JP2004040839A - Motor control method and motor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control method and a motor controller which can suppress the influence of a momentary disturbance even in the case of detecting a travelling speed with discrete timing and also can suppress inappropriate motor control. <P>SOLUTION: In a carriage controller 1, when setting a rotational speed control signal S3 using a proportional control value, an integral control value, and a differential control value computed by PID control by a feedback processor 70; an output correcting processor 19 corrects a differential control value to 0 after the lapse of a differential quantity reflecting time. As a result, even in the case that a difference arises between the detected speed and the actual travelling speed, it can prevent the rotational speed control signal S3 from being set to a value deviated largely from a value suitable for the actual velocity of movement, and can prevent improper motor control such as overshoot, etc. from being performed. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a motor control method and a motor control device for performing feedback control of a rotation speed of a motor that drives a driving target so that a movement speed of the driving target reaches a target speed.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, in a printer (for example, an ink jet printer) in which printing is performed on print paper while a print head moves, a carriage that conveys the print head is driven by a carriage (CR) motor. In addition, in order to print at an accurate print position, it is necessary to control the moving speed of the carriage within the printing range to an appropriate speed.For this purpose, the moving speed of the carriage is detected using an encoder or the like, and the moving speed is detected. The drive current supplied to the CR motor is increased or decreased by using a control algorithm such as PID control so that the detected moving speed matches a preset target speed. Controlling the driving force.
[0003]
In the PID control, the differential control amount among the control amounts (proportional control amount, integral control amount, differential control amount) calculated based on the detected moving speed or speed deviation (difference between the detected moving speed and the target speed). Is a control amount calculated to control the motor while suppressing the influence on transient (instantaneous) disturbance.
[0004]
[Problems to be solved by the invention]
If the detection of the moving speed of the carriage is not performed continuously but at discrete detection timings, the moving speed used for calculating the control amount is not updated until the next detection timing is reached. In other words, despite the fact that the actual moving speed has changed, the moving speed used for calculating the control amount has a past value, so that the motor control cannot be executed in accordance with the actual moving speed. Control may be performed.
[0005]
Specifically, the differential response (differential control amount) obtained by capturing the disturbance (fluctuation in the moving speed) in a continuous system (analog system) has a waveform that fluctuates greatly when a change in the disturbance occurs, as shown in FIG. As shown in FIG. 14B, the differential response obtained by capturing the disturbance in a discrete system (digital system) shows the same value until the next detection timing is reached.
[0006]
In particular, the longer the period of the detection timing, the higher the possibility of improper control, the overshoot phenomenon in which the moving speed greatly exceeds the target speed, and the vibration in which the moving speed vibrates around the target speed. A phenomenon or the like may occur. FIG. 14B shows a waveform when the differential response 2 has a longer detection timing cycle than the differential response 1 and the differential response 3 has a longer detection timing cycle than the differential response 2. I have.
[0007]
On the other hand, the probability of inappropriate motor control is reduced by shortening the period of the detection timing and shortening the time when the control amount is calculated based on an inappropriate moving speed that is different from the actual moving speed. You can.
However, since there is a limit in shortening the detection timing cycle, occurrence of inappropriate motor control cannot be sufficiently suppressed. Further, even when the detection timing cycle is shortened, the actual moving speed of the motor controlled based on the differential control amount calculated according to the instantaneous disturbance is shorter than the detection timing cycle. Because of the change, it is highly possible that the control amount becomes an inappropriate value before reaching the next detection timing.
[0008]
Therefore, the present invention has been made in view of the above problem, and even when the detection of the moving speed is performed at discrete timing, it is possible to suppress the influence of the instantaneous disturbance and to perform the inappropriate motor control. It is an object of the present invention to provide a motor control method and a motor control device that can suppress the occurrence of the problem.
[0009]
[Means for Solving the Problems]
According to a first aspect of the present invention, there is provided a method for detecting a movement speed of a driving object driven by a motor at discrete speed detection timings. A speed including a proportional control amount corresponding to a detected speed or a proportional value of the speed deviation and an integral control amount corresponding to an integral value of the speed deviation are calculated. Calculate the control amount, calculate the differential value of the detected speed or speed deviation, or calculate the differential control amount according to the change amount of the detected speed or speed deviation per unit time, using the speed control amount and the differential control amount, A motor control system that sets a control command value for driving the motor at a target speed and performs feedback control of the motor rotation speed based on the control command value so that the movement speed of the driven object becomes the target speed. A detection speed is detected at a speed detection timing, and after a differential amount reflection time shorter than a movement speed detection cycle elapses with reference to a time point at which the differential control amount is updated based on the detected speed, the control is performed. The differential control amount used for setting the command value is corrected to a value smaller than the updated differential control amount.
[0010]
In this motor control method, when setting the control command value, the updated (calculated) differential control amount is used as it is until the differential amount reflection time elapses based on the differential control amount update time, and the differential amount is reflected. After a lapse of time, the corrected differential control amount corrected to a small value is used. That is, in this motor control method, the reflection ratio of the differential control amount in the setting process of the control command value is not always kept constant, but after the differential amount reflection time elapses, the reflection ratio of the differential control amount is reduced. .
[0011]
That is, according to this motor control method, the control command value is set using the calculated differential control amount during the differential amount reflection time, so that even when an instantaneous disturbance (noise) or the like occurs, the motion is controlled. Stable motor control can be performed so that the speed quickly approaches the target speed.
[0012]
Since the actual motion speed at the differential amount reflection time fluctuates due to motor control based on the control command value, for example, the actual motion speed at the time when the differential amount reflection time has elapsed is detected at the latest speed detection timing. It becomes a value different from the detected speed (a value close to the target speed). Therefore, the control command value before reaching the next speed detection timing is an inappropriate value that is not based on the actual movement speed. The speed may greatly deviate from the target speed.
[0013]
On the other hand, in the motor control method of the present invention, after the differential amount reflection time has elapsed, the differential control amount is corrected to a small value and the control command value is set, so that the control command value is suitable for the actual motion speed. The value can be prevented from being set to a value that greatly deviates from the set value. Therefore, even when the speed detection timing is set discretely, the control command value is set to an inappropriate value until the next speed detection timing or the next differential control amount update (calculation) timing is reached. Can be suppressed.
