JP2005335231A - Method of controlling motor, control device of motor, and inkjet printer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method of controlling a motor capable of realizing stable controlling by preventing an overshoot even when quick rising to a target rotational velocity is carried out, a control device of the motor, and an inkjet printer. <P>SOLUTION: In this method of controlling a motor, a carriage motor 13 is controlled by a CR motor control circuit 200 having a proportion element 210 for outputting a value corresponding to a deviation ΔV between a rotational velocity Vc and a target rotational velocity Vt of the carriage motor 13 and an integration element 212 for outputting a value corresponding to an integration value determined by integrating the deviation ΔV between the rotational velocity Vc and the target rotational velocity Vt of the carriage motor 13. At that time, when an output upper limit of the integration element 212 is set and the computed value of the integration element 212 exceeds the output upper limit, the output value QI of the integration element 212 is fixed to be the output upper limit. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention integrates the deviation between the motor rotation speed and the target rotation speed and outputs a value corresponding to the integral value by a proportional means for outputting a value corresponding to the deviation between the motor rotation speed and the target rotation speed. The present invention relates to a motor control method for controlling driving of a motor by a control system having an integrating unit, a motor control device, and an ink jet printer.

  Among various printers that perform printing on a printing medium such as paper, cloth, and film, a printer that performs printing by discharging ink onto the printing medium is called an inkjet printer.

  In such an ink jet printer, a motor that drives a carriage on which a print head that discharges ink and an ink container that stores ink to be supplied to the print head is controlled by a control system to perform printing while moving the carriage. In general, printing is performed by ejecting ink from a head toward a substrate.

  Therefore, in order to perform high-quality printing on the printing medium, it is necessary to control the motor that drives the carriage with high accuracy.

  Therefore, a proportional means for outputting a value according to the deviation between the motor rotation speed and the target rotation speed, and an integration for integrating the deviation between the motor rotation speed and the target rotation speed and outputting a value according to the integral value. In a motor control method for controlling the motor by a control system having a means, a proportional output upper limit value corresponding to the output value of the integrating means is provided for the output value of the proportional means, and the output value of the proportional means is A motor control method has been proposed in which when the proportional output upper limit value is exceeded, the output value of the proportional means becomes the proportional output upper limit value (see, for example, Patent Document 1).

  According to such a motor control method, it is possible to control the motor with high accuracy even when the ink is consumed and the amount of ink stored in the ink container is reduced and the load applied to the motor fluctuates. It becomes possible.

JP 2003-79177 A

  As described above, in the conventional motor control method, so-called PID control is generally performed in which proportional control by the proportional means and integral control by the integral means are combined and further differential control is added. Then, for example, a target rotational speed as shown in FIG. 9 is set for one scanning drive from the acceleration of the motor to the stop after passing through a constant speed state. The graph of FIG. 9 shows the relationship between the position of the carriage and the rotational speed of the motor when the carriage of the ink jet printer is driven by the motor. Further, the sections P0 to P1 are motor acceleration sections, the sections P1 to P2 are constant speed sections of the motor, and the sections P2 to P3 are motor deceleration sections.

  As an example of control that follows the target rotational speed shown in FIG. 9, the overall output value of the motor and the output values of the proportional means and the integrating means are shown in FIG. In FIG. 10, t0 to t1 are acceleration sections, t1 to t2 are constant speed sections, and t2 to t3 are deceleration sections.

  Conventionally, even if the proportional means and the integral means are actively functioned to shorten the acceleration time and a rapid acceleration is attempted, the output value of the integral means is proportional to the time of the proportional means as shown in FIGS. Since it is a cumulative value, it becomes excessive when approaching the target constant speed rotation speed, and the influence of the time lag from the calculation of the integrating means to the actual output to the motor tends to increase. Overshoot was likely to occur with respect to the target rotation speed.

  Also, it is conceivable to increase the gain of the differentiating means in order to suppress overshoot due to the output value of the integrating means, but in that case, the output value tends to vibrate, and it takes time to converge to the target rotational speed. It will take.

