JP2006025497A - Motor control method and controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To drive an object to be driven stably irrespective of the fluctuation of a motor load. <P>SOLUTION: When the drive of a motor is started, first a PWM value is set to start-pwm1 being a PWM value at the start of drive, and then the value is increased gradually at a fixed rate of change by a fixed quantity at a fixed cycle. Then, each time an encoder edge is detected, this controller sets the PWM value to start-pwm1 and increases it gradually again. At edge detection since the second times, the next rate of the change of the PWM value is set according to and edge interval immediately before the detection (a time from the last edge detection to this edge detection). In the case that the edge interval T6 at the edge detection at a time t2 is longer than a threshold (det-period-max) by, for example, its driving speed drop caused by an increase in motor load, this increases the PWM value at a rate of change larger than the last rate of change at least until the next edge detection since the time t2. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a motor control method and a control apparatus, and more particularly to control for increasing a driving force of a motor by a constant amount at a constant period from an initial value every time a drive target is driven by a constant amount.

  Conventionally, so-called closed-loop control methods such as speed feedback control and position feedback control have been widely known as one of DC motor and AC motor control methods. In these closed-loop controls, an encoder or the like is generally used to detect the rotation amount of the motor or the drive amount of the drive target, and the feedback control is generally performed based on information from the encoder or the like.

  However, when feedback control using an encoder or the like as described above is applied to a case where the drive target is driven at a very low speed (that is, when the motor is rotated at a very low speed), the drive target obtained by calculation from the encoder signal is used. The speed may not be updated, and the target may stop. If the target speed exceeds the target value at the time of a certain calculation, the controller performs feedback processing to reduce the control output so that the drive target is decelerated. Since the operation is performed with a small amount of control whether the driven object moves or not, a complete stop occurs in the control region by feedback. Once stopped, there is no change in the signal from the encoder, so there is no operation to increase the control output to increase the speed. That is, unless the target speed is a certain speed or higher, the controllability may be lost. Therefore, it is difficult to apply feedback control at a minute speed.

  As an example of driving the drive target at a very low speed, for example, in an ink jet printer, when a recording head mounted carriage is moved to an initial position and stopped, or after the recording is completed, the carriage is returned to the home position for recording. Examples include capping the head (nozzle part). Of these, the capping after the end of recording will be described with reference to FIG.

  FIG. 34 is an explanatory diagram showing a schematic configuration of a recording mechanism of an inkjet printer. As shown in FIG. 34, the recording mechanism 100 of the ink jet printer includes a guide shaft 101, a carriage 102 that can reciprocate along the guide shaft 101, a recording head 103 mounted on the carriage 102, and the carriage 102. The moving belt 104 that transmits the driving force from the motor 110 and the encoder 105 for detecting the moving amount and position of the carriage 102 are provided.

  The motor 110 (DC motor) rotates when the ASIC 111 outputs a drive signal in accordance with various commands from the CPU 112, and drives the endless moving belt 104 installed in parallel to the guide shaft 101. This driving force is transmitted to the carriage 102, and the carriage 102 and the recording head 103 reciprocate along the guide shaft 101. A plurality of color ink tanks (not shown) are also mounted on the carriage 102 for each color, and each color ink stored in the ink tank is ejected from the nozzle portion 107 of the recording head 103 onto the recording paper α.

  The encoder 105 is a known linear encoder that outputs two types of pulse signals having different phases in accordance with the movement of the movement detection target (here, the carriage 102). Although not shown in detail, a plurality of slits are provided at regular intervals. The formed encoder strip is installed along the guide shaft 101. Two types of pulse signals generated as the carriage 102 moves are input to the ASIC 111 and used as position / speed information when the motor 110 is controlled.

  The recording mechanism 100 further includes a cap device 106 that covers all the nozzle portions 107 of the recording head 103 and performs capping to prevent ink from drying. The cap device 106 is provided in a standby area outside the recording area where recording (printing) is performed on the recording paper α, and a slope 123 formed to face upward toward the outside (right side); A cap 121 that can move on the slope 123 and a spring 122 that pulls the cap 121 downward from the slope 123 are provided.

  On the other hand, the carriage 102 is provided with a hook (not shown). When the carriage 102 moves in the standby area in the direction of arrow A, the hook is first hooked on the cap 121. When the carriage 102 further moves toward the right end, the cap 121 is pulled to the right along the slope 123 along with the movement, and the nozzle portion 107 is gradually covered with the cap 121. When the carriage 102 reaches the home position at the right end, the cap 121 completely covers the nozzle portion 107.

  Thus, the capping that the cap 121 covers the nozzle portion 107 is normally performed when the recording operation on the recording paper α is completed and the recording head 103 is returned to the home position. In this case, when the cap 121 covers the nozzle portion 107 incompletely, the ink is dried. Therefore, in order to ensure capping, when the recording operation is completed and the carriage 102 enters the standby area from the recording area, the carriage 102 is temporarily stopped and then moved to the home position at a minute speed.

  At the start of the recording operation, the carriage 102 is moved from the home position to the gap adjustment region and brought into contact with the left end thereof, and then moved (returned) in the direction of the arrow A by a predetermined distance and temporarily stopped. It is set to the initial position at the start of recording. Also in this case, in order to suppress the momentum that the carriage 102 abuts against the left end of the gap adjustment area and to accurately set the initial position for starting the recording, the carriage 102 is moved at a very low speed in the gap adjustment area at the start of the recording operation. I try to move it.

  The gap adjustment area is an area in which a gap adjustment device (not shown) can be operated. By operating this gap adjustment device, a gap (gap) between the nozzle portion 107 of the recording head 103 and the recording paper α is obtained. Can be adjusted.

  When the motor drives the object to be driven at a minute speed, such as driving the carriage 102 in the ink jet printer at a minute speed, various problems may occur when the feedback control is applied as described above.