[0014]
Therefore, according to the method of the present invention (claim 1), since at least the differential reflection time is controlled based on the control command value set using the calculated differential control amount, the instantaneous disturbance ( Even when noise or the like occurs, stable motor control can be performed. Also, after the elapse of the differential amount reflection time, the control command value is set using the differential control amount corrected to a small value, so that until the next speed detection timing or the next differential control amount calculation timing is reached. It is possible to suppress the control command value from being set to an inappropriate value, and to prevent inappropriate motor control such as overshoot.
[0015]
In addition, after the motor control is performed by the control command value reflecting the influence of the instantaneous disturbance, the control response time until the actual movement speed reaches the target speed becomes longer. When the method of the present invention is applied, if the differential control amount is sharply corrected to a small value, the actual movement speed cannot be sufficiently close to the target speed, and there is a possibility that appropriate motor control cannot be performed. .
[0016]
Therefore, when correcting the differential control amount used for setting the control command value, for example, the differential control amount may be corrected to decrease with time as described in claim 2.
By correcting the differential control amount in this way, after the differential amount reflection time has elapsed, the reflection ratio of the differential control amount in the control command value gradually decreases with time. As a result, even when the control response time until the actual movement speed reaches the target speed is long, the control command value can be set to an appropriate value, and the motor control becomes inappropriate. Can be prevented.
[0017]
Further, as another method of correcting the differential control amount, for example, a correction method of correcting the differential control amount to a constant value may be applied.
By correcting the differential control amount in this way, the reflection ratio of the differential control amount in the control command value can be sharply reduced after the differential amount reflection time has elapsed. As a result, after the motor control is performed based on the control command value reflecting the effect of the instantaneous disturbance, the control command value in the case where the control response time until the actual movement speed reaches the target speed is short is appropriately adjusted. Value can be set.
[0018]
For example, if motor control is possible such that the actual movement speed becomes substantially equal to the target speed in a short control response time, the differential control amount after correction may be set to 0, or the actual control speed may be reduced in a short control response time. If the control is such that the motion speed of the vehicle approaches the target speed but a slight error remains, the corrected differential control amount is set to a fixed ratio value (for example, a 20% value or the like) to the calculated differential control amount. Good to do.
[0019]
Incidentally, the calculation timing of the differential control amount can be set arbitrarily, for example, it can be set according to the speed detection timing. However, when the cycle of the speed detection timing changes according to the actual movement speed of the driven object, the calculation timing of the differential control amount also changes according to the actual movement speed. Then, the update timing of the control command value fluctuates depending on the movement speed, and particularly when the update cycle is long, the control period by an inappropriate control command value that is not suitable for the actual movement speed becomes longer. In some cases, stable motor control cannot be realized.
[0020]
Therefore, in the above-described method (any one of claims 1 to 3), the differential control amount may be calculated at regular intervals, as described in claim 4.
In other words, by setting the cycle of the calculation timing of the differential control amount to a constant cycle instead of fluctuating according to the movement speed, the update timing of the control command value can be set for each fixed cycle. Irrespective of the variation of the motor, stable motor control can be realized.
[0021]
Therefore, according to the method of the present invention (claim 4), the calculation timing of the differential control amount is set at regular intervals, so that the detection timing of the moving speed is stable at regular intervals or not. Motor control can be realized.
Next, when motor control is performed by PWM control (pulse width control), since a PWM control command signal is output every predetermined PWM control cycle, the same PWM control command signal is output until the PWM control cycle elapses. The motor control is executed based on this. For this reason, even if the differential control amount is corrected in the middle of the PWM control cycle, the PWM control command signal reflecting the corrected differential control amount cannot be output until the PWM control period elapses. Control may not be realized. In particular, if the differential amount reflection time is set to a time shorter than the PWM control cycle, the differential control amount is always corrected in the middle of the PWM control cycle.
[0022]
Therefore, the motor control method according to any one of claims 1 to 4 generates a PWM control command signal for driving and controlling the motor based on the control command value, as described in claim 5, The PWM control command signal may be output every predetermined PWM control cycle, and the differential control amount may be corrected after a differential amount reflection time in which a time longer than the PWM control period is set.
[0023]
In other words, by setting the differential amount reflection time longer than the PWM control cycle, it is possible to prevent the correction timing of the differential control amount from being always in the middle of the PWM control cycle, and to reduce the response speed of the motor control. Can be prevented.
In particular, by setting the differential amount reflection time to be approximately an integral multiple of the PWM control cycle so that the differential control amount correction time and the PWM control command signal update time are approximately the same time, the differential control amount correction time is set. From the time till when the PWM control command signal is updated, useless time can be prevented from occurring, and the responsiveness of motor control can be improved.
[0024]
Therefore, according to the method of the present invention (claim 5), even when the speed detection timing is discrete and the motor control is performed by the PWM control (pulse width control), the response speed of the motor control becomes slow. Can be prevented, and improper motor control can be suppressed.
[0025]
By the way, it is known that the required time from the start of the change of the moving speed due to the instantaneous disturbance to the convergence to the target speed by the motor control varies depending on various factors (for example, the target speed). For this reason, an appropriate value of the differential amount reflection time varies depending on the target speed. In applications where the target speed fluctuates, if the differential amount reflection time is set to a fixed value, appropriate motor control cannot be performed. There are cases.
[0026]
Therefore, according to the invention method described above (any one of claims 1 to 5), the differential control amount is corrected after the differential amount reflection time set according to the target speed elapses. Good to do.
In other words, by setting the differential amount reflection time according to the target speed, the differential amount reflection time can be set to an appropriate value even in an application in which the target speed fluctuates, and the moving speed after the occurrence of a disturbance becomes lower than the target speed. The reflection ratio of the differential control amount in the setting of the control command value can be changed appropriately so as to approach the speed.
[0027]
Therefore, according to the method of the present invention (claim 6), the control command value can be set to an appropriate value even in an application where the target speed fluctuates, so that inappropriate motor control can be prevented.
Next, in order to achieve the above object, the invention according to claim 7 is characterized in that a speed detecting means for detecting a moving speed of a driving object driven by a motor at discrete speed detecting timings, and a speed detecting means. Speed deviation calculating means for calculating a speed deviation which is a deviation between the detected speed detected by the controller and a target speed set by an external command, and a proportional control amount and a speed deviation according to a proportional value of the detected speed or the speed deviation. Control amount calculating means for calculating a speed control amount including an integral control amount corresponding to an integral value of the differential speed of the detected speed or the speed deviation or a change amount of the detected speed or the speed deviation per unit time. A differential operation means for calculating a differential control amount, and control command value setting means for setting a control instruction value for driving the motor at a target speed using the speed control amount and the differential control amount. A motor control device that feedback-controls the rotation speed of the motor based on the value so that the movement speed of the driven object becomes the target speed. The detected speed is detected at the speed detection timing, and the differential operation is performed based on the detected speed. The differential control amount used by the control command value setting means to set the control command value after the differential amount reflection time shorter than the movement speed detection cycle by the speed detecting means has elapsed based on the time at which the means updates the differential control amount. Is differentiated to a value smaller than the differential control amount updated by the differential operation means.
