speed value.

According to such a speed control method, the motion speed of the moving body can be gradually brought to the final target speed. Therefore, it is possible to suppress the occurrence of overshoot and damped vibration to reach the target speed of the moving body. Incidentally, in such a control method, as described in claim 2, the motion velocity of the moving body is observed at one or a plurality of observation timings set in advance in the activation section, and at the observation timing, When the movement speed of the moving body is out of the preset speed range, the next time the moving body is started, the moving speed of the moving body is set to fall within the speed range at the observation timing. It is desirable to modify the motion velocity control of the moving body.

In this case, since the moving body and the state around the moving body change, the gradient of the change in the moving speed of the moving body from the movement start timing to the final target speed reaching timing becomes steeper than expected. Even if the moving body is loosened or loosened, the velocity control of the moving body can be corrected according to the change of the moving body or the state around the moving body when the moving body is started next time. That is, according to the speed control method of claim 2, the movement speed of the moving body overshoots the final target speed or the final target speed is influenced by the change in the moving body or the state around the moving body. It is possible to prevent a situation in which the movement speed of the moving body does not reach the final target speed at the arrival timing.

According to a third aspect of the present invention, there is provided a speed control device, wherein a power generating means for giving power to a moving body, a moving speed detecting means for detecting a moving speed of the moving body, and a moving speed detecting means for detecting the moving speed. A moving speed control signal generating means for generating a moving speed control signal for controlling the moving speed of the moving body so that the moving speed of the moving body matches a target moving speed, and the power based on the moving speed control signal. In a speed control device including a power control means for controlling a generation means, a first target speed value supply means for supplying a first target speed value of the moving body to the movement speed control signal generation means, and the movement speed control. A final target speed value supplying means for supplying a final target speed value of the moving body to the signal generating means, and a final target for making the moving speed of the moving body reach the final target speed from the motion start timing of the moving body. Set the switching timing in the start section up to speed arrival timing, wherein from movement start timing in the first section leading to the switching timing of the first
The first target speed value supplied from the target speed value supply means is supplied to the motion speed control signal generation means, and the final target speed supplied from the final target speed value supply means after the first section. Target speed switching means for supplying a value to the motion speed control signal generating means.

In the speed control device according to the third aspect of the invention configured as described above, the power generation means gives power to the moving body, and the moving speed detecting means detects the moving speed of the moving body. Then, the movement speed control signal generation means generates a movement speed control signal for controlling the movement speed of the movement body so that the movement speed of the movement body detected by the movement speed detection means matches the target movement speed, and the power control means The power generation means is controlled based on the motion speed control signal.

Then, the target speed switching means sets the switching timing in the starting section from the motion start timing of the moving body to the final target speed reaching timing at which the moving speed of the moving body reaches the final target speed, and from the motion start timing In the first section reaching the switching timing, the first target speed value supplied by the first target speed value supply means is supplied to the motion speed control signal generation means, and after the first section, the final target speed value supply means is operated. The final target speed value to be supplied is supplied to the motion speed control signal generating means.

That is, the invention described in claim 3 is an apparatus for realizing the invention described in claim 1, and the same effect as that of the invention described in claim 1 can be obtained. The invention according to claim 4 is a motion velocity observing means for observing the motion velocity of the moving body at one or a plurality of observation timings set in advance in the activation section, and the motion velocity observing means is configured to perform the motion. When observing the movement speed of the body, if the movement speed of the movement body is out of a preset speed range, the movement speed of the movement body is observed when the movement body is started next time. And a correction unit that corrects the motion speed control of the moving body so as to fall within the speed range at a timing.

That is, the invention described in claim 4 is an apparatus for realizing the invention described in claim 2, and it is possible to obtain the same effect as that of the invention described in claim 2. Here, the correction means can be configured to change the switching timing of the target speed switching means, for example, as described in claim 5.

If the correction means is configured in this way,
For example, when the gradient of the change in the moving speed of the moving body from the start timing of the movement to the timing of reaching the final target speed becomes steeper than expected and the moving speed of the moving body overshoots the final target speed, , When the moving body is started next time, the switching timing of the target speed switching means is delayed from the previous time to make the gradient of the change in the moving speed of the moving body gentler than the previous time, and the moving speed of the moving body exceeds the final target speed. You can avoid shooting.
In addition, the gradient of the change in the motion velocity of the moving body from the motion start timing to the final target velocity reaching timing becomes gentler than expected, and the motion velocity of the moving body reaches the final target velocity at the final target velocity reaching timing. If not, at the time of starting the moving body next time, the switching timing of the target speed switching means is made earlier than the previous time, the gradient of the change in the moving speed of the moving body is made steeper than the previous time, and the moving speed of the moving body is The final target speed can be reached when the final target speed is reached.

Further, the correcting means is, as described in claim 6,
You may comprise so that the said 1st target speed value which the said 1st target speed value supply means supplies may be changed. If the correction means is configured in this way, for example, when the gradient of the change in the motion velocity of the moving body from the motion start timing to the final target velocity arrival timing becomes steeper than expected, By setting the first target speed value at the time of starting the moving body next time to be lower than the previous time, the gradient of change in the moving speed of the moving body is made gentler than the previous time, and the moving speed of the moving body exceeds the final target speed. You can avoid shooting. Further, when the gradient of the change in the motion velocity of the moving body from the motion start timing to the final target velocity reaching timing becomes less than expected, the first target velocity value at the time of starting the next moving body is set to By setting it higher than the previous time, it is possible to make the gradient of the change of the moving speed of the moving body steeper than that of the previous time so that the moving speed of the moving body reaches the final target speed at the final target speed reaching timing.