  Therefore, for example, as a method of controlling the DC motor at a very low speed, every time the edge of the pulse signal from the encoder (hereinafter referred to as “encoder edge”) is detected, the driving force applied to the DC motor is constant at a constant cycle from the initial value. There is a known method of increasing the amount. More specifically, the DC motor energization current is controlled by PWM control, and the PWM duty value (hereinafter simply referred to as “PWM value”) is increased by a constant amount from the initial value at a constant cycle each time an encoder edge is detected. (For example, refer to Patent Document 1).

  A control example of the DC motor using this control method will be described with reference to FIG. FIG. 35 (a) is a control example in which deceleration is started at a certain position while the object to be driven driven by the DC motor is driven at a minute speed, further braking is started and finally stopped. When this motor control is started, the PWM value is set to a preset PWM value (start_pwm1) at the start of driving, and increases by a constant amount at a constant cycle.

  The state of the increase is as shown in FIG. 36 in detail. Every time an encoder edge is detected, that is, every time an encoder edge detection signal (enc_trg) is output, the PWM value (pwm_out) becomes start_pwm1. After that, it is increased by a constant PWM increment amount (accel_param) at a constant period Tp.

  Note that the PWM value update interval Tp, which is a constant cycle in which the PWM value is updated, is expressed in detail by the following equation Tp = pwm_period * (pwm_reload_count + 1). Here, pwm_period is the period of the PWM signal, and pwm_reload_count is output after the PWM value is reset and the first PWM pulse of start_pwm1 is output again until the PWM value is reset again. This is a constant addition timing indicating the number of PWM pulses.

  Returning to FIG. 35A again, as described above, the PWM value increases from start_pwm1 by a certain amount (accel_param) at a certain period Tp, but in this example, the upper limit value (pwm_limit) of the PWM value is set, Since this is not exceeded, when the PWM value reaches pwm_limit, it is maintained at pwm_limit as it is. When the encoder edge is detected, the PWM value is reset to start_pwm1 and increases again by a certain amount accel_param every certain period Tp.

  If the position to be driven when the encoder edge is detected is the deceleration start position (decel_pos), the PWM value is set to start_pwm2, which is the PWM value at the start of deceleration, instead of start_pwm1. Thereafter, the PWM value decreases in the same manner as in FIG. 36 (however, the PWM value decreases at regular intervals). When a predetermined braking start condition is satisfied, braking is started.

  At the start of braking, the PWM value is set to start_pwm3, which is the PWM value at the start of braking. After that, the PWM value decreases by a constant amount at a constant period, and after it becomes stop_pwm, which is the PWM output value at the time of braking The PWM value is maintained.

  Here, when the PWM value is a positive (+) value during normal driving or deceleration, the current supplied to the DC motor is turned on / off at a duty ratio corresponding to the PWM value. On the other hand, when the PWM value is negative (−), it indicates that a short circuit of the DC motor is formed and that the short circuit is turned on and off at a duty ratio corresponding to the PWM value. In other words, as the PWM value decreases in the negative region, the conduction ratio of the DC motor short circuit increases and the braking force also increases, and when it becomes stop_pwm, it is always short-circuited, and the braking force is also increased. Maximum.

  According to the DC motor control method as described above, when the drive speed of the drive target increases, the encoder edge detection interval is also shortened, and is reset again to the initial value start_pwm1 before the drive force (PWM value) increases sufficiently. The In other words, the control is such that the driving force of the motor inevitably decreases as the speed increases, so that although it is open control as a whole, a certain degree of stable control is realized.

Therefore, when the motor 110 in the recording mechanism 100 of the ink jet printer described with reference to FIG. 34 is driven and controlled at a very low speed as in the capping operation, the PWM value is initialized at each encoder edge detection as described above. A control method is adopted in which the value is increased from the value by a certain amount at a certain period.
Japanese Patent Laying-Open No. 2003-79189 (FIG. 3)

  However, with the control method that resets the PWM value to a constant initial value (start_pwm1) every time the encoder edge is detected as described in FIG. 35A, stable operation (driving) when the load of the DC motor fluctuates. ) May not be possible.

  That is, for example, when the load of the DC motor increases, as shown in FIG. 35B, the time required to reach the deceleration start position may increase. FIG. 35B shows a case where the load of the DC motor starts increasing at time t1, and as shown in the figure, the encoder edge detection interval becomes longer after time t1. That is, although the load is increased, the PWM value is reset to the initial value start_pwm1 every time the encoder edge is detected, so that it takes a long time to generate the necessary torque, and as a result, the drive of the drive target It will slow down.

  If the increase in load is further increased, there is a possibility that the drive target stops and drives repeatedly every time the encoder edge is detected. If this happens, problems such as vibration and abnormal noise occur.

  As an example of the case where the load of the DC motor changes (increases) in this way, there is a capping operation in the recording mechanism 100 of the ink jet printer described with reference to FIG. As described above, the capping in the recording mechanism 100 is performed by pulling the cap 121 along the slope 123 to the right side when the carriage 102 returns to the home position. That is, as the carriage 102 returns to the home position, the load increases in the DC motor due to the spring 122. For this reason, the time from the end of recording to the completion of the capping operation becomes longer, vibration or abnormal noise occurs during capping, or in some cases, the carriage 102 stops before reaching the home position, resulting in incomplete capping. There is a risk of it.

  On the other hand, as a change in the DC motor load, it is also conceivable that the load becomes smaller as opposed to FIG. In that case, since the encoder edge detection interval becomes faster, the PWM value is not likely to rise excessively, but the DC motor is always controlled by a PWM value equal to or greater than start_pwm1 even though the load is small. It is considered that the following control becomes impossible. If the load is too light, there is a possibility that the stop accuracy deteriorates, such as stopping after the stop target position.

  The present invention has been made in view of the above problems, and each time a driving object driven by a motor is driven by a certain amount, the motor control increases the driving force of the motor by a certain amount at a constant period from a preset initial driving force. It is an object of the present invention to provide a motor control method and a control apparatus capable of stably driving a drive target even when there is a fluctuation such as an increase or decrease in motor load.