[0028]
This motor control device realizes the motor control method according to claim 1 as a device, and the differential control amount correction means sets the differential control amount used for setting the control command value after the differential amount reflection time elapses. , Is corrected to a value smaller than the differential control amount calculated by the differential operation means.
[0029]
In other words, in this motor control device, the reflection ratio of the differential control amount in the control command value setting process is not always kept constant. Is used as it is, and after the differential amount reflection time elapses, the reflection ratio of the differential control amount is reduced.
[0030]
Therefore, according to the motor control device of the present invention (claim 7), similarly to the method of the invention of claim 1, at least the differential amount reflection time is set to the control command value set using the calculated differential control amount. Since the motor control is performed based on this, stable motor control can be performed even when instantaneous disturbance (noise) or the like occurs. Also, after the elapse of the differential amount reflection time, the control command value is set using the differential control amount corrected to a small value, so that until the next speed detection timing or the next differential control amount calculation timing is reached. It is possible to suppress the control command value from being set to an inappropriate value, and to prevent inappropriate motor control such as overshoot.
[0031]
In the motor control device described above (claim 7), for example, as set forth in claim 8, the differential control amount correcting means sets the differential control amount used for setting the control command value by the control command value setting means. In making the correction, the differential control amount may be reduced and corrected with time.
[0032]
This motor control device realizes the method according to claim 2 as a device. By correcting the differential control amount in this way, after the differential amount reflection time has elapsed, the control command value is not changed. The reflection ratio of the differential control amount gradually decreases with time.
[0033]
Therefore, according to the present invention (claim 8), similarly to the method of the invention described in claim 2, even when the control response time until the actual movement speed reaches the target speed becomes long, the control is performed. The command value can be set to an appropriate value, and inappropriate motor control can be prevented.
[0034]
In the above-mentioned motor control device, the differential control amount correcting means corrects the differential control amount used for setting the control command value by the control command value setting means. In this case, the differential control amount may be corrected to a constant value.
This motor control device realizes the method according to claim 3 as a device. By correcting the differential control amount in this way, after the differential amount reflection time has elapsed, the differential control in the control command value is performed. The reflection ratio of the amount can be sharply reduced.
[0035]
Therefore, according to the present invention (claim 9), similar to the method of the invention described in claim 3, after the motor control is performed based on the control command value reflecting the influence of the instantaneous disturbance, the actual movement is performed. The control command value when the control response time until the speed reaches the target speed is short can be set to an appropriate value.
[0036]
For example, if motor control is possible such that the actual movement speed becomes substantially equal to the target speed in a short control response time, the differential control amount after correction may be set to 0, or the actual control speed may be reduced in a short control response time. If the control is such that the motion speed of the vehicle approaches the target speed but a slight error remains, the corrected differential control amount is set to a fixed ratio value (for example, a 20% value or the like) to the calculated differential control amount. Good to do.
[0037]
Next, in the motor control device described above (any one of claims 7 to 9), the differential operation means may calculate the differential control amount at regular intervals, as described in claim 10.
This motor control device realizes the method according to claim 4 as a device, and sets the cycle of the calculation timing of the differential control amount to a constant cycle instead of changing the cycle according to the movement speed. Thus, the update timing of the control command value can be set at regular intervals, and stable motor control can be realized regardless of the fluctuation of the movement speed.
[0038]
Therefore, according to the present invention (claim 10), similarly to the method of the invention described in claim 4, by setting the calculation timing of the differential control amount at regular intervals, the detection timing of the moving speed can be set at regular intervals. Irrespective of whether or not, the stable motor control can be realized.
[0039]
Further, the motor control device described above (any one of claims 7 to 10) generates a PWM control command signal for driving and controlling the motor based on the control command value as described in claim 11. It is preferable that a command signal output unit that outputs a PWM control command signal for each predetermined PWM control cycle is provided, and the differential amount reflection time is set to be longer than the PWM control cycle.
[0040]
This motor control device realizes the method according to claim 5 as a device. By setting the differential amount reflection time longer than the PWM control period, the correction timing of the differential control amount is always set to the PWM control period. And the response speed of the motor control can be prevented from becoming slow. In particular, by setting the differential amount reflection time to be approximately an integral multiple of the PWM control cycle so that the differential control amount correction time and the PWM control command signal update time are approximately the same time, the differential control amount correction time is set. From the time till when the PWM control command signal is updated, useless time can be prevented from occurring, and the responsiveness of motor control can be improved.
[0041]
Therefore, according to the present invention (claim 11), similarly to the invention method of claim 5, even when the speed detection timing is discrete and the motor control is performed by PWM control (pulse width control), It is possible to prevent the response speed of the motor control from becoming slow, and it is possible to suppress the inappropriate motor control from being performed.
[0042]
Next, the motor control device described above (any one of claims 7 to 11) includes, as described in claim 12, a reflection time setting unit that sets a differential amount reflection time according to a target speed. Good.
This motor control apparatus realizes the method according to claim 6 as an apparatus. By setting the differential reflection time according to the target speed, the motor control device can reflect the differential amount even in an application in which the target speed fluctuates. The time can be set to an appropriate value, and the reflection ratio of the differential control amount in the setting of the control command value can be changed appropriately so that the moving speed after the occurrence of the disturbance approaches the target speed.
[0043]
Therefore, according to the present invention (claim 12), the control command value can be set to an appropriate value even in an application in which the target speed fluctuates, as in the method of the invention described in claim 6. Improper control can be prevented.
[0044]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, FIG. 1 shows a structural diagram of a carriage driving mechanism in an ink jet printer (hereinafter, simply referred to as “printer”) to which the present invention is applied.