Here, the first target speed value supply means is provided with a plurality of the first target speed values, as described in claim 7.
In the first section, it is preferable that the plurality of first target speed values are switched at a predetermined timing and supplied to the motion speed control signal generating means.

If the first target velocity value supply means is configured in this way, the movement velocity of the moving body in the first section can be finely controlled. Further, in this case, it is preferable that the correction means is configured to change the switching timing of the plurality of first target speed values in the first target speed value supply means.

If the correction means is configured in this way,
When the gradient of the change in the movement speed of the moving body from the movement start timing to the target speed reaching timing becomes steeper or slower than expected, the movement in the first section is performed when the moving body is started next time. It is possible to finely adjust the gradient of the change in body movement speed.

As described in claim 9, it is desirable that the first target speed value is set lower than the final target speed value. In this case, the motion speed of the moving body is the final target speed value. Overshooting, and it is possible to prevent damped vibration from occurring.

Further, as described in claim 10, it is desirable that the motion velocity control signal generating means generates the motion velocity control signal by using a PID control law. In this case, the response is good and the residual deviation is high. It is possible to make the moving speed of the moving body follow the first target speed value and the final moving speed target value without leaving.

The power generating means may be, for example, the power supply device according to claim 11.
As described, it may be a converter that converts electrical energy into motive power. In this case, the motor may be the conversion device.

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 1 shows a structural diagram of a carriage drive mechanism in an inkjet printer (hereinafter simply referred to as “printer”) to which the present invention is applied.

As shown in FIG. 1, the printer is provided with a guide shaft 34 installed in the width direction of the printing paper 33 conveyed by the pressing roller 32 and the like. A carriage 31 having a print head 30 for printing by ejecting ink toward the paper 33 is inserted. The carriage 31 is connected to an endless belt 37 provided along the guide shaft 34. The endless belt 37 is attached to a pulley 36 of a CR motor 35 installed at one end of the guide shaft 34 and the other end of the guide shaft 34. It is hooked between an installed idle pulley (not shown).

That is, the carriage 31 includes the endless belt 3
By the driving force of the CR motor 35 transmitted via 7,
It is configured to reciprocate in the width direction of the printing paper 33 along the guide shaft 34. Further, below the guide shaft 34, a fixed interval (for example, 1/150 inch = about 0.1
Timing slits 38 each having a constant width are formed along the guide shaft 34.
Further, the timing slit 3 is provided at the bottom of the carriage 31.
The detector includes a photointerrupter having at least one light emitting element and two or more light receiving elements facing each other with the light emitting element 8 interposed therebetween. The detection unit including the photo interrupter constitutes a linear encoder 39 (see FIG. 3) together with the timing slit 38 described above.

As shown in FIG. 2, the two sets of detectors forming the linear encoder 39 output two types of encoder signals ENC1 and ENC2 which are deviated from each other by about 1/4 cycle. When the moving direction of the carriage 31 is the forward direction from the home position (left end position in FIG. 1) to the idle pulley side, the phase of ENC1 is advanced from ENC2 by about 1/4 cycle, and the home is moved from the idle pulley side. If it is in the opposite direction to the position, ENC1 is EN
The phase is delayed by about 1/4 cycle with respect to C2.

Here, FIG. 12 is an explanatory view showing a schematic operation of the carriage 31. As shown in the figure, the carriage 31 has a home position set near the end of the guide shaft 34 on the pulley 35 side or a position where the previous printing is stopped (movement of the carriage 31) when the printing process is not performed. The start position will be referred to below as the origin.) When the printing process is started, the printer is accelerated to reach the target speed until the preset print start position, and then set in advance. It moves at a constant target speed until the print end position is reached, and is decelerated until it stops when the print end position is exceeded. Hereinafter, an acceleration section is from the origin to the print start position, a constant speed section is from the print start position to the print end position, and a deceleration section is from the print end position to the stop. [First Embodiment] FIG. 3 is a block diagram showing the construction of a carriage control device to which a speed control method and a speed control device according to the present invention are applied.

As shown in FIG. 3, the carriage controller 1
Is a CPU 2 that controls the printer and an ASIC (Application Specific Integrator) that generates a PWM signal that controls the rotation speed, the rotation direction, and the like of the CR motor 35.
ted circuit) 3 and H composed of 4 FETs
It has a bridge circuit and turns on / off each FET of this H bridge circuit based on the PWM signal generated by the ASIC 3.
The motor drive circuit 4 drives the CR motor 35 by controlling OFF.

A CR motor 35 is provided inside the ASIC 3.
Of registers 5 that store various parameters used to control
And the encoder signal ENC from the linear encoder 39.
1 and ENC2 are taken in to calculate the position and movement speed of the carriage 31, and a motor control signal for controlling the rotation speed of the CR motor 35 is generated based on the data from the carriage positioning unit 6. A motor control unit 7, a PWM generation unit 8 that generates a PWM signal having a duty ratio according to a motor control signal that the motor control unit 7 generates, and a clock signal that has a cycle sufficiently shorter than the encoder signals ENC1 and ENC2. The clock generation unit 9 is provided to supply each unit inside the ASIC 3.