  In order to solve the above-mentioned problems, the invention according to claim 1 is that the driving force of the motor is driven at a predetermined cycle from a preset initial driving force every time a target to be driven by the motor is driven by a certain amount. Is a motor control method for increasing the incremental amount of each time, and each time the driven object is driven by a fixed amount, the driven object is driven at a target drive speed according to the time required to drive the fixed amount. Thus, the change rate of the driving force, which is the ratio between the increment and the period, is changed.

  That is, after a certain amount of driving of the driving target, if the driving force of the motor (the driving force applied to the motor for driving the driving target) increases from the initial driving force by a predetermined increment in a predetermined cycle, In addition, when the driving target is driven by a certain amount, the driving force of the motor naturally increases from the initial driving force unless the time required for driving the certain amount is shorter than the predetermined period. Become. Therefore, every time a fixed amount is driven, the driving force of the motor at that time is set again to the initial driving force.

  In the present invention, instead of increasing the same incremental amount in the same cycle every time the fixed amount driving is performed (that is, making the change rate of the driving force constant), the time required to drive the fixed amount is used. Accordingly, the change rate of the driving force is changed.

  For example, when the motor load is large and the driving speed of the object to be driven is slow, the time required to drive a certain amount of time increases, and during that time, the driving force increases at a predetermined rate of change. That is, the slower the driving speed, the greater the driving force of the motor when it is driven by a certain amount. On the other hand, for example, when the motor load is small and the drive speed of the drive target is high, the time required to drive a certain amount is short. That is, the faster the driving speed, the smaller the driving force of the motor when it is driven by a certain amount.

  Therefore, for example, the change rate of the driving force is changed so that the change rate of the driving force is increased as the time required for driving the fixed amount is longer, so that the drive target is driven at the target driving speed. .

  Therefore, according to the motor control method of the first aspect, every time the drive target is driven by a certain amount, the rate of change of the driving force is changed according to the time required to drive the certain amount. Even if fluctuations such as increase or decrease occur, it is possible to drive the drive object stably.

  The “motor” in the present invention may be, for example, a DC motor or an AC motor, and includes various motors except for a motor that is driven stepwise by a rectangular pulse such as a step motor. In addition, it is not always necessary to change the rate of change every time the drive target is driven by a certain amount. If the drive target is driven at the target drive speed, the change rate of the driving force is appropriate. It may not be changed. The same applies to the following claims.

  In this case, the change rate is specifically changed when the time required for the drive target to be driven by a certain amount is longer than a preset elapsed time upper limit threshold as described in claim 4, for example. At least one of increasing the rate of change or decreasing the rate of change when the time required for the drive target to be driven by a certain amount is shorter than a preset elapsed time lower limit threshold value is executed. May be.

  In this way, if the time required to drive a fixed amount due to a large motor load is long, the rate of change is increased, and conversely, it is necessary to drive a fixed amount due to a small motor load. Since the rate of change can be reduced when the time is short, the drive target can be driven more stably regardless of fluctuations in the motor load.

  As a specific method for increasing or decreasing the driving force change rate according to the above conditions, for example, as described in claim 7, when the change rate is increased, the driving force change rate is increased by a predetermined reference increase amount. In the case of reduction, it may be reduced by a predetermined reference reduction amount set in advance. Thus, if the increase / decrease amount is made constant, the change rate can be changed more easily.

  Also, for example, when the rate of change is increased as described in claim 8, it is continuously or stepwise as the difference between the time required to drive the drive target by a fixed amount and the elapsed time upper limit threshold increases. When the increase amount is set to be large and the rate of change is decreased, the difference between the elapsed time lower limit threshold and the time required for the drive target to be driven by a certain amount increases continuously or stepwise. The reduction amount may be set so as to decrease. In this way, it is possible to change the change rate finely according to the driving speed at that time, and it is possible to set the driving target to a desired speed (target driving speed) earlier.

  Next, the invention described in claim 2 increases the driving force of the motor by a predetermined increment amount at a predetermined cycle from a preset initial driving force every time a driving object driven by the motor is driven by a certain amount. In this motor control method, each time the drive target is driven by a fixed amount, the driving force is driven so that the drive target is driven at the target drive speed according to the drive speed of the drive target when the fixed amount is driven. Change rate of change (ratio of increment and period). In this way, since the driving speed at that time is known for every fixed amount of driving target, if the rate of change is set according to this driving speed, the same effect as in claim 1 can be obtained.

  In this case, the change rate is changed when the drive speed when the drive target is driven by a certain amount is smaller than a preset speed lower limit threshold as described in claim 5, for example. Or at least one of decreasing the rate of change when the drive speed when the drive target is driven by a certain amount is larger than a preset speed upper limit threshold value. In this way, it becomes possible to drive the drive target more stably regardless of fluctuations in the motor load.

  And as a specific method for increasing or decreasing the change rate of the driving force according to the above conditions, for example, as described in claim 7, for example, as in claim 9, When increasing the rate of change, set the increase amount so that it increases continuously or stepwise as the difference between the speed lower limit threshold and the drive speed when the drive target is driven by a fixed amount increases. When decreasing the rate, the amount of decrease may be set to decrease continuously or stepwise as the difference between the drive speed when the drive target is driven by a fixed amount and the speed upper limit threshold increases. Good. In this way, it is possible to change the change rate finely according to the driving speed at that time, and it is possible to set the driving target to a desired speed (target driving speed) earlier.

  Next, the invention according to claim 3 increases the driving force of the motor by a predetermined increment amount at a predetermined cycle from a preset initial driving force every time a driving object driven by the motor is driven by a certain amount. A motor control method, in which a driving force change rate so that a driving target is driven at a target driving speed according to a driving force when the driving target is driven by a fixed amount each time the driving target is driven by a fixed amount. Change (ratio of increment and period).

  That is, the invention according to claim 1 changes the rate of change according to the time required for the drive target to be driven by a fixed amount, whereas the present invention (Claim 3) is driven by the fixed amount. The rate of change is changed according to the driving force at the time. Since the driving speed is slower as the driving force during a certain amount of driving increases, the same effect as in the first aspect can be obtained by changing the rate of change according to the driving force during the constant amount driving.