  An object of the present invention is to provide a motor control method, a motor control device, and an ink jet printer that enable stable control by preventing overshoot even when a rapid rise to a target rotational speed is performed.

  A motor control method according to the present invention capable of solving the above-described problems includes a proportional means for outputting a value corresponding to a deviation between the rotational speed of the motor and the target rotational speed, and the rotational speed of the motor and the target rotational speed. In a motor control method for controlling the motor by a control system having an integration unit that integrates a deviation and outputs a value corresponding to an integral value, an output upper limit value of the integration unit is set, and an operation value of the integration unit is When the output upper limit value is exceeded, the output value of the integrating means is fixed to the output upper limit value.

  According to the motor control method having such a configuration, the output of the integrating means does not exceed the output upper limit value. For this reason, even if the calculated value of the integrating means reaches a level that causes overshoot when the motor speed accelerates and approaches the target constant speed, the output upper limit value is actually output. The occurrence of overshoot is prevented. Therefore, even if the motor is accelerated rapidly, it can be stably converged to the target constant speed rotation speed.

  In the motor control method of the present invention, the output upper limit value may be set by prior evaluation of the control system. In this case, an appropriate output upper limit value for preventing overshoot can be verified and determined in advance according to the control system to which this motor control method is applied, and can be set as an eigenvalue.

  In the motor control method of the present invention, the output upper limit value may be set based on the calculated value obtained by calculating the output value of the integrating means at a target constant speed rotation speed by preliminary driving of the motor. In that case, an appropriate value for preventing overshoot can be set in accordance with the operating environment every time the motor is driven.

  In the motor control method of the present invention, the output upper limit value may be the output value of the integrating means immediately before the rotation speed of the motor reaches a target constant speed rotation speed. In this case, the output value of the integrating means is held constant during a period in which overshoot is a concern, and overshoot can be easily prevented. Further, the output upper limit value of the integrating means can be determined according to the situation during motor acceleration, regardless of the operating environment.

  Further, the motor control device according to the present invention capable of solving the above-described problems includes a proportional means for outputting a value corresponding to a deviation between the rotational speed of the motor and the target rotational speed, the rotational speed of the motor and the target rotational speed. In the motor control apparatus that controls the motor by a control system having an integration unit that integrates the deviation from the output and outputs a value corresponding to the integration value, the control system can set an output upper limit value of the integration unit The output value of the integrating means is fixed to the output upper limit value when the calculated value of the integrating means exceeds the output upper limit value.

  In the motor control device of the present invention, the output upper limit value may be set in advance.

  In the motor control apparatus of the present invention, the output upper limit value may be set based on the calculated value obtained by calculating the output value of the integrating means at a target constant speed rotation speed by preliminary driving of the motor.

  In the motor control device of the present invention, the output upper limit value may be an output value of the integrating unit immediately before the rotation speed of the motor reaches a target constant speed rotation speed.

In the motor control device of the present invention, the motor includes a print head that discharges ink to a printing medium, and a motor that drives a carriage including an ink container that stores ink supplied to the print head. Good.
In this case, overshooting with respect to the target constant speed can be prevented when acceleration is performed until the carriage is scanned at constant speed in order to eject ink. The acceleration time until the carriage scans at a constant speed can be shortened, and quick and stable printing can be performed.

  In addition, the ink jet printer provided with the motor control device having the above-described configuration can perform quick printing and can shorten the acceleration distance for accelerating the carriage, thereby reducing the size of the printer.

  According to the present invention, it is possible to provide a motor control method, a motor control device, and an ink jet printer that can perform stable control while preventing overshoot even when a rapid rise to a target rotational speed is performed.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a motor control method, a motor control device, and an inkjet printer according to embodiments of the invention will be described in detail with reference to the accompanying drawings.
1 and 2 are schematic perspective views showing a main configuration of an ink jet printer 1 capable of performing the motor control method of the present embodiment.