Here, the register group 5 includes the CR motor 35.
Start setting register 50 for activating, target speed switching position register 51 for setting a target speed switching position for switching a target speed value that is a target of the moving speed of carriage 31, and deceleration of carriage 31 is started. The deceleration start position register 52 for setting the deceleration start position (same as the print end position) to be set, and the carriage 3 in the acceleration section.
From the origin, a velocity observation position register 53 for setting a velocity observation position for observing the movement velocity of 1; an observation velocity register 54 for storing the movement velocity of the carriage 31 at the velocity observation position as observation position velocity information; A first target speed value register 55 for setting a first target speed value to be targeted by the carriage 31 up to the target speed switching position.
A final target speed value register 56 for setting a final target speed value that the carriage 31 should target after the target speed switching position, and a differential gain used for feedback calculation when controlling the rotation speed of the CR motor 35, It is composed of a gain register 57 for setting an integral gain and a proportional gain.

Next, the carriage positioning unit 6 detects the start / end of each cycle of the encoder signal ENC1 based on the encoder signals ENC1 and ENC2 from the linear encoder 39 (here, when ENC2 is at a high level). The edge detection unit 60 for detecting the ENC1 edge) and the rotation direction of the CR motor 35 (the forward direction if the edge detection signal is the falling edge of the ENC1 and the reverse direction if the edge detection signal is the rising edge), and the edge detection unit 60. When the detected rotation direction of the CR motor 35 and thus the movement direction of the carriage 31 is forward, the carriage 3 is counted up based on the timing signal, and when the carriage 31 is in the reverse direction, the count is counted down based on the edge detection signal.
The position counter 61 detects the position of the slit 1 from the home position (see FIG. 2). That is, the positions of the carriage 31 such as the target switching position, the deceleration start position, and the speed observation position set in the register group 5 are represented by the count value of the position counter 61.

Further, the carriage positioning unit 6 includes the count value n of the position counter 61 and the target speed switching position register 51,
Deceleration start position register 52, speed observation position register 53
And a comparison processing unit 62 that detects whether or not the carriage 31 has reached the target speed switching position, the observation position, and the deceleration start position, and the edge detection signal generation interval from the edge detection unit 60. Period counter 63 that counts the clock signal by a clock signal, the distance between the slits of the timing slit 38 (1/150 inch), and the encoder signal EN.
The time tn-1 (= Cn-1 x specified by the held value Cn-1 of the value counted by the cycle counter 63 in the previous cycle of C1.
And a speed conversion unit 64 that calculates the moving speed of the carriage 31 based on the clock cycle).

The comparison processing unit 62 outputs a target speed value switching signal when it detects that the carriage 31 has reached the target speed switching position, and outputs it to the speed conversion unit 64 when it has detected that the carriage 31 has reached the speed observation position. A storage signal for storing the calculated moving speed of the carriage 31 in the observed speed value register 54 is output, and when the arrival at the deceleration start position is detected, a control switching signal is output and the CPU 2 is also sent. It is configured to output a stop interrupt signal.

Next, after the motor control unit 7 is activated, the value stored in the first target speed value register 55 is not input until the target speed switching signal is input from the comparison processing unit 62. After that, using the target speed value selector 71 that selects the value stored in the final target speed value register 56 as the target speed value and the stored value (differential gain, integral gain, proportional gain) in the gain register 57, speed conversion is performed. CR so that the moving speed of the carriage 31 calculated by the unit 64 matches the target speed value selected by the target speed value selector 71.
The feedback calculation processing unit 72 that generates a rotation speed control signal that controls the rotation speed of the motor 35, and the CR motor 3
The rotation speed control signal generated by the feedback calculation processing unit 72 is controlled and switched until the deceleration control unit 73 that generates the deceleration control signal for decelerating the rotation speed of 5 and the control switching signal from the comparison processing unit 62 are input. The control signal selector 74 supplies a deceleration control signal generated by the deceleration control unit 73 to the PWM generation unit 8 after a signal is input.

Note that, as shown in FIG. 4, the feedback calculation processing section 72 uses the target speed value (first target speed value / final target speed value) selected and input by the target speed value selector 71 to convert the speed from the speed converting section 64. Subtractor 7 for subtracting the moving speed of the carriage 31 calculated by
2a, a proportional calculator 72b that adds a proportional gain Gp that is a value stored in the gain register 57 to the speed deviation calculated by the subtractor 72a, the speed deviation is integrated, and the integrated value is stored in the gain register 57. Integral gain Gi which is
, A differential calculator 71c for differentiating the speed deviation, and a differential gain Gd, which is the value stored in the gain register 57, are added to the differential value, and a proportional calculator 71.
a, an adder 71e that adds all the calculated values calculated by the differential calculator 71b, and the integral calculator 71c, and outputs the added value as a rotation speed control signal, and is configured to perform so-called PID control. Has been done.

In the carriage control device 1 configured as described above (see FIG. 3), the feedback calculation processing section 72 outputs a motor control signal to the PWM generating section 8 until the carriage 31 reaches the deceleration start position. Rotation speed control signal is supplied. As a result, the rotation speed (torque) of the CR motor 35 is controlled so that the moving speed of the carriage 31 follows the target speed value supplied from the target speed value selector 71. When the carriage 31 reaches the deceleration start position, the deceleration control signal from the deceleration control unit 73 is supplied as the motor control signal to the PWM generation unit 8 instead of the rotation speed control signal. This gives C
The rotation speed of the R motor 35 is controlled so that the moving speed of the carriage 31 is quickly reduced to stop.