[0045]
As shown in FIG. 1, the printer includes a guide shaft 34 installed in the width direction of the printing paper 33 conveyed by the press roller 32 or the like. A carriage 31 on which a print head 30 that performs printing by discharging ink toward the printer is inserted. The carriage 31 is connected to an endless belt 37 provided along a guide shaft 34, and the endless belt 37 is connected to a pulley 36 of a CR motor 35 installed at one end of the guide shaft 34 and to the other end of the guide shaft 34. It is hung between an installed idle pulley (not shown).
[0046]
That is, the carriage 31 is configured to reciprocate in the width direction of the printing paper 33 along the guide shaft 34 by the driving force of the CR motor 35 transmitted via the endless belt 37.
Further, below the guide shaft 34, a timing slit 38 having slits having a constant width formed at regular intervals (for example, 1/150 inch = about 0.17 mm) is provided along the guide shaft 34. In addition, a detection unit including a photo interrupter having at least one light emitting element and two or more light receiving elements facing each other with the timing slit 38 interposed therebetween is provided below the carriage 31. In addition, the detection unit including the photo interrupter constitutes a linear encoder 39 (see FIG. 2) described later together with the timing slit 38 described above.
[0047]
Note that the detection unit included in the linear encoder 39 outputs two types of encoder A-phase signals ENC1 and encoder B-phase signals ENC2 that are shifted from each other by approximately 1/4 cycle as shown in the timing chart of FIG. When the moving direction of the carriage 31 is the forward direction from the home position (the left end position in FIG. 1) toward the idle pulley, the phase of the encoder A-phase signal ENC1 is approximately １ ／ of that of the encoder B-phase signal ENC2. When the cycle is advanced and the direction is the reverse direction from the idle pulley toward the home position, the phase of the encoder A-phase signal ENC1 is delayed by approximately 1/4 cycle with respect to the encoder B-phase signal ENC2.
[0048]
FIG. 2 shows the carriage control device 1 that controls the moving speed (movement speed) of the carriage 31 by controlling the driving of the CR motor 35 based on the encoder A-phase signal ENC1 and the encoder B-phase signal ENC2 from the linear encoder 39. It is a block diagram showing a structure.
[0049]
As shown in FIG. 2, the carriage control device 1 includes a CPU 2 that controls the control of the printer, and an ASIC (Application Specific Integrated Circuit) 3 that generates a PWM signal S6 that controls the rotation speed and the rotation direction of the CR motor 35. And a motor drive circuit 4 (CR drive circuit) that drives the CR motor 35 based on the PWM signal S6 generated by the ASIC 3.
[0050]
The details of the motor drive circuit 4 are as shown in FIG. 6, in which an H-bridge circuit is constituted by four switching elements SW1 to SW4. The motor drive circuit 4 drives the CR motor 35 by performing on / off control of each of the switching elements SW1 to SW4 of the H-bridge circuit based on the PWM signal S6 generated by the PWM generation unit 8 in the ASIC 3. I do. In addition, each of the switching elements SW1 to SW4 can be configured by a semiconductor switching element such as a bipolar transistor or an FET.
[0051]
The ASIC 3 also includes a register group 5 for storing various parameters used for controlling the CR motor 35 and an encoder A-phase signal ENC1 and an encoder B-phase signal ENC2 from the linear encoder 39, and the position and the moving speed of the carriage 31. , A motor control unit 7 that generates a motor control signal S5 for controlling the rotation speed of the CR motor 35 based on data from the carriage positioning unit 6, and a motor control unit 7 that generates the motor control signal S5. A PWM generator 8 for generating a PWM signal S6 having a duty ratio corresponding to the motor control signal S5 to generate a clock signal having a period sufficiently shorter than that of the encoder A-phase signal ENC1 and the encoder B-phase signal ENC2. And a clock generation unit 9 that supplies the clock signal to each unit inside the ASIC 3. That.
[0052]
Here, the register group 5 includes a start setting register 50 for setting the CR motor 35 to a start state, and a control amount initial value setting for setting a numerical value (initial value) to a parameter that cannot be detected immediately after the apparatus is started. A register 56, a deceleration start position setting register 51 for setting a deceleration start position (same as a print end position) for starting deceleration of the carriage 31, and an interrupt generation position for outputting an interrupt signal to the CPU are set. Interrupt generation position setting register 57, a target speed setting register 53 for setting a target speed when the carriage 31 moves, and a feedback calculation when controlling the rotation speed (torque) of the CR motor 35. A gain setting register 54 for setting a differential gain, an integral gain, and a proportional gain, and setting the calculated differential control amount to a rotation control signal And derivative gain output reflection time setting register 58 for setting the differential quantity reflects the time used, is configured to include a.
[0053]
It should be noted that the differential amount reflection time stored in the differential gain output result reflection time setting register 58 is a time that is an integral multiple (for example, 10 times) of a cycle (PWM control cycle) in which the PWM generator 8 outputs the PWM signal S6. Is set.
Next, based on the encoder A-phase signal ENC1 and the encoder B-phase signal ENC2 from the linear encoder 39, the carriage positioning unit 6 generates an edge detection signal (here, the encoder B) indicating the start / end of each cycle of the encoder A-phase signal ENC1. The edge of the encoder A-phase signal ENC1 when the phase signal ENC2 is at a low level. See FIG. 3), and the rotation direction of the CR motor 35 (if the edge detection signal is the rising edge of the encoder A-phase signal ENC1, the forward direction or the rising edge). When the rotation direction of the CR motor 35 detected by the edge detection unit 60, that is, the moving direction of the carriage 31 is forward, the edge detection unit 60 counts up in accordance with the edge detection signal. In the opposite direction, count down according to the edge detection signal. Ri, the carriage 31 is provided with a position counter 61 for detecting whether located ordinal number of the slit from the home position, the. That is, the position of the carriage 31 such as the deceleration start position set in the deceleration start position setting register 51 is represented by the count value of the position counter 61 (the encoder edge count value shown in FIG. 3).
[0054]
In addition, the carriage positioning unit 6 compares the encoder edge count value of the position counter 61 with the set value of the deceleration start position setting register 51 to determine whether the carriage 31 has reached the deceleration start position. When the controller reaches the deceleration start position, it outputs a control switching signal S1 and outputs a stop interrupt signal S2 to the CPU 2, and a clock signal determines an interval between generations of the edge detection signal from the edge detector 60. A period counter 63 for counting the encoder interval time Cn (see FIG. 3), a distance between the slits of the timing slit 38 (1/150 inch), and a value held by the period counter 63 in the previous period of the encoder A-phase signal ENC1. Encoder capture time Tn (= Cn-1 × clock) Period. Referring FIG.) And on the basis, and a rate converter 64 for calculating the moving speed Vn of the carriage 31 (see FIG. 3).
