JP2005341726A - Method and device for controlling motor, and inkjet printer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control method which can shorten acceleration period, while preventing overshoot, and also can reduce the computational quantity required for the control, and a motor control unit and an inkjet printer. <P>SOLUTION: In the motor control method, in controlling a carriage motor 13 by means of a CR motor control circuit 200, having a comparison element 210 which outputs a value corresponding to the deviation ΔV between the rotational speed Vc and a target rotational speed Vt of the carriage motor 13; and an integral element 212 which integrates the deviation ΔV between the rotational speed Vc and the target rotational speed Vt of the carriage motor 13 to output a value corresponding to the integrated value; and the output value QI of the integral element 212 in the target uniform rotational speed Vconst of the carriage motor 13 is preliminarily set as an integrated output upper limit value, fixing the output value QI of the integral element 212 to the integrated output upper limit value during the time of acceleration t0 to t1 until the rotational speed, on a basic operation of the carriage motor 13 reaches the target uniform rotational speed Vconst. <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, it is common to perform so-called PID control in which proportional control by the proportional means and integral control by the integrating means are combined, and further differential control is added. For example, a target rotational speed as shown in FIG. 9 has been set for one scanning drive until stopping 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.

  However, when trying to make the motor rotational speed follow the target rotational speed set as shown in FIG. 9, the actual rotational speed is not only when the target rotational speed is constant, but also during acceleration and deceleration. Is controlled so as to match the target rotation speed, for example, the acceleration period until the target constant rotation speed is reached becomes longer. As the acceleration period becomes longer, the acceleration distance of the carriage must be longer, which causes the printer to become larger.

  Also, even if a rapid acceleration is attempted in order to shorten the acceleration period, the output value of the integrating means is a value of the cumulative time of the proportional means, so when it approaches the target rotational speed, it becomes an excessive value, Since the influence of the time lag from the calculation of the integrating means to the actual output to the motor is likely to increase, overshooting is likely to occur with respect to the target rotation speed.

  Furthermore, if high-precision control is always performed by the proportional means and the integral means from the acceleration to the stop of the motor, the calculation load of the control circuit increases and the amount of memory increases.

  An object of the present invention is to provide a motor control method, a motor control device, and an ink jet printer that can reduce the acceleration period while preventing overshoot and reduce the amount of calculation required for control. .

  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 integration value, the output value of the integration unit at a target constant speed rotation speed of the motor is an integral output upper limit. A value is set in advance, and the output value of the integration means is fixed to the integral output upper limit value during an acceleration period until the rotational speed when the motor is fully operated reaches the target constant speed rotational speed. It is said.

  According to the motor control method having such a configuration, for example, the motor is preliminarily driven to measure the output value of the integrating means that becomes the target constant speed rotation speed of the motor during the actual operation, and is set as the integrated output upper limit value. After that, during the acceleration period when the motor is actually operated, the output value from the integration means is fixed to the integral output upper limit value, so that the integration means when the motor rotation speed actually reaches the target constant speed rotation speed. Since the output value does not exceed the integral output upper limit value, overshooting can be easily prevented. In addition, since the value output from the integrating means is constant during the acceleration period, the amount of calculation required for control is reduced, and the occurrence of a time lag from the calculation of the integrating means to the output can be prevented. Therefore, the motor can be accelerated rapidly, and the acceleration period can be shortened.

In the motor control method of the present invention, it is preferable that the target rotation speed during the acceleration period is set to the same value as the target constant speed rotation speed, and the calculation by the proportional means is performed during the acceleration period.
In this case, since the output value from the integrating means is constant during the acceleration period when the motor is actually operated as described above, the output for accelerating the motor is based on the proportional means. . Then, by setting the target rotational speed during the acceleration period to the same value as the target constant speed rotational speed, the speed deviation at the initial stage of acceleration increases, and the rotation of the motor is accelerated rapidly by the calculation of the proportional means. Therefore, the acceleration time can be effectively shortened.

In the motor control method of the present invention, it is preferable that the calculation by the proportional means and the integrating means is performed after the acceleration period is over.
After the motor rotation speed reaches the target constant speed rotation speed, it is only necessary to perform control to maintain the rotation speed at the target constant speed rotation speed. Therefore, feedback control is performed by calculating not only the proportional means but also the integration means. By performing this, the deviation of the rotation speed can be reduced.

  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 device that controls the motor by a control system having an integration unit that integrates a deviation from the output and outputs a value corresponding to the integration value, the control system includes the integration unit at a target constant speed rotation speed of the motor Can be set as an integral output upper limit value, and during the acceleration period until the rotational speed when the motor is fully operated reaches the target constant rotational speed, the output value of the integrating means is the integrated output. It is characterized by being fixed at the upper limit.

  In the motor control device of the present invention, it is preferable that the control system sets a target rotation speed during the acceleration period to be equal to the target constant speed rotation speed and performs calculation by the proportional means during the acceleration period.