  In this case, the change in the rate of change is specifically when the driving force of the motor when the driving target is driven by a certain amount is larger than a preset driving force upper limit threshold as described in claim 6, for example. At least one of increasing the rate of change or decreasing the rate of change when the driving force of the motor when the drive target is driven by a certain amount is smaller than a preset driving force lower limit threshold value. You may do it.

  In this way, the rate of change is increased when the drive speed of the drive target is slow due to a large motor load or the like, and conversely when the drive speed of the drive target is high due to a reason such as a small motor load. Since the rate can be reduced, the drive target can be driven more stably regardless of the fluctuation of the motor load.

  Then, as a specific method for increasing or decreasing the change rate of the driving force according to the above condition, for example, it may be performed as in the above-mentioned claim 7 or, for example, as in the claim 10 When increasing the rate of change, set the amount of increase so that it increases continuously or stepwise as the difference between the driving force of the motor when the drive target is driven by a certain amount and the driving force upper limit threshold increases. When the rate of change is decreased, the amount of decrease is set so that it decreases continuously or stepwise as the difference between the driving force lower limit threshold and the driving force when the driving target is driven by a certain amount increases. You may do it. In this way, it is possible to change the setting of the fine change rate according to the driving speed at that time, and it is possible to make the driving target a desired speed (target driving speed) earlier.

  In the invention according to any one of claims 4 to 10, specifically, the increase or decrease in the change rate of the driving force is, for example, as described in claim 11, the increase in the change rate is the above cycle. The rate of change can be reduced by at least one of increasing the period and decreasing the increment amount, and can be realized by at least one of decreasing and increasing the increment amount. It is possible to change the change rate of the driving force to a desired value by appropriately changing.

  Next, according to the twelfth aspect of the present invention, there is provided a drive detection means for outputting a drive detection signal indicating that every time a drive object driven by a motor is driven by a certain amount, and a drive detection signal from the drive detection means. A control means for outputting a driving force control signal for increasing the driving force of the motor by a predetermined increment in a predetermined cycle from a preset initial driving force, and a drive from the control means The motor control device includes motor driving means for rotating the motor based on the force control signal. Then, every time the drive detection signal is output from the drive detection means (that is, every time the drive target is driven by a certain amount), the change rate changing means is from the previous output of the drive detection signal to the current output. In accordance with the elapsed time, the change rate of the driving force (the ratio between the increment and the cycle) is changed so that the drive target is driven at the target drive speed.

  According to the motor control apparatus of claim 12 configured as described above, the motor control method of claim 1 is realized, and, similarly to claim 1, it is stable even if fluctuations such as increase or decrease of the motor load occur. Thus, it is possible to drive the drive target.

  Note that the drive detection means is not limited to one configured to output a drive detection signal by directly seeing that the drive target is driven by a certain amount. For example, the drive detection means is directly or indirectly based on the rotation amount of the motor or the rotation of the motor. The driving target may be configured to output a driving detection signal by determining whether or not the driving target is driven by a fixed amount based on the driving amount of the target driven. Any configuration that can output a drive detection signal each time it is performed.

  In this case, the elapsed time for determining whether or not the elapsed time is longer than a preset elapsed time upper limit threshold each time a drive detection signal is output from the drive detection means, for example. A change means may be provided, and the change rate change means may increase the change rate when the elapsed time determination means determines that the elapsed time is longer than the elapsed time upper limit threshold.

  Further, for example, as described in claim 16, there is provided elapsed time determination means for determining whether or not the elapsed time is shorter than a preset elapsed time lower limit threshold every time a drive detection signal is output from the drive detection means. The change rate changing means may decrease the change rate when the elapsed time determining means determines that the elapsed time is shorter than the elapsed time lower limit threshold.

  Further, for example, as described in claim 17, the elapsed time determination means determines whether or not the elapsed time when the drive detection signal is output is shorter than an elapsed time lower limit threshold, and is greater than a predetermined threshold greater than the elapsed time lower limit threshold. It is also judged whether or not the elapsed time upper limit threshold is exceeded, and the change rate changing means decreases the change rate when the elapsed time judging means determines that the elapsed time is shorter than the elapsed time lower limit threshold, and the elapsed time upper limit. If it is determined that the threshold value is exceeded, the rate of change may be increased.

  According to the motor control device according to any one of claims 15 to 17 configured as described above, the motor control method according to claim 4 can be realized, and, similarly to claim 4, regardless of fluctuations in motor load, It becomes possible to drive the drive target more stably.

  The motor control device according to claim 17, wherein the elapsed time determination means is configured to be able to make a determination based on both the elapsed time upper limit threshold and the elapsed time lower limit threshold. The rate changing means increases and decreases the rate of change with respect to the rate of change when the drive detection signal was output last time, and when the drive detection signal is output, the elapsed time is determined by the elapsed time determination means. It may be configured such that the rate of change is not changed when it is determined to be equal to or greater than the time lower limit threshold and equal to or less than the elapsed time upper limit threshold.

  According to the motor control device configured as described above, by giving a predetermined width between the elapsed time lower limit threshold and the elapsed time upper limit threshold, the change rate is increased, decreased, and not changed. Therefore, the change rate changing condition can be set more flexibly while maintaining the stable drive of the drive target, and the degree of freedom of control is expanded.

  Here, in the motor control device according to any one of claims 15, 17 and 18, for example, as described in claim 27, an increase amount when the change rate changing means increases the change rate is set in advance. It may be a certain reference increase amount. According to the motor control device configured as described above, the change rate can be changed (increased) more simply.

  Further, in the motor control device according to any one of claims 15, 17 and 18, for example, as described in claim 29, when the elapsed time is determined to be longer than the elapsed time upper limit threshold by the elapsed time determining means. The first difference value calculating means for calculating a first difference value that is the difference between the elapsed time and the elapsed time upper limit threshold, and the change rate changing means determines the increase amount when the change rate is increased, You may comprise so that it may set based on this 1st difference value so that a change rate may become large continuously or in steps, so that the 1st difference value calculated by a difference value calculation means is large.