However, the target speed value selector 71 supplies the first target speed value as the target speed value until the carriage 31 reaches the target speed switching position, and after the carriage 31 reaches the target speed switching position. Supply the final target speed value. Further, when the carriage 31 passes the speed observation position, the moving speed of the carriage 31 at that time is stored in the observation speed value register 54.

Next, the contents of the CR scanning process executed by the CPU 2 of the carriage control device 1 will be described with reference to the flowchart shown in FIG. When this processing is started, as shown in FIG. 5, the CPU 2 first sets the final target in each register that constitutes the register group 5 of the ASIC 3 with reference to the position (origin) at which the carriage 31 is currently stopped. After setting the speed value, the first target speed value, the target speed switching position, the speed observation position, the deceleration control start position, the differential gain, the integral gain, and the proportional gain (S100), write to the start setting register 50. This activates each part of the ASIC 3 (S110). Then, when the carriage 31 driven according to the contents set in each register in S100 reaches the deceleration control start position, the comparison processing unit 6
When the stop interrupt signal is input from 2 (Yes: S12
0), the CPU 2 uses the observation speed value register 5 of the ASIC 3.
The stored value of 4 (hereinafter referred to as "observation position / velocity information") is acquired (S130). Then, based on the acquired observed position / velocity information, a correction process for correcting the set values of the first target velocity value register 55 and the target velocity switching position register 51 is executed (S140), and this process is terminated.

The contents of the correction process executed in S140 will be described below with reference to the flow chart shown in FIG. When this process is started, as shown in FIG.
The CPU 2 determines whether or not the observation position / velocity information, that is, the movement velocity of the carriage 31 at the velocity observation position is within a preset first target velocity allowable range (S200),
If it is within the first target speed permissible range, this process is terminated without correcting the first target speed value and the target speed switching position.

On the other hand, when the observed position / velocity information is outside the first target speed allowable range, it is determined whether the observed position / speed information is larger than the upper limit of the first target speed allowable range (S21).
0), if it is larger than the upper limit of the first target speed allowable range,
It is determined whether or not the current setting value of the target speed switching position register 51 has reached the upper limit of the allowable range of the target speed switching position (S220). If the upper limit has not been reached, the set value of the target speed switching position register 51 is changed so that the target speed switching position approaches the print start position by the preset distance correction value ΔR (S230), and The process ends. If the set value of the target speed switching position register 51 has reached the upper limit of the allowable range, the set value of the first target speed value register 55 is changed so as to be reduced by the preset speed correction value ΔV ( S240), and this process ends.

When a negative determination is made in S210, that is, when the observed position / velocity information is smaller than the lower limit of the first target speed allowable range, the current set value of the target speed switching position register 51 is set to the target speed switching. It is determined whether the lower limit of the position allowable range is reached (S250). Then, if the lower limit is not reached, the set value of the target speed switching position register 51 is changed so that the target speed switching position approaches the home position by the preset distance correction value ΔR (S260), and this processing is performed. To finish. If the set value of the target speed switching position register 51 has reached the lower limit of the allowable range, the set value of the first target speed value register 55 is changed so as to be increased by the preset speed correction value ΔV ( S
270), and this processing ends.

The first target speed permissible range is such that, if the observed position speed information is within that range, the moving speed of the carriage 31 reaches the final target speed without causing overshoot at the print start position. It is set. That is, for example, when the moving speed of the carriage 31 at the speed casting observation position is higher than the upper limit value of the first target speed allowable range, as shown in FIG. As shown in 7 (b), the target speed switching position is moved to the print start position side by the distance correction value ΔR and the switching timing from the first target speed to the final target speed is delayed to reach the first target speed. The gradient of the change in the speed of the carriage 31 after the adjustment is adjusted to be gentle.

By repeating this adjustment, even when the target speed switching position reaches the upper limit of the switching position allowable range, if the moving speed of the carriage 31 at the observation position does not fall within the allowable speed range, FIG. As shown in FIG. 7, the first target speed is reduced by the speed correction value ΔV so that the gradient of the speed change of the carriage 31 until reaching the first target speed is adjusted to be gentle.

On the contrary, when the moving speed of the carriage 31 at the observation position is smaller than the lower limit value of the first target speed allowable range, first, the target speed switching position is moved toward the origin by the distance correction value ΔR, and By accelerating the switching timing from the first target speed to the final target speed, the gradient of the speed change of the carriage 31 after reaching the first target speed is adjusted to be steep.

By repeating this adjustment, even if the target speed switching position reaches the lower limit of the switching position allowable range, if the moving speed of the carriage 31 at the observation position does not fall within the allowable speed range, the first target speed is set to the first target speed. By increasing the velocity correction value ΔV, the gradient of the velocity change of the carriage 31 until reaching the first target velocity is adjusted to be steep.

In FIGS. 7A to 7C, the line indicating the speed change of the carriage 31 is shown as a polygonal line for the convenience of drawing, but in reality, a smooth speed is obtained based on the PID control. Note that it shows a change. Also, the velocity observation position is fixed and will not be changed.