  The ink jet printer 1 is detachably mounted with a paper feed cassette 10 containing printing paper. The paper feed cassette 10 includes a base 10a formed in a substantially rectangular shape so as to store paper. A shutter member 10c is provided on the side of a paper feed port to be mounted on the printer body. A protective cover 10b that can be freely opened and closed is provided on the rear side (side away from the printer main body). The protective cover 10b can be opened and closed so as to tilt toward the printer main body while the paper feed cassette 10 is mounted on the printer main body.

  In this ink jet printer 1, the carriage 4 is connected to the carriage motor 13 by the timing belt 3 and is configured to reciprocate along the guide rail 2, and ink is applied to the surface facing the paper by an actuator. An ink jet head 5 is provided that presses and ejects ink from the nozzle openings.

  Then, as shown in FIG. 2, ink is supplied to the inkjet head 5 from an ink cartridge 7 disposed at the lower part of the printer via a flexible ink tube 6.

  The paper stored in the paper feed cassette 10 includes an auto sheet feeder 15 connected by a paper feed motor 12 via a rotation transmission mechanism (not shown), a conveyance roller 11 rotated by a gear transmission mechanism 20, and 14 is conveyed in a direction (sub-scanning direction) orthogonal to the moving direction (main scanning direction) of the carriage 4 at a constant pitch.

  Further, as shown in FIG. 2, outside the printing region, the ink nozzle surface of the inkjet head 5 is wiped with dirt, capped to prevent clogging of the ink nozzles, and ink in a thickened state is sucked from the ink nozzles. A head maintenance mechanism 28 that performs ink suction or the like is provided.

  As shown in FIG. 1, the transport roller 11 has a gear 23 constituting the gear transmission mechanism 20 on one end side, and is driven from a pinion 21 on the shaft of the paper feed motor 12 via a reduction gear 22. A drive gear 26 provided on the other end side drives the auto sheet feeder 15 and the head maintenance mechanism 28 via a rotation transmission mechanism (not shown). The transport roller 14 has a gear 25 on one end side, and is driven by the paper feed motor 12 via a plurality of transmission gears 24.

  Next, the electrical configuration of the inkjet printer 1 will be described with reference to FIG. FIG. 3 is a block diagram illustrating an electrical configuration of the inkjet printer 1.

  The ink jet printer 1 includes a main control circuit 102, a CPU 104, and various memories (ROM 110, RAM 112, EEPROM 114) connected to the main control circuit 102 and the CPU 104 via a bus. Connected to the main control circuit 102 are an interface circuit 120 that transmits and receives signals to and from an external device such as a personal computer, a paper feed motor drive circuit 130, a head drive circuit 140, and a CR motor drive circuit 150. ing.

  The paper feed motor 12 is driven by the paper feed motor drive circuit 130 to rotate the transport roller 14 and thereby move the paper P in the sub-scanning direction. The paper feed motor 12 is provided with a rotary encoder 32, and an output signal of the rotary encoder 32 is input to the main control circuit 102.

  A print head 52 having a plurality of nozzles (not shown) is provided on the bottom surface of the carriage 4. Each nozzle is driven by a head drive circuit 140 and ejects ink droplets toward a paper P or a printing material such as paper, cloth, or film.

  The carriage motor 13 is driven by a CR motor drive circuit 150. The ink jet printer 1 includes a linear encoder 70 for detecting the position and speed of the carriage 4 along the main scanning direction. The linear encoder 70 includes a linear code plate 72 provided parallel to the main scanning direction and a photo sensor 74 provided on the carriage 50. The output signal of the linear encoder 70 is input to the main control circuit 102.

  The main control circuit 102 has a function of supplying control signals to the three drive circuits 130, 140, and 150, respectively, decodes various print commands received by the interface circuit 120, and print data It also has a function of executing control related to adjustment and monitoring of various sensors. On the other hand, the CPU 104 has various functions for assisting the main control circuit 102, and executes control of various memories, for example.