[0055]
Next, the motor control unit 7 calculates the moving speed of the carriage 31 calculated by the speed conversion unit 64 based on the setting values of the target speed setting register 53, the gain setting register 54, and the differential gain output result reflection time setting register 58 (hereinafter, referred to as “moving speed”). A feedback calculation processing unit 70 that generates a rotation speed control signal S3 for controlling the rotation speed of the CR motor 35 so that the detected speed matches the target speed set in the target speed setting register 53; A deceleration control unit 71 that generates a deceleration control signal S4 for reducing the rotation speed of the motor 35, and a rotation speed control signal S3 that is generated by a feedback calculation processing unit 70 when the control switching signal S1 from the comparison processing unit 62 is not input. When the control switching signal S1 is input, the deceleration control signal S4 generated by the deceleration control unit 71 is changed to the motor control signal S And a control signal selector 72 supplies the PWM generator 8, as.
[0056]
Next, the content of the CR scanning process executed by the CPU 2 will be described with reference to the flowchart shown in FIG.
When this process is started, as shown in FIG. 4, first, the target speed, initial control amount, deceleration start position, differential gain, integral gain, proportional gain, differential gain, After setting the amount reflection time (S110), each part of the ASIC 3 is started by writing to the start setting register 50 (S120). When the carriage 31 driven in accordance with the contents set in the registers at S110 reaches the deceleration control start position, and the stop interrupt signal S2 is input from the comparison processing unit 62 (S130), this processing is performed. finish.
[0057]
In the carriage control device 1 configured as described above, when the CPU 2 sets the register group 5 and starts the ASIC 3, the PWM is performed until the carriage 31 reaches the deceleration start position set in the deceleration start position setting register 51. The rotation speed control signal S3 from the feedback calculation processing unit 70 is supplied as the motor control signal S5 to the generation unit 8. Thus, the rotation speed (torque) of the CR motor 35 is controlled such that the moving speed of the carriage 31 follows the target speed set in the target speed setting register 53. As a result, the carriage 31 is accelerated so that its moving speed reaches the target speed in the acceleration section until it reaches the printing start position, and moves at a constant target speed in the subsequent constant speed section to the deceleration start position. .
[0058]
Thereafter, when the carriage 31 reaches the deceleration start position, a stop interrupt signal S2 is output to the CPU 2 and the motor control signal S5 supplied to the PWM generation unit 8 is changed from the rotation speed control signal S3 to the deceleration control signal S4. Switch. As a result, the CR motor 35 is set to operate as a generator that converts the rotational force generated by the movement of the carriage 31 into electricity. As a result, the carriage 31 quickly moves in the deceleration section beyond the deceleration start position. It is decelerated and stops.
[0059]
Meanwhile, the feedback calculation processing unit 70 that supplies the PWM generation unit 8 with the rotation speed control signal as the motor control signal until the carriage 31 reaches the deceleration start position from the movement start position, as shown in FIG. A subtracter 12 that subtracts the moving speed (detected speed) of the carriage 31 calculated by the speed converter 64 from the target speed set in the target speed setting register 53 to calculate a speed deviation, and a subtractor 12 calculates the speed deviation. A proportional calculator 13 for calculating a proportional control value (proportional control amount) by multiplying the obtained speed deviation by a proportional gain Kp, which is a value stored in the gain setting register 54, and integrating the speed deviation, and adding the gain to the integrated value. An integral calculator 14 for calculating an integral control value (integral control amount) by multiplying by an integral gain Ki which is a value stored in a setting register 54; A differential calculator 15 for calculating a differential control value (differential control amount) by multiplying the differential value by a differential gain Kd, which is a value stored in a gain setting register 54; A differential value effective time timer 18 that outputs a differential value reflection command signal S7 until the differential value reflection time that is a stored value of the setting register 58 elapses, and a differential operation from the differential calculator 15 when the differential value reflection command signal S7 is input. The output correction processing unit 19 which outputs the control value as it is and corrects and outputs the differential control value to 0 when the differential value reflection command signal S7 is not input, and the proportional correction value, the integral control value and the output correction processing unit 19 A computing unit 16 for performing an operation for adding the differential control value and outputting the operation result as a rotation speed control signal S3, so as to perform so-called PID control. It is configured.
[0060]
The activation trigger is generated according to the detection timing of the edge detection signal, and is also input to the proportional operation unit 13, the integration operation unit 14, and the differentiation operation unit 15 in addition to the differential value effective time timer 18. Each arithmetic unit is configured to capture a speed deviation according to the input timing of the activation trigger, and to update the control value based on the captured speed deviation.
[0061]
Further, the differential calculator 15 calculates a differential control value that suppresses an instantaneous disturbance (fine vibration noise of several hundred Hz to several kHz) from affecting the moving speed of the carriage 31. It is configured to
As described above, in the carriage control device 1 of the present embodiment, the feedback calculation processing unit 70 sets the rotation speed control signal S3 using the proportional control value, the integral control value, and the derivative control value calculated by the PID control. In this case, the rotation speed control signal S3 is set using the differential control value calculated by the differential calculator 15 as it is from the time of calculating the differential control value to the time before the differential amount reflection time elapses. After the elapse of the differential amount reflection time, the output correction processing unit 19 corrects the differential control value to 0, thereby excluding the differential control value, and using the proportional control value and the integral control value to output the rotation speed control signal S3. Is set. That is, in the carriage control device 1, the reflection ratio of the differential control amount in the setting process of the rotation speed control signal S3 is not always kept constant, but after the differential amount reflection time elapses, the reflection ratio of the differential control amount is reduced. ing.
[0062]
That is, since the carriage control device 1 sets the rotation speed control signal S3 using the differential control amount calculated by the differential calculator 15 as it is in the differential amount reflection time, instantaneous disturbance (noise) or the like is performed. Even when the error occurs, stable motor control can be performed so that the moving speed of the carriage 31 quickly approaches the target speed.
[0063]
Further, after the elapse of the differential amount reflection time, the carriage control device 1 sets the rotational speed control signal S3 by correcting the differential control amount to a small value, so that a difference occurs between the detected speed and the actual moving speed. Even in this case, it is possible to prevent the rotation speed control signal S3 from being set to a value that greatly deviates from a value suitable for the actual movement speed. As a result, the carriage control device 1 determines that the rotation speed control signal S3 is inappropriate until the next differential control amount update (calculation) timing is reached, even though the speed detection timing is set discretely. It can be suppressed from being set to a value.