As described above in detail, according to the carriage control device 1 of this embodiment, the acceleration of the carriage 31 in the acceleration section from the origin to the print start position can be finely controlled. Therefore, the amount of ink in the print head 30 carried by the carriage 31 decreases, the friction between the guide shaft 34 and the carriage 31 changes for some reason, and the control amount of the CR motor 35 and movement of the carriage 31 change. Even if the relationship with the speed changes, the moving speed of the carriage 31 at the print start position can be reliably reached to the final target speed without overshooting.

As a result, the print head 30 can always perform printing at an accurate position regardless of the change in the environment related to the driving of the carriage 31, and the printing performance of the printer can be greatly improved. In the present embodiment, the CR motor 35 corresponds to the power generation means of the present invention,
The linear encoder 39, the cycle counter 63, and the speed conversion unit 64 correspond to the motion speed detection means and the motion speed observation means of the present invention. The feedback calculation processing section 72 corresponds to the motion speed control signal generating means of the present invention, and the PWM generating section 8 and the motor drive circuit 4 correspond to the power control means of the present invention.

The first target speed value register 55 is the first target speed value supply means of the present invention, the final target speed value register 56 is the final target speed supply means of the present invention, and the target speed switching position register 51 is compared. The processing unit 62 and the target speed value selector 71 correspond to the target speed switching means of the present invention.

The velocity observation position register 53, the comparison processing unit 62, and the observation velocity value register 54 correspond to the motion velocity observation means of the present invention, and the CPU 2 performs steps S230 and S240.
The processing of S260 and S270 corresponds to the correcting means of the present invention. The section from the origin to the target speed switching position corresponds to the first section in the present invention. [Second Embodiment] Next, a second embodiment will be described.

The carriage control device of this embodiment has the first
Since the internal configuration of the ASIC and the contents of the processing executed by the CPU are partly different from those of the carriage control device 1 of the embodiment, the same components as those of the first embodiment will be designated by the same reference numerals. The description will be omitted, and the description will focus on the part of the configuration different from this.

As shown in FIG. 8, the register group 5a of the ASIC 3a in the carriage controller of this embodiment is
First and second target speed switching position registers 13 and 1 for setting first and second target speed switching positions for switching target speed values that are targets of the moving speed of the carriage 31.
4, first and second velocity observation position registers 16 and 17 for setting first and second velocity observation positions for observing the movement velocity of the carriage 31 in the acceleration section, and a carriage at the first velocity observation position. First observation speed register 18 for storing the movement speed of 31 as the first observation position speed information, and second observation for storing the movement speed of carriage 31 at the second observation position speed information as the second observation position speed information. The speed register 19, the first target speed value register 20 for setting the first target speed value that the carriage 31 should target from the origin to the first target speed switching position, and the first target speed switching position to the second target speed value A second target speed value register 21 for setting a second target speed value that should be the target of the carriage 31 up to the target speed switching position, and a carriage after the second target speed switching position. Tsu di 31 and a final target speed value register 22 for setting the final target speed value to be targeted.

The register group 5a includes the start setting register 50 and the deceleration start position register 5 in the first embodiment.
2, a start setting register 12, a deceleration start position register 15, and a gain register 23, which have exactly the same configuration as the gain register 57. Then, the comparison processing unit 62a of the ASIC 3a, the count value n of the position counter 61 and the first target speed switching position register 13, the second target speed switching position register 14, the deceleration start position register 15, the first speed observation position register 16, Second speed observation position register 17
Of the first target speed switching position, the second target speed switching position, the first speed observation position,
It is detected whether or not the second speed observation position and the deceleration start position have been reached. The comparison processing unit 62a is the first
When the arrival at the target speed switching position and the second target speed switching position is detected, a target speed value switching signal is output, and when the arrival at the first speed observation position is detected, the carriage calculated by the speed conversion unit 64. When the arrival at the second speed observation position is detected by outputting the first observation speed storage signal for storing the movement speed of 31 in the first observation speed value register 18, it is calculated by the speed conversion unit 64. Carriage 31
Output a second observation speed storage signal for storing the movement speed of No. 2 in the second observation speed value register 19, and output a control switching signal when the arrival at the deceleration start position is detected, and to the CPU 2a. It is configured to output a stop interrupt signal.

Further, the target speed value selector 71a is operated by the target speed switching signal from the comparison processing unit 62a, and after starting, the first target speed switching signal is input until the first target speed switching signal is input from the comparison processing unit 62a. The value stored in the value register 20 is stored in the second target speed value register 21 when the first target speed switching signal is input, and stored in the final target speed value register 22 when the next target speed switching signal is input. It is configured to select the value as the target speed value.

In the carriage control device of the present embodiment equipped with the ASIC 3a configured as described above, the value stored in the first target speed value register 20 until the carriage 31 reaches the first target speed switching position from the origin, Carriage 3
From 1 after reaching the first target speed switching position until reaching the second target speed position, the value stored in the second target speed value register 21, the carriage 31 reaching the second target speed switching position, and then printing is completed. Until the position is reached, the value stored in the final target speed value register 22 is supplied to the feedback calculation processing unit 72, and the rotational speed of the CR motor 35 is feedback-controlled so that the moving speed of the carriage 31 follows the selected stored value. To be done.

Further, the carriage 31 is at the first speed observation position,
When passing the second speed observation position, the moving speed of the carriage 31 at that time is determined by the first observation speed value register 18 and the second speed value register 18.
It is stored in the observation speed value register 19. Next, the contents of the CR scanning process performed by the CPU 2a of the carriage control device of this embodiment will be described with reference to the flowchart shown in FIG.

