JP2003289699A - Method and apparatus for controlling motor, and recorder - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make temperatures of respective phases of stator coils uniform. <P>SOLUTION: A method for controlling a motor for controlling to drive the motor by supplying a power to the respective phases of a plurality of stator coils comprises the step of: controlling the phase of the stator coil supplied with the power at the motor stop time so as to be different for at least one from the phase (the phases A and B) supplied with the power at the previous time motor stop time. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor drive control method, a motor drive control device, and a recording apparatus equipped with this motor drive control device.

[0002]

2. Description of the Related Art In a recording apparatus, while a carriage having a recording head mounted thereon is run along the axial direction of a platen,
There is a dot impact printer that projects a plurality of recording wires in a recording head toward a platen and records an image on a sheet conveyed between the recording head and the platen via an ink ribbon (not shown).

The carriage is slidably supported by a carriage shaft and a carriage guide shaft, and travels along the axial direction of the platen by a carriage driving motor, that is, travels leftward or rightward in the main scanning direction. The carriage drive motor is composed of a step motor and is drive-controlled by a carriage drive control device.

That is, this carriage drive controller is
In the acceleration area of the carriage, increase the rotation speed of the carriage drive motor to accelerate the carriage to reach the constant speed area, and then in the deceleration area of the carriage, decrease the rotation speed of the carriage drive motor to decelerate the carriage. , Set the carriage speed to zero. Generally, when the carriage is in the constant velocity area, the recording operation by the recording head is executed.

[0005]

By the way, the electric power (current) supplied to the stator coil of the carriage drive motor.
When the carriage drive motor is accelerated or decelerated, the speed is changed as compared with the constant speed because the speed is changed, and the supply time is long. For this reason, when the carriage drive motor is stopped, if the phase of the stator coil to which electric power (current) is supplied is the same every stop, heat generation in this phase becomes significant, and the temperature in each phase of the stator motor becomes uneven. There is a risk of becoming.

In order to avoid this, in the stator coil of the carriage drive motor, a safe drive condition is determined on the basis of the phase with the highest temperature. Under this condition, the heat generation margin for the carriage drive motor is large. It becomes a thing.

An object of the present invention is to provide a motor drive control method, a motor drive control device, and a recording device that can equalize the temperature of each phase of the stator coil in view of the above circumstances. is there.

[0008]

According to a first aspect of the present invention, there is provided a motor drive control method for driving and controlling a motor by sequentially supplying electric power to each phase of a plurality of stator coils. Is controlled so that the phase of the stator coil to which is supplied is at least one different from the phase to which power is supplied when the motor was stopped the previous time.

According to a second aspect of the present invention, in a motor drive control method for driving and controlling a motor by sequentially supplying electric power to each phase of a plurality of stator coils, the motor is rotationally driven in one direction from a stopped state. The number L of driving steps of the electric power supplied to the stator coil of the motor before stopping again is Z is the number of phases of the stator coil of the motor, m is an arbitrary integer, and k
Is an integer of 1 ≦ k <Z, L = Z × (m + k /
Z) is controlled.

According to a third aspect of the present invention, in the second aspect of the invention, the drive step number L is controlled by adjusting the drive step number when the motor rotates at a constant speed. It is a thing.

The invention according to claim 4 is the invention according to claims 1 to 3.
In any one of the inventions described above, the motor is a step motor.

According to a fifth aspect of the present invention, in a motor drive control device for driving and controlling a motor by sequentially supplying electric power to each phase of a plurality of stator coils, the stator is supplied with electric power when the motor is stopped. The phase of the coil is controlled to be at least one different from the phase to which power was supplied when the motor was stopped the previous time.

According to a sixth aspect of the present invention, in a motor drive control device for driving and controlling a motor by sequentially supplying electric power to each phase of a plurality of stator coils, the motor is driven to rotate in one direction from a stopped state. The number L of driving steps of the electric power supplied to the stator coil of the motor before stopping again is Z is the number of phases of the stator coil of the motor, m is an arbitrary integer, and k
When L is an integer of 1 ≦ k <Z, L = Z × (m + k / Z) is controlled.

According to a seventh aspect of the invention, in the invention according to the sixth aspect, the drive step number L is controlled by adjusting the drive step number when the motor rotates at a constant speed. To do.

The invention described in claim 8 is the invention as claimed in claims 5 to 7.
In any one of the inventions described above, the motor is a step motor.