  Next, the configuration of the drive control device for the carriage motor 13 will be described with reference to FIGS. 4 and 5. FIG. 4 is a block diagram showing the configuration of the drive control device for the carriage motor 13. FIG. 5 is an explanatory diagram showing the relationship between the motor drive signal Sdr and the characteristics of the carriage motor 13.

  The drive control device for the carriage motor 13 includes a CR motor control circuit 200 and a CR motor drive circuit 150. The CR motor control circuit 200 is a part of the main control circuit 102 shown in FIG.

  The output signal Sen of the linear encoder 70 is input to the position calculation circuit 230 and the speed calculation circuit 232 in the CR motor control circuit 200. These circuits 230 and 232 obtain the current rotational position Pc and the current rotational speed Vc of the carriage motor 13 based on the A phase signal and the B phase signal (not shown) of the output signal Sen of the encoder 70, respectively. The current rotation position Pc is input to the target rotation speed generation circuit 204. The target rotational speed generation circuit 204 is preset with a target rotational speed Vt corresponding to the rotational position Pc, and generates a target rotational speed Vt corresponding to the target rotational position Pc.

  The subtractor 206 obtains a deviation ΔV between the target rotational speed Vt and the current rotational speed Vc, and calculates the rotational speed deviation ΔV from a proportional element (proportional means) 210, an integral element (integral means) 212, and a differential element (differential means). And 214. The calculation results QP, QI, and QD of these three calculation elements 210, 212, and 214 are added by an adder 216 to calculate an addition result ΣQ.

  The outputs QP, QI, QD of the respective arithmetic elements 210, 212, 214 and their addition result ΣQ are given by, for example, the following equations (1) to (4).

QP (j) = ΔV (j) × Kp (1)
QI (j) = QI (j−1) + ΔV (j) × Ki (2)
QD (j) = {ΔV (j) −ΔV (j−1)} × Kd (3)
ΣQ (j) = QP (j) + QI (j) + QD (j) (4)
Here, j is time, Kp is a proportional gain, Ki is an integral gain, and Kd is a differential gain.

  The duty adjustment circuit 220 adjusts the level of the duty signal Dt supplied to the drive circuit 150 by adjusting the integration element 212 or the target rotation speed generation circuit 204 according to the addition result ΣQ (also referred to as “PID output”). adjust. The duty signal Dt is a signal proportional to the addition result ΣQ and is a signal indicating the duty of the carriage motor 13.

  The CR motor drive circuit 150 includes a DC-DC converter 154 configured with a transistor bridge and a base drive circuit 152. The base drive circuit 152 generates a base signal to be applied to the base of the transistor of the DC-DC converter 154 in accordance with the duty signal Dt supplied from the CR motor control circuit 200. The DC-DC converter 154 generates a motor drive signal Sdr according to the base signal and supplies it to the carriage motor 13.

  FIG. 5A shows a signal change of the motor drive signal Sdr. The duty of the motor drive signal Sdr is a value obtained by dividing the period Ton at the on level by one cycle Tp of the drive signal. In the present embodiment, the duty of the motor drive signal Sdr is also referred to as “carriage motor duty”.

  When a brushed DC motor is used as the carriage motor 13, the torque / rotational speed characteristics are proportional to the duty as shown in FIG. The CR motor drive circuit 150 generates the drive signal Sdr so that the duty of the drive signal Sdr is proportional to the duty signal Dt. As a result, the carriage motor 13 generates a driving force corresponding to the duty signal Dt given from the CR motor control circuit 200 to drive the carriage 4.

  Next, the outline of the printing operation by the print head 52 will be described with reference to FIG. FIG. 6 is a diagram for explaining the outline of the printing operation.

  As described above, the target rotational speed generator 204 generates the target rotational speed Vt of the carriage motor 13 according to the rotational position Pc. The generated change pattern of the target rotational speed Vt is, for example, as shown in FIG. The graph of FIG. 6 shows the relationship between the position P of the carriage 4 and the target rotational speed Vt of the carriage motor 13 when it is driven by the carriage motor 13 and moves in the scanning direction.