  That is, the increase amount of the change rate is set depending on how long the elapsed time when the drive detection signal is output is longer than the elapsed time upper limit threshold. In this way, it is possible to set a fine change rate according to the drive speed of the drive target at that time, and to set the drive target to a desired speed (target drive speed) earlier.

  On the other hand, in the motor control device according to any one of claims 16 to 18, for example, as described in claim 28, the amount of decrease when the change rate changing means decreases the change rate is set to a predetermined reference decrease. According to the motor control device configured as described above, the change rate can be changed (decreased) more easily.

  Further, the motor control device according to any one of claims 16 to 18, when, for example, as described in claim 30, when the elapsed time is determined to be shorter than the elapsed time lower limit threshold by the elapsed time determining means, the elapsed time is determined. Second difference value calculating means for calculating a second difference value that is the difference between the time lower limit threshold and the elapsed time is provided, and the change rate changing means calculates the amount of decrease when the change rate is reduced by calculating the second difference value. The change rate may be set based on the second difference value so that the rate of change decreases continuously or stepwise as the second difference value calculated by the means increases.

  That is, the amount of change decrease is set according to how much the elapsed time at the time of driving detection signal output is shorter than the elapsed time lower limit threshold. In this way, similarly to the twenty-ninth aspect, it is possible to set a fine change rate according to the driving speed of the driving target at that time, and to make the driving target a desired speed (target driving speed) earlier. It becomes possible.

  Next, a motor control device according to a thirteenth aspect of the present invention includes a drive detection means for outputting a drive detection signal indicating that every time a drive target driven by the motor is driven by a certain amount, and driving from the drive detection means. A control means for outputting a driving force control signal for increasing the driving force of the motor by a predetermined increment in a predetermined cycle from a preset initial driving force each time a detection signal is output; and Motor driving means for rotationally driving the motor based on the driving force control signal. Then, each time the change rate changing means outputs a drive detection signal from the drive detection means (that is, every time the drive target is driven by a certain amount), the drive target is changed according to the drive speed of the drive target at the time of output. The change rate of the driving force is changed so that the driving force is driven at the target driving speed.

  According to the motor control apparatus configured as described above, the motor control method according to claim 2 is realized, and, similarly to claim 2, even if fluctuations such as increase or decrease in motor load occur, the drive target can be stably detected. It becomes possible to drive.

  In this case, for example, as described in claim 19, every time a drive detection signal is output, a speed determination means for determining whether or not the drive speed at the time of output is smaller than a preset speed lower limit threshold value. And the change rate changing means may increase the change rate when it is determined by the speed determining means that the speed change means is smaller than the speed lower limit threshold.

  Further, for example, as described in claim 20, each time a drive detection signal is output, the vehicle is provided with speed determination means for determining whether or not the drive speed at the time of output is greater than a preset upper speed threshold, and the rate of change The changing unit may decrease the rate of change when the speed determining unit determines that the speed is greater than the upper speed threshold.

  Further, for example, as described in claim 21, the speed determining means determines whether or not the driving speed of the driving target at the time of driving detection signal output is larger than the speed upper threshold, and the speed lower threshold smaller than the speed upper threshold. The change rate changing means increases the change rate when the speed judging means determines that the drive speed of the drive target is below the speed lower limit threshold, and is larger than the speed upper limit threshold. If it is determined, the rate of change may be decreased.

  According to the motor control device according to any one of claims 19 to 21 configured as described above, the motor control method according to claim 5 can be realized, and, similarly to claim 5, regardless of fluctuations in motor load, It becomes possible to drive the drive target more stably.

  The motor control device according to claim 21, wherein the speed determination means is configured to make a determination based on both the speed upper limit threshold value and the speed lower limit threshold value. The rate of change is increased or decreased with respect to the rate of change when the drive detection signal was output last time, and when the drive detection signal is output, the speed determination means determines that the drive speed is equal to or greater than the speed lower limit threshold. And when it is judged that it is below a speed upper limit threshold value, it may be comprised so that a change rate may not be changed.

  According to the motor control device configured as described above, by giving a predetermined width between the speed lower limit threshold and the speed upper limit threshold, the rate of change is increased, decreased, and not changed. Since each can be set arbitrarily, it is possible to set the change rate setting change condition more flexibly while maintaining the stable drive of the drive target, and the degree of freedom of control is expanded.

  Here, also in the motor control device according to any one of claims 19, 21, and 22, as described in claim 27, an increase amount when the change rate changing unit increases the change rate is set in advance. It is also possible to use a certain reference increase amount.

  Further, in the motor control device according to any one of claims 19, 21, and 22, for example, as described in claim 31, the speed determination means determines that the drive speed when the drive detection signal is output is smaller than a speed lower limit threshold. A first difference value calculating means for calculating a first difference value that is a difference between the speed lower limit threshold value and the driving speed, and the change rate changing means is configured to increase the change rate when increasing the change rate, You may comprise so that it may set based on this 1st difference value so that a change rate may become large continuously or in steps, so that the 1st difference value calculated by a 1st difference value calculation means is large.

  That is, the increase amount of the change rate is set according to how much the driving speed at the time of detecting the driving detection signal is smaller than the speed lower limit threshold. In this way, it is possible to finely change the setting of the change rate according to the drive speed of the drive object at that time, and to make the drive object a desired speed (target drive speed) earlier.

  On the other hand, also in the motor control device according to any one of claims 20 to 22, as in the above-described claim 28, a constant reference decrease in which a decrease amount when the change rate changing means decreases the change rate is set in advance. It may be an amount.

  The motor control device according to any one of claims 20 to 22, for example, as described in claim 32, when the speed determination means determines that the drive speed of the drive target is greater than the speed upper limit threshold, Second difference value calculating means for calculating a second difference value that is the difference between the drive speed and the speed upper limit threshold is provided, and the change rate changing means calculates the amount of decrease when the change rate is reduced by calculating the second difference value. The change rate may be set based on the second difference value so that the rate of change decreases continuously or stepwise as the second difference value calculated by the means increases.