[0064]
Therefore, according to the carriage control device 1, since at least the differential amount reflection time controls the CR motor 35 based on the rotation speed control signal S3 set using the calculated differential control amount, instantaneous disturbance Even when (noise) or the like occurs, stable motor control can be performed. Further, after the differential amount reflection time has elapsed, the rotational speed control signal S3 is set using the differential control amount corrected to a small value. S3 can be prevented from being set to an inappropriate value, and inappropriate motor control such as overshoot can be prevented from being performed.
[0065]
Note that the carriage control device 1 is configured to be able to perform motor control such that the actual movement speed becomes substantially equal to the target speed in a short control response time, so that the differential control amount after correction is set to 0. , The rotation speed control signal S3 can be set to an appropriate value. Further, in the carriage control device 1, the differential amount reflection time stored in the differential gain output result reflection time setting register 58 is longer than the PWM control cycle by the PWM generation unit 8 (an integer multiple of the PWM control cycle). Is set.
[0066]
Therefore, it is possible to prevent the correction timing of the differential control amount from being always in the middle of the PWM control cycle, and to prevent the response speed of the motor control from becoming slow. In particular, since the differential amount reflection time is set to be an integral multiple of the PWM control cycle, the differential control amount correction time and the PWM control command signal update time can be set substantially at the same time. It is possible to prevent the useless time from being generated between the timing and the update timing of the PWM control command signal, and to improve the responsiveness of the motor control.
[0067]
Therefore, according to the carriage control device 1, the response speed of the control of the CR motor is slow despite the fact that the speed detection timing is discrete and the motor control is performed by the PWM control (pulse width control). Can be prevented, and inappropriate motor control can be suppressed.
[0068]
In the carriage control device 1 of the above embodiment, the carriage control device 1 corresponds to the motor control device described in the claims, the carriage 31 corresponds to the driving target, and the linear encoder 39 and the carriage positioning unit 6 Corresponds to speed detecting means, the subtractor 12 corresponds to speed deviation calculating means, the proportional calculator 13 and the integral calculator 14 correspond to control amount calculating means, the differential calculator 15 corresponds to differential calculating means, The feedback operation processing unit 70 corresponds to control command value setting means, the differential value effective time timer 18 and the output correction processing unit 19 correspond to differential control amount correction means, and the PWM generation unit 8 corresponds to command signal output means.
[0069]
As described above, the embodiments of the present invention have been described. However, the present invention is not limited to the above embodiments, and can be implemented in various modes without departing from the gist of the present invention.
For example, in the above-described embodiment, the carriage control device in which the start trigger is generated in accordance with the detection timing of the edge detection signal has been described. However, the start trigger that generates the start trigger at regular intervals Ts (calculation sample intervals Ts) It is also possible to provide a fixed cycle generation circuit so as to generate a start trigger every fixed cycle Ts. Therefore, FIG. 9 shows timing values of respective parts of the second carriage control device which is configured by adding a start trigger fixed cycle generation circuit to the above-described carriage control device 1. The reference numerals of the respective components of the second carriage control device described below are the same as those of the carriage control device 1.
[0070]
In the second carriage control device, the cycle counter 63 captures the encoder interval capture Nn as the capture value Nn in response to the generation of the activation trigger, and the speed conversion unit 64 determines the moving speed Vn (= 1 / (Nn) based on the capture value Nn. × CLK), where CLK is a reference clock for measuring the encoder interval.)
[0071]
When the moving speed Vn is calculated, in the feedback calculation processing unit 70, the subtractor 12 calculates a speed deviation en (= r−Vn) obtained by subtracting the moving speed Vn from the target speed r. The calculator 14 calculates a proportional integral control amount PIn (= Kp · en + Ki · ∫en) based on the speed deviation en, and the differential calculator 15 calculates a differential control amount Dn (= Kd · (en-en) based on the speed deviation en. -1) / Ts) is calculated. Further, the differential value effective time timer 18 determines the completion time of the calculation of the differential control amount Dn based on the input time point of the activation trigger, and reflects the differential value reflection time until the differential amount reflection time elapses from the completion time of the calculation of the differential control amount Dn. The command signal S7 is output.
[0072]
That is, the feedback calculation processing unit 70 controls the rotation representing the differential reflection control amount B obtained by adding the proportional integral control amount PIn and the differential control amount Dn until the differential amount reflection time elapses from the time when each control amount is calculated. A speed control signal S3 is output, and after the differential amount reflection time has elapsed, a rotation speed control signal S3 representing a differential removal control amount A equal to the proportional integral control amount PIn is output.
[0073]
As described above, the rotation speed control signal S3 can be updated at least every fixed period Ts by detecting the moving speed Vn every fixed period Ts.
When the moving speed Vn is detected for each encoder edge as in the carriage control device 1, the input period of the encoder edge becomes longer when the moving speed of the carriage 31 is low. The update cycle of the signal S3 also becomes longer, and the possibility that proper motor control cannot be performed increases.
[0074]
On the other hand, when the moving speed Vn is detected at regular intervals Ts as in the case of the second carriage control device, by appropriately selecting the period Ts, the rotation speed control signal is dependent on the moving speed of the carriage. Since the update cycle of S3 does not become long, more stable motor control can be realized.
[0075]
Next, in the above-described embodiment, the carriage control device including the output correction processing unit 19 that corrects the differential control amount to 0 after the differential amount reflection time elapses has been described. After the time elapses, the differential control value calculated by the differential calculator 15 may be used as an initial value to reduce and correct the differential control value with time. As a result, even in a device having a characteristic that the control response time until the actual movement speed reaches the target speed becomes long, the rotation speed control signal S3 can be set to an appropriate value, and motor control is not performed. It can be prevented from becoming appropriate.
[0076]
Further, the output correction processing unit outputs a differential control value corrected by multiplying the differential control value calculated by the differential calculator 15 by a correction coefficient Rt (for example, Rt = 0.2) after the differential amount reflection time has elapsed. May be configured. As a result, the rotation speed control signal S3 can be set to an appropriate value even in a device having such a characteristic that the actual movement speed approaches the target speed with a short control response time, but a slight error remains. Can be prevented from becoming inappropriate.