When this processing is started, as shown in FIG. 9, the CPU 2a firstly registers the register group 5 of the ASIC 3a.
The final target speed value, the first target speed value, the second target speed value, the first target speed switching position, and the second target speed value
After setting the target speed switching position, the first speed observation position, the second speed observation position, the deceleration control start position, the differential gain, the integral gain, and the proportional gain (S300), by writing the start setting register 12, Each unit of the ASIC 3a is activated (S310). Then, when the carriage 31 driven according to the contents set in the registers in S300 reaches the deceleration control start position, the comparison processing unit 62
When a stop interrupt signal is input from a (Yes: S3
20), the CPU 2a stores the value stored in the first observation speed value register 18 of the ASIC 3a (hereinafter referred to as "first observation position speed information") and the storage value of the second observation speed value register 19 (hereinafter referred to as "second observation position"). (Referred to as "speed information") is acquired (S330). Then, based on the acquired first observed position / velocity information, a first correction process for correcting the set values of the first target speed value register 20 and the first target speed switching position register 13 is executed (S340), and then acquired. Based on the second observed position / velocity information, the set values of the second target velocity value register 21 and the first target velocity switching position register 14 are corrected, and this processing is ended.

Here, the contents of the first correction process executed in S340 will be described with reference to the flowchart shown in FIG. When this process is started, as shown in FIG.
First, the CPU 2a determines whether or not the first observation position / velocity information, that is, the moving velocity of the carriage 31 at the first velocity observation position is within a preset first target velocity allowable range (S400), If it is within the first target speed allowable range,
The present process is terminated without correcting the first target speed value and the first target speed switching position.

On the other hand, if the first observed position / velocity information is outside the first target velocity permissible range, it is determined whether the first observed position / velocity information is larger than the upper limit of the first target velocity permissible range (S410). If it is larger than the upper limit of the first target speed permissible range, it is determined whether or not the current setting value of the first target speed switching position register 13 has reached the upper limit of the permissible range of the first target speed switching position ( S420). If the upper limit is not reached, the set value of the first target speed switching position register 13 is changed so that the first target speed switching position approaches the print start position by the preset distance correction value ΔR ( (S430), this process ends. If the set value of the first target speed switching position register 13 has reached the upper limit of the allowable range, the set value of the first target speed value register 20 is changed to
The speed correction value ΔV is set to be smaller by a preset value (S440), and this processing is ended.

When a negative determination is made in S410, that is, when the first observed position / velocity information is smaller than the lower limit of the first target velocity permissible range, the current setting value of the first target velocity switching position register 13 is set. , It is determined whether or not the lower limit of the permissible range of the first target speed switching position has been reached (S45).
0). If the lower limit is not reached, the first target speed switching position register 13 is set so that the first target speed switching position approaches the home position by a preset distance correction value ΔR.
The setting value of is changed (S460), and this processing ends.
If the set value of the first target speed switching position register 13 has reached the lower limit of the allowable range, the first target speed value register 2
The set value of 0 is changed so as to be increased by the preset speed correction value ΔV (S470), and this processing ends.

Next, the contents of the second correction processing executed in S350 are the same as the first target speed switching position register 13 and the first target speed value register 2 in the description of the first correction processing.
0, the first observed position speed information, the first target speed allowable range, the first target speed switching position, the second target speed switching position register 14, the second target speed value register 21, the second observed position speed information, the second The description is omitted here, since it is exactly the same except that the two target speed allowable range and the second target speed switching position are replaced.

As for the first target speed permissible range and the second target speed permissible range, if the first observation position speed information and the second observation position speed information are within that range, the moving speed of the carriage 31 starts printing. The position is set so as to reach the final target speed without causing overshoot.

That is, for example, as shown in FIG. 11A, the carriage control device 1 determines that the moving speed of the carriage 31 at the first speed observation position and the second speed observation position is
When it is larger than the upper limit values of the first target speed allowable range and the second target speed allowable range, first, as shown in FIG. 11B, the first target speed switching position and the second target speed switching position are distance-corrected. By moving the value ΔR to the print start position side and delaying the switching timing from the first target speed to the second target speed and from the second target speed to the final target speed,
Carriage 31 after reaching the target speed and the second target speed
Adjust so that the speed change gradient becomes gentle.

By repeating this adjustment, even if the first target speed switching position and the second target speed switching position reach the upper limits of the first switching position allowable range and the second switching position allowable range,
When the moving speed of the carriage 31 at the first speed observation position and the second speed observation position does not fall within the allowable speed range,
As shown in FIG. 11C, by reducing the first target speed value and the second target speed value by the speed correction value ΔV,
Adjustment is performed so that the gradient of the speed change of the carriage 31 until reaching the first target speed and the second target speed becomes gentle.

On the contrary, when the moving speed of the carriage 31 at the first speed observation position and the second speed observation position is smaller than the lower limit values of the first target speed allowable range and the second target speed allowable range, first, To move the 1st target speed switching position and the 2nd target speed switching position toward the origin by the distance correction value ΔR to accelerate the switching timing from the 1st target speed to the 2nd target speed and from the 2nd target speed to the final target speed. Thus, the gradient of the speed change of the carriage 31 after reaching the first target speed and the second target speed is adjusted to be steep.