According to a ninth aspect of the present invention, a recording head mounted on a movable carriage records an image on a sheet, and a carriage drive motor for driving the carriage is driven and controlled by a motor drive controller. In the apparatus, the motor drive control device sequentially supplies electric power to each phase of a plurality of stator coils in the carriage drive motor to drive and control the motor, and the electric power is supplied when the carriage drive motor is stopped. The phase of the stator coil is controlled to be at least one different from the phase to which power was supplied when the carriage drive motor was stopped the previous time.

According to a tenth aspect of the present invention, a recording head mounted on a movable carriage records an image on a sheet, and a carriage drive motor for driving the carriage is driven and controlled by a motor drive controller. In the apparatus, the motor drive control device sequentially supplies electric power to each phase of a plurality of stator coils in the carriage drive motor to control the drive of the motor, and also drives the carriage drive motor to rotate in one direction from a stopped state. The number of drive steps L of the electric power supplied to the stator coil of the motor until the motor is stopped again.
Where Z is the number of phases of the stator coil in the carriage drive motor, m is an arbitrary integer, and k is 1 ≦
When k is an integer of Z, the control is performed so that L = Z × (m + k / Z).

According to an eleventh aspect of the invention, in the invention of the tenth aspect, the drive step number L is controlled by adjusting the drive step number when the carriage drive motor rotates at a constant speed. It is a feature.

According to a twelfth aspect of the present invention, in the invention according to any one of the ninth to eleventh aspects, the carriage drive motor is a step motor.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing a printer body of a dot impact printer to which an embodiment of a recording apparatus according to the present invention is applied. FIG. 2 is a side sectional view showing the printer body of FIG.

The printer 10 as a recording device shown in these figures prints dots by hitting a large number of recording wires (not shown) of the recording head onto the sheet S via the ink ribbon 31 (FIG. 2) to record dots. It is a dot impact printer that prints images including. Here, the sheet S is plain paper such as cut paper or continuous paper.

The printer 10 is, as shown in FIG.
A printer main body 11 as a recording apparatus main body, a push tractor unit 12 and a discharge unit 13 detachably attached to the printer main body 11, and a sheet supply guide 34 also detachably attached to the printer main body 11.
(FIG. 2), and an upper case and a lower case (not shown) that cover the upper and lower sides of the printer body 11, respectively.

The printer body 11 includes a base frame 14 and a sheet guide frame 15 as body frames.
(FIG. 2), a left side frame 16 and a right side frame 17, a print mechanism unit 20 including a recording head 18 and a carriage 19, a sheet conveyance including a platen 21, a sheet guide 22, and a pinch roller 25 (FIG. 2). Mechanical part 23
And are configured.

The base frame 14 and the seat guide frame 15 are arranged substantially in parallel as shown in FIG. 2, and the left side frame 16 and the right side frame 17 are provided at both ends of the base frame 14 and the seat guide frame 15, respectively.
Are fixed upright. As shown in FIG. 1, a carriage shaft 24 is bridged between the left side frame 16 and the right side frame 17 so as to be pivotally supported, and a carriage guide shaft 28 serving as a carriage guide member is bridged. Fixedly supported. Also, platen 2
1 is rotatably fixed to a platen shaft 33, and the platen shaft 33 is bridged between the left side frame 16 and the right side frame 17 and rotatably supported.

The seat guide 22 includes the left side frame 16
And the right side frame 17 are provided, and are fitted and fixed to the sheet guide frame 15. Also, the rear parts of the left side frame 16 and the right side frame 17,
The push tractor unit 1 is provided on each of the upper portions.
2. A tractor unit mounting part and a discharging unit mounting part (not shown) to which the discharging unit 13 can be mounted respectively are provided.

The push tractor unit 12 shown in FIG.
Feeds the continuous paper as the sheet S to the sheet conveying mechanism section 23, and the sheet supply guide 34 supplies the single-cut sheets as the sheet S to the sheet conveying mechanism section 23 one by one. Further, the discharge unit 13 pulls out the continuous paper or the cut sheet from the sheet conveying mechanism section 23 to the outside of the printer 10.

That is, as shown in FIG. 2, the rotation of the tractor belt 26 of the push tractor unit 12 causes
By the action of the pin 27 of the tractor belt 26, the continuous paper is guided by the sheet guide 22 of the sheet conveying mechanism 23 toward the platen 21, and is fed in the direction of arrow M. When the push tractor unit 12 is not in operation, it is possible to supply the cut sheets one by one from the sheet supply guide 34 to the platen 21 via the sheet guide 22. Further, by rotating the discharge roller 29 of the discharge unit 13, the continuous paper or the cut sheet on which characters and the like are recorded by the recording head 18 is pulled out from the platen 21 of the sheet conveying mechanism section 23 in the direction of the arrow N, as described later. . As a result, the continuous paper or the cut sheet is conveyed in the sub-scanning direction orthogonal to the main scanning direction, which will be described later, of the carriage 19.