  That is, the decrease amount of the change rate is set according to how much the driving speed at the time of detecting the driving detection signal is larger than the speed upper limit threshold. In this way, it is possible to finely change the setting of the change rate according to the drive speed of the drive object at that time, and to make the drive object a desired speed (target drive speed) earlier.

  Next, according to the fourteenth aspect of the present invention, there is provided a drive detection means for outputting a drive detection signal indicating that every time a drive target driven by the motor is driven by a certain amount, and a drive detection signal from the drive detection means. A control means for outputting a driving force control signal for increasing the driving force of the motor by a predetermined increment in a predetermined cycle from a preset initial driving force, and a drive from the control means The motor control device includes motor driving means for rotating the motor based on the force control signal. Then, every time the drive detection signal is output from the drive detection unit, the change rate change unit changes the drive force change rate so that the drive target is driven at the target drive speed according to the drive force at the time of output. To change.

  According to the motor control apparatus configured as described above, the motor control method according to claim 3 is realized, and similarly to claim 3, even if fluctuations such as increase or decrease in motor load occur, the drive target can be stably detected. It becomes possible to drive.

  In this case, for example, as described in claim 23, every time a drive detection signal is output, a driving force determination for determining whether or not the driving force at the time of output is greater than a preset driving force upper limit threshold value. And a change rate changing unit may increase the change rate when it is determined by the driving force determining unit that the driving force determining unit is larger than the driving force upper limit threshold.

  Further, for example, as described in claim 24, each time a driving detection signal is output, the driving force determining means for determining whether or not the driving force at the time of output is smaller than a preset driving force lower limit threshold is provided. The change rate changing unit may decrease the change rate when the driving force determining unit determines that the driving force determining unit is smaller than the driving force lower limit threshold.

  Further, for example, as described in claim 25, the driving force determination means determines whether or not the driving force at the time of driving detection signal output is smaller than the driving force lower limit threshold and predetermined driving larger than the driving force lower limit threshold. It is determined whether or not the force upper limit threshold is exceeded, and the change rate changing means increases the change rate when the drive force determining means determines that the drive force upper limit threshold is exceeded, and the change rate changing means If it is determined that the ratio is small, the rate of change may be decreased.

  According to the motor control device according to any one of claims 23 to 25 configured as described above, the motor control method according to claim 6 can be realized, and, similarly to claim 6, regardless of fluctuations in the motor load, It becomes possible to drive the drive target more stably.

  The motor control device according to claim 25, wherein the driving force determination means is configured to be able to make a determination based on both the driving force upper limit threshold and the driving force lower limit threshold. The rate changing means increases and decreases the rate of change with respect to the rate of change when the drive detection signal was output last time. When the drive detection signal is output, the drive force is determined by the drive force determination means. When it is determined that it is equal to or higher than the lower limit threshold and equal to or lower than the driving force upper limit threshold, the change rate may not be changed.

  According to the motor control device configured as described above, by providing a width between the driving force lower limit threshold and the driving force upper limit threshold, the rate of change is increased, decreased, and not changed. Since each can be set arbitrarily, it is possible to set the change rate setting change condition more flexibly while maintaining the stable drive of the drive target, and the degree of freedom of control is expanded.

  Here, also in the motor control device according to any one of claims 23, 25 and 26, an increase amount when the change rate changing means increases the change rate as described in claim 27 is set in advance. It may be a certain reference increase amount.

  In the motor control device according to any one of claims 23, 25, and 26, for example, as described in claim 33, the driving force when the driving detection signal is output by the driving force determination means is larger than the driving force upper limit threshold. The first difference value calculating means for calculating a first difference value that is the difference between the driving force and the driving force upper limit threshold when the change rate is determined to be increased when the change rate is increased. The amount may be set based on the first difference value so that the rate of change increases continuously or stepwise as the first difference value calculated by the first difference value calculating means increases. Good.

  That is, the increase amount of the change rate is set according to how much the driving force of the motor when the driving detection signal is output is larger than the driving force upper limit threshold. In this way, it is possible to finely change the setting of the change rate according to the drive speed of the drive object at that time, and to make the drive object a desired speed (target drive speed) earlier.

  On the other hand, in the motor control device according to any one of claims 24 to 26, as in the above-described claim 28, a constant reference decrease in which a decrease amount when the change rate changing means decreases the change rate is set in advance. It may be an amount.

  In the motor control device according to any one of claims 24 to 26, for example, as described in claim 34, the driving force when the driving detection signal is output is determined by the driving force determination means to be smaller than the driving force lower limit threshold. The second difference value calculating means for calculating the second difference value that is the difference between the driving force lower limit threshold and the driving force, the change rate changing means, the amount of decrease when the change rate is reduced, You may comprise so that it may set based on this 2nd difference value so that a change rate may become small continuously or in steps, so that the 2nd difference value calculated by a 2nd difference value calculation means is large.

  That is, the amount of decrease in the change rate is set according to how much the driving force of the motor when the driving detection signal is output is smaller than the driving force lower limit threshold. In this way, similarly to the thirty-third aspect, it becomes possible to finely change the setting of the change rate according to the driving speed of the driving target at that time, and to make the driving target a desired speed (target driving speed) earlier. Is possible.

  Further, in the motor control device according to any one of claims 15, 17, 18, 19, 21, 21, 22, 23, 25, 26, 27, 29, 31 or 33, the increase in the change rate by the change rate changing means is For example, as described in claim 35, the period can be shortened and / or the increment can be increased.

  In this case, the change rate changing means in the motor control device according to claim 27, as described in claim 37, increases the change rate by shortening the previous period by a fixed amount and increasing the increment by a fixed amount. In the motor control device according to any one of claims 29, 31 and 33, the increase in the change rate by the change rate changing means is the first difference as described in claim 39. Set the period so that the period becomes shorter continuously or stepwise as the value increases, and set the increment amount so that the increment amount increases continuously or stepwise as the first difference value increases This is done by at least one of the above.