By repeating this adjustment, even if the first target speed switching position and the second target speed switching position reach the lower limit of the switching position allowable range, the carriage 31 at the first speed observing position and the second speed observing position is moved. When the moving speed does not fall within the allowable speed range, the speed of the carriage 31 until the first target speed and the second target speed are reached by increasing the first target speed and the second target speed by the speed correction value ΔV. Adjust so that the gradient of change is steep.

If the moving speed of the carriage 31 at either the first speed observation position or the second speed observation position does not fall within the target speed allowable range, only the one not corrected is corrected by the above procedure. , So that the moving speed of the carriage 31 is within the target speed allowable range.
Adjust the speed change gradient.

11 (a) to 11 (c), a line indicating the speed change of the carriage 31 is shown in a polygonal shape for convenience of drawing, as in FIGS. 7 (a) to 7 (c). However, it should be noted that in reality, a smooth speed change is exhibited based on the PID control. Even in this case, the first velocity observation position and the second velocity observation position are fixed and are not changed.

As described in detail above, according to the carriage control device of this embodiment, the same effects as those of the carriage control device 1 of the first embodiment can be obtained. Moreover, the carriage control device of the present embodiment controls the moving speed of the carriage 31 so as to follow the final target speed value after making the moving speed of the carriage 31 sequentially follow the two target speed values. Therefore, the gradient of the change in the moving speed of the carriage 31 can be adjusted more finely than in the carriage control device 1 of the first embodiment.

In the present embodiment, the feedback calculation processing section 72 corresponds to the motion speed control signal generating means of the present invention, and the first target speed value register 20 and the second target speed value register 21 are the first of the present invention. It corresponds to the target speed value supply means. The final target speed value register 22 corresponds to the final target speed value supply means of the present invention, and the second target speed switching position register 14, the comparison processing unit 62a, and the target speed value selector 28 function as the target speed switching means of the present invention. Equivalent to.

The first velocity observation position register 20 and the second velocity observation position register 20
The velocity observation position register, the comparison processing unit 62a, the first observation velocity value register 18, and the second observation velocity value register 19 correspond to the exercise velocity observation means of the present invention, and the CPU 2a performs S4.
30, S440, S460 and S470 correspond to the correcting means of the present invention.

The section from the origin to the second target speed switching position corresponds to the first section of the present invention. Although the embodiments of the present invention have been described above, it is needless to say that the present invention is not limited to the above embodiments and can take various forms within the technical scope of the present invention. .

For example, in the above embodiment, the carriage 3
By the time the moving speed of 1 has reached the final target speed value, one or two target speed values different from the final target speed value have been set, but it is of course possible to set three or more target speed values. in this case,
Since the gradient of the speed change of the moving speed of the carriage 31 can be set finely, more precise speed control can be performed in the acceleration section.

Further, in the above embodiment, the switching timing from the first target speed to the final target speed is set by the position of the carriage 31 in the timing slit 37. The switching timing may be set so as to switch the speed value. In this case, the carriage 31 is added to the clock signal instead of the position counter in the ASIC 3 of the above embodiment.
It suffices to have an elapsed time counter that counts the elapsed time from the start of the startup.

Further, in the above-described embodiment, P for controlling the moving speed and position of the carriage 31 and controlling the motor rotating speed is set.
Although ASIC was used for the generation of WM signal, CPLD (Co
mplex Programmable Logic Device) and FPGA (Fi
A programmable logic device such as an eld Programmable Gate Array) may be used.

Further, in the above embodiment, the PID control is used as the feedback control, but the derivative leading PID control or the proportional derivative leading PID is used in accordance with the movement characteristics of the carriage.
Control may be used. Further, in the above-described embodiment, the DC motor is used to drive the carriage 31, but a stepping motor may be used to drive the carriage 31.

In this case, instead of the PWM generation section 8 and the motor drive circuit 4, the ASIC is provided with a pulse generation circuit for outputting to the stepping motor a number of pulse signals corresponding to the rotation speed control signal generated by the feedback calculation processing section 72. Just go.

[Brief description of drawings]

FIG. 1 is a structural diagram of a carriage drive mechanism in an inkjet printer to which a speed control method and a speed control device according to the present invention are applied.

FIG. 2 is a schematic diagram of an encoder signal of a linear encoder 39 included in a carriage 31 and various signals generated based on the encoder signal.

FIG. 3 is a configuration block diagram of a carriage control device 1 according to the first embodiment.

FIG. 4 is a configuration block diagram of a feedback calculation processing section 72 in the ASIC 3.

FIG. 5 is a flowchart showing a flow of a CR scanning process performed by a CPU 2 of the carriage control device 1 according to the first embodiment.

FIG. 6 is a flowchart showing a flow of a correction process performed by a CPU 2 of the carriage control device 1 according to the first embodiment.

FIG. 7 is an explanatory diagram showing an example of speed control of a carriage 31 performed by the carriage control device 1 according to the first embodiment.

FIG. 8A in the carriage control device of the second embodiment
It is the block diagram which extracted a part of structure of SIC3a.

FIG. 9 is a CPU 2 of the carriage control device according to the second embodiment.
It is a flow chart which shows the flow of CR scanning processing which a carries out.

FIG. 10 is a flowchart showing a flow of a first correction process performed by a CPU 2a of the carriage control device in the second embodiment.

FIG. 11 is an explanatory diagram showing an example of speed control of the carriage 31 performed by the carriage control device of the second embodiment.

FIG. 12 is an explanatory diagram illustrating a schematic operation of the carriage 31.