The carriage 19 shown in FIGS. 1 and 3.
Is slidably inserted into the carriage shaft 24 and the carriage guide shaft 28, and carries the recording head 18. Since the carriage shaft 24 and the carriage guide shaft 28 are arranged parallel to the platen 21, the carriage 1
9 is provided so as to be movable (running) in the main scanning direction that coincides with the axial directions of the platen 21, the carriage shaft 24, and the carriage guide shaft 28.

The carriage 19 is moved (scanned) by a carriage drive system including a carriage drive motor 42 and a timing belt 30. The carriage drive motor 42 is fixed to the base frame 14, and the carriage drive pulley 41 is rotatably attached to the carriage drive motor 42. Further, the carriage driven pulley 43 is elastically supported on the left side frame 16 via a spring 44 (FIG. 3) and the like. The timing belt 30 is wound around the carriage driving pulley 41 and the carriage driven pulley 43, and the carriage 19 is coupled to the timing belt 30.

Therefore, by the forward or reverse rotation of the carriage drive motor 42, the carriage 19 is guided by the carriage shaft 24 and the carriage guide shaft 28 via the timing belt 30 to reciprocate leftward or rightward in FIG. 1 in the main scanning direction. Be driven.

The recording head 18 is provided with a large number of recording wires (not shown), and the ink ribbon 31 is located in front of the protruding direction of these recording wires. The recording head 18 projects the recording wire and strikes it against the ink ribbon 31 while traveling in the main scanning direction together with the carriage 19, and the ink of the ink ribbon 31 is ejected onto the platen 21 and the ink ribbon 3.
Sheet S (continuous paper or cut sheet) conveyed between 1 and
Then, a recording operation for recording an image including characters on the sheet S is executed.

In this recording operation by the recording head 18, one line of recording is performed by the recording wire of the recording head 18 while the carriage 19 travels leftward or rightward in the main scanning direction, and each time one line of recording is performed. If the sheet S is continuous paper, the sheet conveying mechanism unit 2 shown in FIG.
3, the platen 21, the push tractor unit 12, and the discharge unit 13, and when the sheet S is a single-cut sheet, the platen 21, the pinch roller 25, and the discharge unit 13 of the sheet conveying mechanism 23 respectively remove the sheet S. It is carried out by carrying a predetermined amount (usually the space between lines) and repeating these operations.

Reference numeral 32 shown in FIG. 2 is formed so as to open between the base frame 14 and the sheet guide frame 15, and the sheet conveying mechanism portion 23 is provided from below the printer 10.
A bottom sheet supply port for supplying the sheet S into the inside.

By the way, as shown in FIG. 3, the carriage drive motor 42 for reciprocating the carriage 19 is composed of a four-phase step motor having a plurality of phases, for example, four-phase stator coils. A motor drive control device 50 controls the motor. The motor drive control device 50 is specifically a control board unit 51 installed below the seat frame 15 behind the printer body 11 as shown in FIG.

Here, the control board portion 51 drives and controls the carriage drive motor 42 and also controls the recording head 18.
The projection operation of the recording wire is controlled, and the platen 21, the push tractor unit 12, and the ejection unit 13 are drive-controlled.

Now, the control board portion 51 functioning as the motor drive control device 50 is composed of the carriage drive motor 42.
Of the stator coils of one phase, electric power (current) is always supplied to the two phases sequentially to change the phase to be excited, whereby the rotation of the carriage drive motor 42 is controlled. Figure 4
Shows an example of a phase switching pattern when a four-phase step motor, which is the carriage drive motor 42, is excited in two phases. In this pattern, A phase, B phase, C of the stator coil
Of the phase and D phase, two phases are always excited at the same time for each rank.

By such drive control of the carriage drive motor 42, the carriage drive motor 42 is moved to the position shown in FIG.
As shown in (A), the motor is rotationally driven in one direction from a stopped state to be accelerated, becomes a constant speed state, then is decelerated and stopped, and similarly in the opposite direction, acceleration and constant speed are also applied. , Deceleration, and stop are sequentially executed, and these are repeated.