[0077]
That is, the correction content in the output correction processing unit is not limited to the one in which the differential control amount is corrected to 0 after the elapse of the differential amount reflection time, and may be appropriately set to a correction content in which inappropriate motor control can be suppressed.
Next, measurement results of the movement speed of the carriage in the carriage control device, which are measured by the apparatus to which the present invention is applied and the apparatus of the conventional configuration, will be described.
[0078]
As the carriage control device to which the present invention is applied, a device configured to generate a start trigger at every constant period Ts (calculation sample interval Ts) is used, and the differential amount reflection time is 25% of the calculation sample interval Ts. Is set, the first measuring device is configured to correct the differential control value to 1/10 after the elapse of the differential amount reflection time, and a 25% value of the calculation sample interval Ts is set as the differential amount reflection time, and the differential amount reflection is performed. The measurement was performed using a second measuring device configured to correct the differential control value to 1/100 after a lapse of time. Further, as the carriage control device having the conventional configuration, the measurement was performed using a third measurement device having a configuration in which the differential control value was not corrected. Note that the same PID gain (Kp, Kd, Ki) is set for each of the first measuring device, the second measuring device, and the third measuring device.
[0079]
FIG. 10 shows the measurement result of the differential control value calculated by the differential calculator 15 in the first measurement device, and the measurement result of the moving speed (detection speed) output from the speed conversion unit 64 in the first measurement device. FIG. 11 shows the measurement result of the moving speed (detected speed) output from the speed converting unit 64 in the second measuring device, and FIG. 12 shows the moving speed (detected speed) output from the speed converting unit 64 in the third measuring device. FIG. 13 shows the measurement results of (speed). In each device, the target speed is set to 30 [ips], the device is started at time 0.05 [sec], and disturbance is forcibly generated at time 0.20 [sec] and time 0.30 [sec]. The change of each part was measured.
[0080]
From the measurement results in FIG. 13, it can be seen that in the conventional apparatus, disturbance convergence is poor, vibration occurs in the waveform at the time of start-up, and stable motor control cannot be realized. On the other hand, the measurement results in FIGS. 11 and 12 show that the disturbance convergence is superior to that of the conventional device, and that no vibration occurs in the waveform at the time of startup after startup.
[0081]
Further, it can be seen from the measurement waveform of FIG. 11 that the differential control value converges without diverging, because the differential control value is corrected to one-tenth after the elapse of the differential amount reflection time. By correcting the differential control value in this way, stable motor control can be realized.
[0082]
Therefore, from these measurement results, it can be seen that the carriage control device to which the present invention is applied is superior in disturbance convergence, has less disturbance of the rising waveform after startup, and can realize stable motor control as compared with the conventional device.
By the way, in the above-described embodiment, the motor drive circuit 4 is configured by an H bridge circuit as shown in FIG. 6, but the motor drive circuit is not limited to the one shown in FIG. A second motor drive circuit 81 shown in FIG. 7 including a DC motor drive IC 81a and an integration circuit 81b may be used.
[0083]
The integration circuit 81b includes resistors R1 and R2 and a capacitor C1, and is configured to integrate the PWM signal S6 from the second PWM generation unit 83 to generate a target speed command (a target current command that is an analog amount). I have.
The DC motor driving IC 81a detects the energizing current of the CR motor 35 and energizes the CR motor 35 so that the detected energizing current becomes a current value according to the target speed command (analog amount) from the integration circuit 81b. It is configured to control the current. In other words, the DC motor driving IC 81a performs speed feedback control for controlling the rotation speed of the CR motor 35 to the target speed by controlling the current supplied to the CR motor 35 to approach the target current command. The DC motor driving IC 81a is configured to be able to energize the CR motor 35 only when a driving command (Enable) is input, and based on the driving direction command, the rotation direction (forward direction) of the CR motor 35 is determined. Rotation, reverse rotation).
[0084]
However, when the second motor drive circuit 81 is used instead of the motor drive circuit 4 in FIG. 6, the ASIC 3 replaces the PWM generator 8 with a second PWM generator that inputs and outputs signals as shown in FIG. 83 must be used. That is, based on the motor control signal S5 from the control signal selector 72, the second PWM generation unit 83 outputs a PWM signal S6 and a drive direction command (command indicating a direction in which the CR motor 35 should be rotated), and further performs a comparison process. In accordance with the control switching signal S1 from the unit 62 and the input from the start setting register 50, a drive command (Enable) indicating whether or not to energize the CR motor 35 is output.
[0085]
By using the second motor drive circuit 81 configured as described above, the rotation speed of the CR motor 35 is controlled to be the target rotation speed, so that the moving speed of the carriage 31 can be controlled to the target speed.
Further, the motor drive circuit can be configured by a third motor drive circuit 87 as shown in FIG. The third motor drive circuit 87 is configured by omitting the integration circuit 81b in the second motor drive circuit 81.
[0086]
When the third motor drive circuit 87 is used, a drive signal generation unit 89 needs to be provided instead of the second PWM generation unit 83. The drive signal generation unit 89 is configured to generate and output a target current command (in other words, a target speed command) as an analog signal based on the motor control signal S5 output from the control signal selector 72. .
[0087]
That is, unlike the second PWM generation unit 83 that generates the PWM signal based on the motor control signal S5, the drive signal generation unit 89 is configured to output a target current command of an analog value. Therefore, the third motor drive circuit 87 does not need to include an integrating circuit unlike the second motor drive circuit 81.
[0088]
If the third motor drive circuit 87 configured as described above is used, the rotation speed of the CR motor 35 is controlled to be the target rotation speed, so that the moving speed of the carriage 31 can be controlled to the target speed.
Further, the PID control in the feedback calculation processing unit 70 is not limited to the PID control for calculating the proportional control amount, the integral control amount, and the differential control amount based on the speed deviation as in the above embodiment. For example, a differential leading PI-D control may be performed in which a proportional control amount / integral control amount is calculated based on the speed deviation, and a differential control amount is calculated based on the detected moving speed. May be calculated, and the proportional differential leading I-PD control for calculating the differential control amount and the proportional control amount based on the detected moving speed may be executed.
[0089]
Furthermore, S110 of the CR scanning process executed by the CPU 2 may be configured to set the differential amount reflection time according to a target speed determined by an external command. That is, even in an application in which the target speed fluctuates in response to an external command, S110 sets the differential amount reflection time according to the target speed, so that the differential amount reflection time can be set to an appropriate value. The rotation speed control signal S3 can be appropriately changed so that the later moving speed approaches the target speed.