  In the motor control device of the present invention, it is preferable that the control system performs calculation by the proportional means and the integrating means after the acceleration period ends.

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, the rise time until the carriage scans at a constant speed for ejecting ink can be shortened, and quick 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 reduce the acceleration period while preventing overshoot and reduce the amount of calculation required for control. .

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, the interval between P0 and P1 is the acceleration interval of the carriage motor 13, and in this embodiment, unlike the conventional case (see FIG. 9), the target of the constant rotation speed at the time of ink ejection from the scanning start position (left end of the graph). It is set to the same value. Therefore, in this acceleration section, acceleration is performed immediately following the start of driving of the carriage motor 13 so as to follow the constant speed rotation speed. 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 4 and the actual rotational speed. FIG. 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 this embodiment, in order to prevent the occurrence of overshoot from the acceleration period to the constant speed period, the output value QI of the integration element 212 during the acceleration period is set in advance. 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, in this embodiment, the value of the output QI when the actual rotational speed becomes the target constant speed rotational speed is set in advance as the integral output upper limit value, and the value of the output QI of the integral element 212 during the acceleration period is set as this integral value. Fix the output upper limit value. The integral output upper limit value can be determined by preparing the relationship between the rotational speed and the output QI in advance as a data table and selectively determining the relationship between them, or by pre-scanning the carriage 4 before printing. It is also possible to move at a target constant speed and store the output QI at that time in a memory. Since 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, it is preferably determined by a preliminary operation. The preliminary operation may be performed at a timing such as when the ink jet printer 1 is turned on, immediately before printing is started, or after printing mode conversion.

  Thus, by fixing the value of the output QI of the integration element 212 during the acceleration period to the integral output upper limit value that is the output at the target constant speed rotation speed, it is ensured that the output QI will be excessive during the acceleration period. It is possible to prevent the occurrence of overshoot. Further, since the integral element is not calculated during the acceleration period, the calculation load and the amount of memory used can be reduced, and since the output QI is a constant value, there is no time lag from the calculation to the output.

  In addition, the target rotational speed during the acceleration period is set to the same value as the target constant speed rotational speed Vconst, and the calculation by the proportional element 210 corresponding to the deviation from the target rotational speed is performed. The rotational speed can be increased to the target constant speed rotational speed Vconst more quickly than the acceleration, and the acceleration periods t0 to t1 can be shortened. In the conventional target speed pattern, the duty of the carriage motor 13 is not 100%. However, the control in the acceleration period in this embodiment is so-called step response control, and the duty of the carriage motor 13 is increased by increasing the duty of the carriage motor 13. Power can be used more effectively. The calculation by the proportional element 210 is less likely to cause overshoot because the output QP becomes zero when the rotation speed reaches the target constant rotation speed Vconst.

  Further, as shown in FIG. 8, when the rotation speed reaches the target constant speed rotation speed Vconst and becomes a constant speed period, the calculation by the proportional element 210 is continued, and the calculation by the integration element 212 is further started. That is, the fluctuation of the rotational speed with respect to the target constant speed rotational speed Vconst is converged by feedback control by the proportional element 210 and the integral element 212. At the same time, control by the differential element 214 may be added.

  Further, during the deceleration period, the control by the proportional element and the integral element is continued, and the rotation of the carriage motor 13 is stopped. In addition, it is desirable to perform so-called PID control including the differential element 214 during the deceleration period.

  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 a figure which shows the target rotational speed of the conventional carriage motor.

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 (8)

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:
The output value of the integration means at the target constant speed rotation speed of the motor is preset as an integral output upper limit value,
A motor control method characterized in that the output value of the integrating means is fixed to the integrated output upper limit value during an acceleration period until the rotational speed when the motor is fully operated reaches the target constant speed rotational speed. The motor control method according to claim 1,
The target rotational speed in the acceleration period is set to the same value as the target constant speed rotational speed,
A motor control method comprising performing computation by the proportional means during the acceleration period. The motor control method according to claim 1 or 2,
A motor control method comprising performing computation by the proportional means and the integrating means after completion of the acceleration period. 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 value of the integrating means at the target constant speed rotation speed of the motor as an integrated output upper limit value,
A motor control device, wherein the output value of the integrating means is fixed to the integral output upper limit value during an acceleration period until the rotational speed when the motor is fully operated reaches the target constant speed rotational speed. The motor control device according to claim 4,
The control system sets the target rotational speed in the acceleration period to the same value as the target constant speed rotational speed,
A motor control device that performs calculation by the proportional means during the acceleration period. The motor control device according to claim 4 or 5,
The motor control apparatus, wherein the control system performs calculation by the proportional means and the integrating means after the acceleration period ends.   7. The motor control device according to claim 4, 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 4 to 7.

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