Further, in the control board portion 51, when the carriage drive motor 42 is stopped, power (current) is supplied to excite the stator coil that is excited and the power (current) is stopped when the carriage drive motor 42 is stopped. At least one control is performed so as to be different from the excitation phase supplied and excited.
For example, in FIG. 4, assuming that the stator coil of the carriage drive motor 42 was previously stopped in the A-phase and B-phase of the first order, the phase of the stator coil at this stop is the A-phase and B-phase of the n-th order. The phase is controlled not to be the phase, but to be the B phase and C phase of the (n + 1) th rank, the A phase and D phase of the (n + 3) th rank, or the C phase and D phase of the (n + 2) th rank.

The reason why the phases of the stator coils excited when the carriage drive motor 42 is stopped in this way are made different will be described below.

In order to change the speed when the carriage drive motor 42 is accelerated or decelerated, the electric power (current) supplied to the stator coil is smaller than that in the case of the constant speed as shown in FIG.
It becomes higher as shown in (B). Further, when the speed of the carriage drive motor 42 is slow, the time for supplying electric power (current) to the stator coil becomes long. Therefore, the excitation phase of the stator coil excited when the carriage drive motor 42 is stopped, that is, the first acceleration phase or the final deceleration phase of the stator coil, supplies a large amount of electric power for a long time as compared with other phases. As a result, heat is generated significantly. In order to avoid this, at least one excitation phase of the stator coil when the carriage drive motor 42 is stopped is made different every time the carriage drive motor 42 is stopped, so that heat generation between the phases of the stator coil is made substantially equal. Of.

On the other hand, the carriage drive motor 42 causes the carriage 19 to travel from the left side frame 16 side to the right side frame 17 side, for example, by rotating in one direction.
By rotating in the other direction, for example, the carriage 19 is caused to travel from the right side frame 17 side to the left side frame 16 side. The control board unit 51 uses the carriage drive motor 4
In order to execute the rotation in one direction or the other direction of 2, the number of drive steps of the electric power supplied to the carriage drive motor is adjusted so that the excitation phase of the stator coil when the carriage drive motor 42 is stopped is At least one difference is made every time the carriage drive motor 42 is stopped.

That is, the number of drive steps L of the electric power supplied to the stator coil of the carriage drive motor 42 until the carriage drive motor 42 is rotationally driven in one direction or the other direction from the stopped state and is stopped again is:
When Z is the number of stator coil phases in the carriage drive motor 42, m is an arbitrary integer, and k is an integer of 1 ≦ k <Z, L = Z × (m + k / Z) = Zm + k is determined. . When the carriage drive motor 42 is a four-phase stepping motor, L = 4m + k (integer of 1 ≦ k ≦ 3).

By setting the number of drive steps L in this way, the excitation phases of the stator coils when the carriage drive motor 42 is stopped are the A phase and the B phase when the previous stop was performed, and the excitation phase when the current stop was performed. , B phase and C phase or A phase and D phase (when k = 1, 3), only one phase is different, or C phase and D phase (when k = 2), both phases are also different. It will be.

The control board portion 51 has the above-described driving step number L.
Adjustment of the carriage drive motor 42 shown in FIG.
It is realized by increasing or decreasing the number of drive steps L in the constant speed region of. For example, when the carriage drive motor 42 controls the carriage drive motor 42 to run the carriage 19 in the minimum drive step in the constant speed region, the control board section 51 increases the drive step number L (for example, 1, 2 or 3).
Increase the number of steps), and the recording head 1
In step 8, the recording operation is performed without running, and the above-described adjustment of the driving step number L is realized.

From the above, according to the above embodiment, the following effects and advantages can be obtained.

Since the control board portion 51 makes at least one different exciting phase of the stator coil when the carriage drive motor 42 is stopped, the heat generated between each phase of the stator coil is different. The temperature can be made substantially equal, and the temperature between the phases of these stator coils can be made uniform. As a result, even in the carriage drive motor 42 that frequently starts and stops, the burnout can be reliably prevented.

As described above, since the temperature in each phase of the stator coil of the carriage drive motor 42 is made uniform, the drive condition determined based on the stator coil which is easily burnt can be eased and the heat generation margin can be reduced. It can be reduced. As a result, the carriage drive motor 42 can be efficiently driven and controlled.

Although the present invention has been described based on the above embodiment, the present invention is not limited to this.

For example, in the above embodiment, the excitation phase in the stator coil of the carriage drive motor 42 when the carriage 19 is stopped at the left end of the traveling range is always A.
Phase and B phase, and when at least one of the excitation phases of the stator coil of the carriage drive motor 42 when stopping the carriage 19 at the right end of the travel range is different from the above A phase or B phase, the carriage 19 travels. Carriage drive motor 4 for stopping at the left or right end of the range
This includes both the case where the excitation phase of the second stator coil is changed at each stop.