  Furthermore, in this case, for example, as described in claim 41, the change rate changing unit sets the cycle based on the first difference value, and the cycle set by the cycle setting unit is a predetermined cycle. Period determining means for determining whether or not it is shorter than the lower limit value. If it is determined by the period determining means that the period is equal to or greater than the lower limit value, the rate of change is increased by using the set period. If the cycle determining means determines that the cycle is shorter than the cycle lower limit value, the cycle is changed to the cycle lower limit value and increased according to the difference between the cycle lower limit value and the cycle set by the cycle setting means. It may be configured to increase the rate of change by increasing the amount.

  In other words, if the cycle set based on the first difference value is a short one that does not reach the cycle lower limit value, the cycle is changed to the cycle lower limit value, and the cycle lower limit value is set to the originally set cycle. The increment of the change rate corresponding to the difference is performed by increasing the increment amount.

  Therefore, according to the motor control device configured as described above, when the set cycle is very short and difficult to realize, the increase rate is compensated by increasing the increment amount, so that the rate of change can be reliably increased. It becomes possible.

  Further, in the motor control device according to any one of claims 16 to 18, claim 20 to 22, claim 24 to 26, claim 28, 30, 32 or 34, the change rate is reduced by the change rate changing means. For example, as described in claim 36, the period can be increased and / or the increment can be decreased.

  In this case, the change rate changing means in the motor control device according to claim 28, as described in claim 38, reduces the change rate by increasing the period by a fixed amount and decreasing the increment by a fixed amount. In the motor control device according to any one of claims 30, 32 and 34, the decrease in the change rate by the change rate changing means is the second difference as described in claim 40. The period is set such that the period becomes longer continuously or stepwise as the value increases, and the increment amount decreases so that the increment amount decreases continuously or stepwise as the second difference value increases. This is performed by at least one of setting.

  Here, in the motor control device according to any one of claims 12 to 41, for example, as described in claim 42, the motor driving means rotationally drives the motor with a driving force corresponding to the input PWM signal. The control means is configured to output a PWM signal indicating a PWM duty value as a driving force control signal, and the PWM duty value is set each time a drive detection signal is output. It may be configured to increase the initial PWM duty value corresponding to the initial driving force by a predetermined PWM increment amount at a predetermined cycle. As a motor control method, the PWM control method is a well-known method with excellent power conversion efficiency. Therefore, the present invention (Claims 12 to 41) is more applicable when the motor control is performed by the PWM control method. It is effective.

  And when the motor control apparatus according to claim 39 is configured to control the motor by PWM control as described above, for example, as described in claim 43, the cycle is An arithmetic means for calculating a pulse width shortening amount representing an integral multiple of the width of the pulse constituting the PWM signal and indicating how many times the period of the previous period should be shortened based on the first difference value by the change rate changing means Period shortening means for setting the cycle short based on the integer part of the pulse width shortening amount calculated by the calculating means, and increment amount increasing means for increasing the PWM increment amount according to the decimal part of the pulse width shortening amount You may comprise as what was provided.

  Further, when the motor control device according to claim 40 described above is configured such that the motor is controlled by PWM control as described above (claim 42), for example, as described in claim 44, , The period is an integer multiple of the width of the pulse constituting the PWM signal, and the change rate change means indicates how many times the period of the pulse should be increased based on the second difference value Calculating means for calculating the period, period increasing means for setting a longer period based on the integer part of the pulse width increase calculated by the calculating means, and decreasing the PWM increment according to the fractional part of the pulse width increase You may comprise as what is provided with the increment amount reduction | decrease means.

  That is, since the period when increasing the PWM duty value by a predetermined increment is an integral multiple of the pulse width of the PWM signal, it becomes difficult to change the period at a fine level (continuously). Therefore, it is difficult to finely change the rate of change of the PWM signal (rate of change of driving force) only by changing the cycle.

  Therefore, of the pulse width shortening amount obtained by the calculation means, the integer part is reflected in the shortening of the period, and the decimal part, that is, the part that cannot be reflected in the shortening of the period is reflected by increasing the increment. To do.

  Therefore, according to the motor control device of claim 43 or claim 44, the change rate is changed mainly by changing the cycle, and the incremental amount is changed for a minute change that is difficult only by changing the cycle. Therefore, the change rate can be changed with high accuracy.

  By the way, considering the start of driving of the object to be driven by the motor, the drive detection signal is not always output when the fixed amount is driven just after the start of driving. That is, when the drive detection means is configured by an encoder, for example, and the pulse signal from the encoder is output as a drive detection signal, depending on the position of the drive target at the start of drive, the drive It is expected that a pulse signal (drive detection signal) is output immediately after the start. In such a case, if the drive rate is mistakenly recognized as being fast and the rate of change is reduced, sufficient drive force cannot be obtained at the initial stage when the drive force of the motor has hardly increased from the initial drive force. The time until the target drive speed is driven at a desired speed becomes long.

  Therefore, in the motor control device according to any one of claims 12 to 44, for example, as described in claim 45, after the change rate changing unit starts driving the drive target, the drive detection signal is first output from the drive detection unit. It is preferable that the output rate is not changed when output. According to the motor control device configured as described above, since the change rate of the driving force is not changed (not reduced) with respect to the first drive detection signal after the start of driving, a sufficient torque at the time of starting can be secured, It becomes possible to make the drive speed of the drive target a desired target drive speed more quickly.

Preferred embodiments of the present invention will be described below with reference to the drawings.
[First Embodiment]
FIG. 1 is a block diagram showing a schematic configuration of a motor control device to which the present invention is applied. The motor control device 10 in FIG. 1 is mounted on the ink jet printer described with reference to FIG. 34, for example, and controls a motor 110 (DC motor) that drives the carriage 102. In the present embodiment, of the entire control of the motor 110, a description will be given of minute speed control when the carriage 102 moves to the right side and capping is performed in the standby area after recording is completed.

  The micro speed control of the motor 110 by the motor control device 10 of this embodiment is basically the same as the control method described in FIG. 35, and the PWM value (corresponding to the driving force of the present invention) is set at the start of driving. A predetermined PWM value (start_pwm1) at the start of driving is set, and then the PWM value is incremented by a predetermined PWM increment amount (initial value is a driving PWM initial increment amount acc_param) every fixed period (PWM value update interval) Tp. Increase it. When the encoder edge is detected and an encoder edge detection signal (enc_trg) (corresponding to the drive detection signal of the present invention) is output, the PWM value is reset again to the initial value start_pwm1, and thereafter similarly at a constant cycle Tp. The PWM value is increased.