  In FIG. 6, a section from P0 to P1 is an acceleration section of the carriage motor 13, and here, the rotation speed of the carriage motor 13 is controlled to be accelerated. Further, the section from P1 to P2 is a constant speed section of the carriage motor 13, and in this section, the rotation speed of the carriage motor 13 is controlled to rotate at a constant speed of Vconst. A section from P2 to P3 is a deceleration section of the carriage motor 13. In this section, the rotation speed of the carriage motor 13 is controlled to be reduced.

  Accordingly, the carriage 4 on which the print head 52 is mounted is controlled to accelerate in the section P0 to P1, is controlled to move at a constant speed in the section P1 to P2, and decelerates in the section P2 to P3. To be controlled.

  Here, ink is applied from the print head 52 to the printing medium from a time just before the carriage 4 carrying the print head 52 starts to move at a constant speed to a time just after the carriage 4 has finished moving at a constant speed. Printing is performed by discharging the ink. For example, when the rotation speed of the carriage motor 13 that drives the carriage 4 on which the print head 52 is mounted becomes 80% to 90% or more of the target constant speed rotation speed Vconst, ink ejection is started, and the rotation speed of the carriage motor 13 is increased. When the target constant speed rotation speed Vconst is 80% to 90% or less, the ink ejection is finished. Note that ink may be ejected from the print head 52 to the printing medium only during a period in which the carriage 4 on which the print head 52 is mounted moves at a constant speed.

  Therefore, in order to perform high-quality printing on the printing medium, the rotational speed of the carriage motor 13 is shown in FIG. 6 especially at the end of the acceleration section, the constant speed section, and the initial stage of the deceleration section. It is required to accurately follow such a target rotational speed pattern.

  Next, the operation of the CR motor control circuit 200 will be described with reference to FIGS. 7 and 8 are diagrams showing an example of the operation of the CR motor control circuit 200 according to this embodiment. FIG. 7 shows the relationship between the target rotational speed pattern of the carriage motor 13 and the actual rotational speed. It is a figure. In FIG. 7, the horizontal axis (time axis) t0 to t1 is an acceleration period corresponding to the period P0 to P1 shown in FIG. 6, and the period t1 to t2 is the period P1 to P2 shown in FIG. The period from t2 to t3 is a deceleration period corresponding to the section from P2 to P3 shown in FIG.

  FIG. 8 is a diagram for explaining the output value QP of the proportional element 210, the output value QI of the integral element 212, and the output value of the addition result ΣQ. In FIG. 8, the output value of the differentiation element 214 is very small with respect to the addition result ΣQ, and is not shown. Further, the control by the calculation of the differential element 214 may or may not be performed in any of the acceleration period, the constant speed period, and the deceleration period.

  When operating the CR motor control circuit 200, first, the proportional gain Kp and integral in the proportional element 210, the integral element 212, and the differential element 214 are set so that the rotational speed of the carriage motor 13 accurately follows the target rotational speed. The gain Ki and the differential gain Kd are tuned.

  In the present embodiment, the output value QI of the integration element 212 is set in order to prevent the occurrence of overshoot from the acceleration period to the constant speed period. Of the output QP of the proportional element 210, the output QI of the integral element 212, and the output QD of the differential element 214, the influence of the output QD is slight. Therefore, when the output QP and the output QI are examined, the output QP matches the target speed. In theory, it becomes zero. In particular, the output QP also remains zero if it continues to match during the constant speed period. On the other hand, since the output QI can be considered as the accumulation of the output QP, it is considered that the output QI does not become zero even in the constant speed period. As described above, the output QI of the integration element 212 has a great influence on the control of the carriage motor 13, and overshooting is mainly caused by the output QI being excessive at the end of the acceleration period.

  Therefore, as shown in FIG. 8, the value of the output QI such that the rotation speed of the carriage motor 13 is equal to or lower than the target constant speed rotation speed Vconst is set as the integral output upper limit value, and the calculated value of the integral element 212 is the integral output upper limit value. When the value is exceeded, the output value of the integration element 212 is fixed to this integration output upper limit value. However, while the output QI is fixed to the integral output upper limit value, the calculation of the integration element 212 is continued, and when the calculated value becomes equal to or less than the integral output upper limit value, the calculated value is set as the output QI.