In the present embodiment, the case where the carriage drive motor 42 is a 4-phase step motor has been described.
The present invention may be applied to a three-phase DC motor.

[0052]

According to the motor drive control method of the invention described in claims 1 to 4, the temperature of each phase in the stator coil of the motor can be made uniform.

According to the motor drive control device of the fifth to eighth aspects of the present invention, the temperature of each phase in the stator coil of the motor can be made uniform.

According to the recording apparatus of the present invention, the temperature of each phase in the stator coil of the carriage drive motor can be made uniform.

[Brief description of drawings]

FIG. 1 is a perspective view showing a printer body of a dot impact printer to which an embodiment of a recording apparatus according to the present invention is applied.

FIG. 2 is a side sectional view showing the printer body of FIG.

FIG. 3 is a plan view schematically showing the printer body of FIG.

FIG. 4 is a sequence diagram showing a phase switching pattern when the carriage drive motor (four-phase step motor) of FIG. 3 is excited in two phases.

5A is a graph showing speed control of the carriage drive motor shown in FIG. 3, and FIG. 5B is a graph showing changes in electric power supplied to the carriage drive motor shown in FIG.

[Explanation of symbols]

10 Printer (recording device) 18 recording head 19 carriage 42 Carriage drive motor 51 control board 50 Motor drive controller

Claims (12)

[Claims] 1. A motor drive control method for driving and controlling a motor by sequentially supplying electric power to each phase of a plurality of stator coils, wherein the phase of the stator coil to which electric power is supplied when the motor is stopped is A motor drive control method, characterized in that the motor is controlled so as to be at least one different from the phase to which power is supplied when the motor is stopped. 2. A motor drive control method for driving and controlling a motor by sequentially supplying electric power to each phase of a plurality of stator coils, wherein the motor is rotationally driven in one direction from a stopped state and stopped again. When the number L of driving steps of the electric power supplied to the stator coil of the motor is Z, the number of phases of the stator coil in the motor, m is an arbitrary integer, and k is an integer of 1 ≦ k <Z. , L = Z × (m + k / Z). 3. The motor drive control method according to claim 2, wherein the number of drive steps L is controlled by adjusting the number of drive steps when the motor rotates at a constant speed. 4. The motor drive control method according to claim 1, wherein the motor is a step motor. 5. A motor drive control device for driving and controlling a motor by sequentially supplying electric power to each phase of a plurality of stator coils, wherein the phase of the stator coil to which electric power is supplied when the motor is stopped is The motor drive control device is controlled so as to be different from at least one phase to which power is supplied when the motor is stopped. 6. A motor drive control device for driving and controlling a motor by sequentially supplying electric power to each phase of a plurality of stator coils, wherein the motor is rotationally driven in one direction from a stopped state and then stopped again. Number of driving steps L of electric power supplied to the stator coil of the motor
Where Z is the number of phases of the stator coil in the motor, m is an arbitrary integer, and k is an integer of 1 ≦ k <Z, L = Z × (m + k / Z) A motor drive control device characterized by the above. 7. The motor drive control device according to claim 6, wherein the number of drive steps L is controlled by adjusting the number of drive steps when the motor rotates at a constant speed. 8. The motor drive control device according to claim 5, wherein the motor is a step motor. 9. A recording apparatus in which a recording head mounted on a movable carriage records an image on a sheet, and a carriage drive motor for driving the carriage is drive-controlled by a motor drive controller. The apparatus sequentially supplies electric power to each phase of a plurality of stator coils in the carriage drive motor to drive and control the motor, and the phase of the stator coil to which power is supplied when the carriage drive motor is stopped is The recording apparatus is controlled so as to be at least one different from the phase to which power is supplied when the carriage drive motor is stopped. 10. A recording apparatus in which a recording head mounted on a movable carriage records an image on a sheet, and a carriage drive motor for driving the carriage is drive-controlled by a motor drive controller. The device sequentially supplies electric power to each phase of a plurality of stator coils in the carriage drive motor to drive and control the motor, and at the same time until the carriage drive motor is rotationally driven in one direction from the stopped state and then stopped again. The driving step number L of the electric power supplied to the stator coil of the motor is Z
Is the number of phases of the stator coil in the carriage drive motor, m is an arbitrary integer, and k is 1 ≦ k <Z
The recording apparatus is characterized by controlling so that L = Z × (m + k / Z), where L = Z × (m + k / Z). 11. The recording apparatus according to claim 10, wherein the number of drive steps L is controlled by adjusting the number of drive steps when the carriage drive motor rotates at a constant speed. 12. The recording apparatus according to claim 9, wherein the carriage drive motor is a step motor.