FIG. 13 is an explanatory diagram showing an outline of speed control in a conventional technique.

[Explanation of symbols]

1 ... Carriage control device, 2, 2a ... CPU, 3,
3a ... ASIC, 4 ... Motor drive circuit, 5, 5a ...
Register group, 6 ... Carriage positioning unit, 7 ... Motor control unit, 8 ... PWM generation unit, 9 ... Clock generation unit,
10 ... ASIC, 12, 50 ... Startup setting register, 1
3 ... 1st target speed switching position register, 14 ... 2nd target speed switching position register, 15, 52 ... Deceleration start position register, 16 ... 1st speed observation position register, 17 ... 2nd
Speed observation position register, 18 ... First observation speed value register, 19 ... Second observation speed value register, 20, 55 ...
First target speed value register, 21 ... Second target speed value register, 22, 56 ... Final target speed value register, 2
3, 57 ... Gain register, 30 ... Print head, 3
1 ... Carriage, 32 ... Pressing roller, 33 ... Printing paper, 34 ... Guide shaft, 35 ... CR motor, 36
... pulley, 37 ... endless belt, 38 ... timing slit, 39 ... linear encoder, 51 ... target speed switching position register, 53 ... speed observation position register,
54 ... Observed velocity value register, 60 ... Edge detection unit,
61 ... Position counter, 62, 62a ... Comparison processing unit,
63 ... Cycle counter, 64 ... Velocity converter, 71, 7
1a ... Target speed value selector, 72 ... Feedback calculation processing unit, 72a ... Subtractor, 72b ... Proportional calculator,
72c ... Integral computing unit, 72d ... Differentiating computing unit, 72e
... adder 73 ... deceleration control unit 74 ... control signal selector.

Continued front page    F-term (reference) 2C480 CA11 CB02 CB35 DA01 DB02                       EA07 EA10 EA22                 5H313 AA38 BB05 CC01 DD01 EE01                       GG01 GG04 GG14 HH01 KK06                       MM01 MM02                 5H571 AA13 BB06 FF01 GG02 HD02                       JJ03 JJ13 KK05 LL07

Claims (12)

[Claims] 1. A speed control method for controlling a motion speed of a moving body such that a detected motion speed matches a set motion speed, wherein the moving speed of the moving body is changed from a motion start timing of the moving body. The switching timing is set within the activation section until the final target speed reaching timing to reach the final target speed, and in the first section from the motion start timing to the switching timing, the detected motion speed of the moving body is the first. 1
Control the movement speed of the moving body so as to match the target speed value, and after the switching timing, the movement speed of the moving body so that the detected movement speed of the moving body matches the final target speed value. A speed control method characterized by controlling the. 2. The velocity of motion of the moving body is observed at one or a plurality of preset observation timings in the start-up section, and the velocity of movement of the moving body is preset in the velocity range at the observation timing. If you are out of
2. When activating the moving body next time, the moving speed control of the moving body is corrected so that the moving speed of the moving body falls within the speed range at the observation timing. Speed control method. 3. A power generation means for giving power to a moving body, a moving speed detecting means for detecting a moving speed of the moving body, and a moving speed of the moving body detected by the moving speed detecting means is a target moving speed. Motion velocity control signal generation means for generating a motion velocity control signal for controlling the motion velocity of the moving body so as to match with, and power control means for controlling the power generation means based on the motion velocity control signal, A speed control device comprising: a first target speed value supply means for supplying a first target speed value of the moving body to the motion speed control signal generating means; and a final target speed value of the moving body for the motion speed control signal generating means. A final target speed value supply means for supplying a target speed value, and from the motion start timing of the moving body to the final target speed reaching timing for making the moving speed of the moving body reach the final target speed. A switching timing is set within a motion section, and the first target speed value supplied from the first target speed value supply means is used to generate the motion speed control signal in a first section from the motion start timing to the switch timing. And target speed switching means for supplying the final target speed value supplied from the final target speed value supplying means to the motion speed control signal generating means, after the first section. A speed control device characterized by the above. 4. A motion velocity observing means for observing the motion velocity of the moving body at one or a plurality of observation timings set in advance in the activation section, and the motion velocity observing means for observing the motion velocity of the moving body. When observed, if the movement speed of the moving body is out of the preset speed range, when the moving body is started next time, the movement speed of the moving body is the speed at the observation timing. The speed control device according to claim 3, further comprising a correction unit that corrects the motion speed control of the moving body so as to be within the range. 5. The speed control device according to claim 4, wherein the correction means changes the switching timing of the target speed switching means. 6. The speed control device according to claim 4, wherein the correction means changes the first target speed value supplied by the first target speed value supply means. 7. The first target speed value supply means comprises a plurality of the first target speed values, and switches the plurality of the first target speed values at a predetermined timing within the first section. 7. The speed control device according to claim 3, wherein the speed control signal is supplied to a motion speed control signal generating means. 8. The speed control device according to claim 7, wherein the correction means changes a switching timing of the plurality of first target speed values in the first target speed value supply means. 9. The speed control device according to claim 3, wherein the first target speed value is set lower than the final target speed value. 10. The motion velocity control signal generating means is P
10. The speed control device according to claim 3, wherein the motion speed control signal is generated using an ID control law. 11. The speed control device according to claim 3, wherein the power generation unit is a conversion device that converts electric energy into power. 12. The speed control device according to claim 11, wherein the conversion device is a motor.