  For the integrated output upper limit value, for example, the relationship between the rotation speed and the output QI is created in advance as a data table, and is evaluated in advance against the print performance of the ink jet printer 1, and an appropriate upper limit value is set. It can be set as an eigenvalue of 1. As a result, the optimum value for preventing the overshoot for the control system of the ink jet printer 1 can be determined by sufficiently examining in advance.

  As another method for setting the integral output upper limit value, the carriage motor 13 is preliminarily driven before printing to preliminarily scan the carriage 4 at a target constant speed, and the output QI of the carriage motor 13 at that time is stored in the memory. It may be set as the integral output upper limit value. Alternatively, for example, a value obtained by adding about 5% to 10% on the basis of the output QI at the target constant speed may be used as the integral output upper limit value. The value of the output QI is determined by factors such as the mass of the carriage 4, the driving frictional force, the torque of the carriage motor 13, and the rotational speed of the carriage motor 13. Therefore, when the integral output upper limit value is determined by preliminary driving, an appropriate value for preventing overshoot can be set every time printing is performed in accordance with the change in the operating environment. In addition, the preliminary driving may be performed at a timing such as when the power of the inkjet printer 1 is turned on, immediately before the start of printing, or after the printing mode conversion.

  As still another method for setting the integral output upper limit value, the value of the output QI immediately before the rotation speed of the carriage motor 13 reaches the target constant speed rotation speed Vconst during the acceleration period may be used as the integral output upper limit value. Here, the output QI immediately before reaching the target constant speed rotation speed Vconst may be the output QI when the rotation speed reaches about 85% to 100% with respect to the target constant speed rotation speed Vconst. Thereby, the output QI of the integration element 212 is kept constant before the overshoot occurs, and the overshoot can be easily prevented. Further, the output upper limit value of the integrating means can be determined according to the state of speed change when the carriage motor 13 is accelerated, regardless of the operating environment of the ink jet printer 1.

  As described above, when the calculated value of the integral element 212 exceeds the integral output upper limit value, the output QI is fixed to the integral output upper limit value to reliably prevent the output QI from becoming excessive. Overshoot can be prevented. And even if it accelerates rapidly to a target rotational speed, it converges quickly with respect to a target rotational speed, and stable control can be performed.

  In the above-described embodiment, the control system including the proportional element, the integral element, and the differential element has been described as an example. However, the present invention can also be applied to a control system having no differential element.

  Moreover, although the printing paper has been described as an example of the printing material, a film, a cloth, a thin metal plate, or the like may be used as the printing material.

  A computer system including a printer, a computer main body, a display device such as a CRT, an input device such as a mouse or a keyboard, a flexible drive device, and a CD-ROM drive device according to the above-described embodiments can also be realized. The computer system realized in this way is a system superior to the conventional system as a whole system.

  The printer according to the above-described embodiment may have a part of functions or mechanisms respectively included in the computer main body, the display device, the input device, the flexible disk drive device, and the CD-ROM drive device. For example, the printer includes an image processing unit that performs image processing, a display unit that performs various displays, and a recording medium attachment / detachment unit for attaching / detaching a recording medium that records image data captured by a digital camera or the like. Also good.

  In the motor control method and apparatus of the above-described embodiment, a color inkjet printer is used as a printing apparatus. However, the present invention is not limited to this as long as the printing apparatus can perform printing processing on a printing medium. You may apply to a printer, a laser printer, a facsimile, etc. The present invention can also be applied to control of a print head motor of a serial printer and control of a paper feed motor of a line printer. Further, the present invention is suitable for controlling the driving of the entire DC motor, but the present invention can also be applied to driving control of an AC servo motor, a stepping motor, or the like.

  The motor control method and the motor control device described above can also be used to control a motor used when paper is fed. In this case, since a stable paper feeding operation is performed, it is possible to prevent the occurrence of uneven density during printing.