[0090]
Thus, even in applications where the target speed fluctuates, the rotation speed control signal S3 can be set to an appropriate value, thereby preventing inappropriate motor control. In addition, S110 of the CR scanning processing configured as described above corresponds to a reflection time setting unit described in the claims.
[Brief description of the drawings]
FIG. 1 is a structural diagram of a carriage driving mechanism in an ink jet printer to which the present invention has been applied.
FIG. 2 is a block diagram illustrating a configuration of a carriage control device that controls a moving speed of the carriage.
FIG. 3 is a timing chart showing a state of each part of the carriage control device.
FIG. 4 is a flowchart illustrating the content of a CR scanning process executed by a CPU.
FIG. 5 is an explanatory diagram showing an internal configuration of a feedback calculation processing unit and a connection state between the feedback calculation processing unit and another device.
FIG. 6 is a configuration diagram illustrating a configuration of a motor drive circuit;
FIG. 7 is a configuration diagram illustrating a configuration of a second motor drive circuit.
FIG. 8 is a configuration diagram illustrating a configuration of a third motor drive circuit.
FIG. 9 is a timing value showing a state of each unit of the second carriage control device.
FIG. 10 is a measurement result of a differential control value calculated by a differential calculator in the first measuring device.
FIG. 11 is a measurement result of a moving speed output from a speed conversion unit in the first measuring device.
FIG. 12 is a measurement result of a moving speed output from a speed conversion unit in the second measuring device.
FIG. 13 is a measurement result of the moving speed output from the speed conversion unit in the third measuring device.
14A is an explanatory diagram showing a differential response obtained by capturing a disturbance in a continuous system, and FIG. 14B is an explanatory diagram showing a differential response obtained by capturing a disturbance in a discrete system.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Carriage control device, 4 ... Motor drive circuit, 5 ... Register group, 6 ... Carriage positioning part, 7 ... Motor control part, 8 ... PWM generation part, 9 ... Clock generation part, 12 ... Subtractor, 13 ... Proportional operation , 14 ... integral calculator, 15 ... differential calculator, 16 ... calculator, 18 ... differential value effective time timer, 19 ... output correction processing, 19 ... output correction processing unit, 31 ... carriage, 35 ... CR motor, 39 ... a linear encoder, 70 ... a feedback operation processing section, 81 ... a second motor drive circuit, 83 ... a second PWM generation section, 87 ... a third motor drive circuit, 89 ... a drive signal generation section.

Claims (12)

The movement speed of the driving object driven by the motor is detected at discrete speed detection timings,
Calculate a speed deviation which is a deviation between the detected speed detected at the detection timing and a target speed set by an external command,
A proportional control amount according to the proportional value of the detected speed or the speed deviation, and a speed control amount including an integral control amount according to an integral value of the speed deviation,
The differential value of the detected speed or the speed deviation, or the differential control amount according to the amount of change per unit time of the detected speed or the speed deviation,
Using the speed control amount and the differential control amount, set a control command value for driving the motor at the target speed,
A motor control method for performing feedback control on the rotation speed of the motor based on the control command value so that the movement speed of the driven object becomes the target speed, wherein the detected speed is detected at the speed detection timing. The differential control amount used for setting the control command value after the differential amount reflection time shorter than the detection period of the movement speed has elapsed, based on the time at which the differential control amount is updated based on the detected speed, Correcting to a value smaller than the updated differential control amount,
A motor control method characterized by the above-mentioned. In correcting the differential control amount used for setting the control command value, the differential control amount is corrected to decrease with time,
The motor control method according to claim 1, wherein: In correcting the differential control amount used for setting the control command value, correcting the differential control amount to a constant value,
The motor control method according to claim 1, wherein: Calculating the differential control amount at regular intervals,
The motor control method according to any one of claims 1 to 3, wherein: The motor control method according to any one of claims 1 to 4, wherein
Based on the control command value, generates a PWM control command signal for driving and controlling the motor, and outputs the PWM control command signal every predetermined PWM control cycle,
Correcting the differential control amount after the elapse of the differential amount reflection time set for a time longer than the PWM control cycle;
A motor control method characterized by the above-mentioned. After the elapse of the differential amount reflection time set according to the target speed, correcting the differential control amount,
The motor control method according to any one of claims 1 to 5, wherein: Speed detection means for detecting the movement speed of the drive target driven by the motor at discrete speed detection timings,
Speed deviation calculating means for calculating a speed deviation which is a deviation between the detected speed detected by the speed detecting means and a target speed set by an external command,
A control amount calculating means for calculating a speed control amount including a proportional control amount according to the proportional value of the detected speed or the speed deviation, and an integral control amount according to an integral value of the speed deviation;
Differential operation means for calculating a differential value of the detected speed or the speed deviation, or a differential control amount according to a change amount per unit time of the detected speed or the speed deviation,
Using the speed control amount and the differential control amount, control command value setting means for setting a control command value for driving the motor at the target speed,
A motor control device that feedback-controls a rotation speed of the motor based on the control command value so that a movement speed of the driving target becomes the target speed, wherein the detection speed is detected at the speed detection timing. The control command value after a differential amount reflection time shorter than a detection cycle of the movement speed by the speed detecting unit has elapsed with reference to a time point at which the differential operation unit updates the differential control amount based on the detected speed. Differential control amount correction means for correcting the differential control amount used by the setting means for setting the control command value to a value smaller than the differential control amount updated by the differential operation means,
A motor control device characterized by the above-mentioned. The differential control amount correction means, when correcting the differential control amount used for setting the control command value in the control command value setting means, to reduce and correct the differential control amount over time,
The motor control device according to claim 7, wherein: The differential control amount correction means, when correcting the differential control amount used for setting the control command value by the control command value setting means, to correct the differential control amount to a constant value,
The motor control device according to claim 7, wherein: The differential operation means calculates the differential control amount at regular intervals,
The motor control device according to any one of claims 7 to 9, wherein: Command signal output means for generating a PWM control command signal for driving and controlling the motor based on the control command value, and outputting the PWM control command signal every predetermined PWM control cycle,
The differential amount reflection time is set to a time longer than the PWM control cycle.
The motor control device according to any one of claims 7 to 10, wherein: Reflection time setting means for setting the differential amount reflection time according to the target speed,
The motor control device according to any one of claims 7 to 11, wherein:

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