1 is a schematic upper perspective view showing a main configuration of an ink jet printer as one embodiment of the present invention. 1 is a schematic bottom perspective view showing a main configuration of an ink jet printer as an embodiment of the present invention. FIG. 2 is a block diagram illustrating an electrical configuration of a printer. It is a block diagram which shows the structure of the drive control apparatus of a carriage motor. It is explanatory drawing which shows the relationship between a motor drive signal and the characteristic of a carriage motor. It is a figure for demonstrating the outline | summary of printing operation. It is the figure which showed the operation example of CR motor control circuit. It is the figure which showed the output value of the calculation element. It is the figure which showed the relationship between the target rotational speed pattern of the conventional carriage motor, and actual rotational speed. It is the figure which showed the output value of the conventional arithmetic element.

Explanation of symbols

1: ink jet printer, 2: guide rail, 3: pulling belt, 4: carriage, 5: ink jet head, 6: ink tube, 7: ink cartridge, 10: paper feed cassette, 11: transport roller, 12: paper feed motor , 13: carriage motor, 14: transport roller, 20: gear transmission mechanism, 28: head maintenance mechanism, 32: rotary encoder, 52: print head, 70: linear encoder, 72: sign plate, 74: photo sensor, 102: Main control circuit, 104: CPU, 110: ROM, 112: RAM, 114: EEPROM, 120: interface circuit, 130: paper feed motor drive circuit, 140: head drive circuit, 150: CR motor drive circuit, 152: base drive Circuit, 154: DC-DC converter, 200 CR motor control circuit, 204: target speed generation circuit, 206: subtractor, 210: proportional element, 212: integration element, 214: differentiation element, 216: adder, 220: duty adjustment circuit, 230: position calculation circuit, 232 : Speed calculation circuit

Claims (10)

Proportional means for outputting a value corresponding to the deviation between the rotational speed of the motor and the target rotational speed, and an integrating means for integrating the deviation between the rotational speed of the motor and the target rotational speed and outputting a value corresponding to the integral value In a motor control method for controlling the motor by a control system having:
Set the output upper limit value of the integration means,
A motor control method, comprising: fixing an output value of the integrating means to the output upper limit value when a calculated value of the integrating means exceeds the output upper limit value. The motor control method according to claim 1,
The motor upper limit value is set by prior evaluation of the control system. The motor control method according to claim 1,
The motor output control method characterized in that the output upper limit value is set based on the calculated value of the integration means at a target constant speed rotation speed by preliminary driving of the motor. The motor control method according to claim 1,
The motor control method according to claim 1, wherein the output upper limit value is an output value of the integrating means immediately before the rotation speed of the motor reaches a target constant speed rotation speed. Proportional means for outputting a value corresponding to the deviation between the rotational speed of the motor and the target rotational speed, and an integrating means for integrating the deviation between the rotational speed of the motor and the target rotational speed and outputting a value corresponding to the integral value In a motor control device for controlling the motor by a control system having:
The control system can set the output upper limit value of the integration means,
The motor control apparatus according to claim 1, wherein when the calculated value of the integrating means exceeds the output upper limit value, the output value of the integrating means is fixed to the output upper limit value. The motor control device according to claim 5,
The motor control device, wherein the output upper limit value is set in advance. The motor control device according to claim 5,
The motor control device is characterized in that the output upper limit value is set on the basis of the calculated output value of the integrating means at a target constant speed rotation speed by preliminary driving of the motor. The motor control device according to claim 5,
The motor control device according to claim 1, wherein the output upper limit value is an output value of the integrating means immediately before the rotation speed of the motor reaches a target constant speed rotation speed.   9. The motor control device according to claim 5, wherein the motor includes a print head that discharges ink onto a printing medium, and an ink container that stores ink supplied to the print head. A motor control device, characterized by being a motor for driving a provided carriage.   An ink jet printer comprising the motor control device according to any one of claims 5 to 9.

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