  The motor control device 10 of the present embodiment is greatly different from the conventional one in that the rate of change when the PWM value is increased at a constant period Tp is not fixed to accel_param / Tp but every encoder edge detection. This is to change according to the edge interval time (enc_period) that is the time from the previous edge detection to the current edge detection.

  As a specific method, in the present embodiment, the driving PWM increment a_param is not fixed to the driving PWM initial increment accel_param, but is changed according to the edge interval time (enc_period). This will be described in detail below.

  As shown in FIG. 1, the motor control device 10 of the present embodiment includes a CPU 1 that controls the entire inkjet printer, an ASIC 2 that generates a PWM signal that controls the rotation speed and rotation direction of the motor 110, and the ASIC 2. The motor driving driver circuit 11 drives the motor 110 based on the generated PWM signal.

  The details of the motor drive driver circuit 11 are as shown in FIG. 2, and an H bridge circuit is configured by four switching elements S1 to S4. Each of the switching elements S1 to S4 of the H bridge circuit is on / off controlled by the PWM signal generated by the drive signal generation unit 8 in the ASIC 2, thereby driving the motor 110. In addition, semiconductor switching elements, such as FET, are used for each switching element S1-S4, for example.

  The ASIC 2 includes an operation mode setting register group 3 in which various parameters used for controlling the motor 110 are stored. The operation mode setting register group 3 includes a start setting register 21 for starting the motor 110, a rotation direction setting register 22 for setting the rotation direction of the motor 110, and a PWM signal for PWM control of the motor 110. A PWM period setting register 23 in which the period (pwm_period) is set, a constant addition timing setting register 24 in which the above-described constant addition timing (pwm_reload_count) necessary for determining the period Tp for increasing the PWM value is set, A position setting register group 25 in which various data necessary for setting a deceleration start position and a braking start position are set, a PWM value setting register group 26 in which various PWM values for driving the motor 110 are set, and a cycle The increment / decrement amount when increasing or decreasing the PWM value is set for each Tp. PWM increase / decrease amount setting register group 27, limit PWM setting register group 28 in which various data for limiting the PWM value are set, and drive that is an increment amount of the PWM value after the detection of the encoder edge until the next edge detection Increment amount correction value setting register group 29 in which data for correcting the time PWM increment amount (a_param; initial value is the aforementioned accel_param) is set, and each threshold used for determining the length of the edge interval time at the time of edge detection The edge interval time threshold value setting register group 30 is set.

  Among these, the position setting register group 25 includes a deceleration start position (decel_pos), a brake start position (break_pos), a brake start encoder period (set_enc_period), and three set values used for determining the brake start position. The maximum deceleration time (set_decel_time) is set. In the present embodiment, as described later, based on the position / cycle information obtained from the encoder 105, the brake start position has been reached, the cycle of the encoder edge has become equal to or greater than the brake start encoder cycle (set_enc_period), or the deceleration has started. The brake is set to start when any one of the three conditions for whether the subsequent elapsed time is equal to or greater than the maximum deceleration time (set_decel_time) is satisfied.

  The PWM value setting register group 26 includes a PWM value at the start of driving (start_pwm1), a PWM value at the start of deceleration (start_pwm2), a PWM value at the start of braking (start_pwm3), and a PWM value at the time of braking (start_pwm3). stop_pwm).

  The PWM increase / decrease amount setting register group 27 includes a drive PWM initial increment (accel_param) that is an initial value of a drive PWM increment (a_param) during normal drive (start-up to deceleration start), and a PWM decrement during deceleration. The deceleration PWM decrement amount (decel_param) and the braking PWM increment amount (break_param), which are the PWM increment amounts during braking, are set. In addition, the maximum PWM output value (pwm_max_limit) indicating the upper limit of the PWM value and the minimum PWM output value (pwm_min_limit) indicating the lower limit of the PWM value are set in the limit PWM setting register group 28.

  In the increment amount correction value setting register group 29, a change rate coefficient α and a correction constant var necessary for calculating the drive PWM increment amount a_param until the next encoder edge detection is set for each encoder edge detection.

  Further, the edge interval time threshold value setting register group 30 determines whether or not the drive PWM increment until the next encoder edge detection is increased from a_param calculated at the previous encoder edge detection every time the encoder edge is detected. An edge interval excess detection threshold (det_period_max) serving as a reference to be used, and an edge interval insufficient detection threshold (det_period_min) serving as a reference for determining whether or not to decrease are set. The edge interval excess detection threshold corresponds to the elapsed time upper limit threshold of the present invention, and the edge interval insufficient detection threshold corresponds to the elapsed time lower limit threshold of the present invention.

  The encoder edge detection unit 13 takes in the pulse signal from the encoder 105, detects the edge of the pulse signal (for example, either the rising edge or the falling edge, or both), and outputs the encoder edge detection signal (enc_trg). Output.

  The position counter 14 counts the encoder edge detected by the encoder edge detection unit 13, thereby detecting the position of the carriage 102 as an encoder edge count value (enc_count) that is the count value.

  Based on the encoder edge detection signal (enc_trg) from the encoder edge detection unit 13, the period / speed measurement unit 16 determines the edge interval time (enc_period) that is the period of the encoder edge detection signal and the driving speed (enc_velocity) of the carriage 102. ) Is calculated and output.

  Here, the relationship among the encoder edge detection signal, the encoder edge count value, the edge interval time, and the driving speed with respect to the pulse signal from the encoder 105 will be described with reference to FIG. As shown in the figure, the encoder 105 is configured to output two types of pulse signals having different phases, and when one (A phase) edge rises, the encoder edge detection unit 13 outputs an encoder edge detection signal (enc_trg). ) Is output.

  Based on the encoder edge detection signal, the position counter 14 counts the encoder edge count value (enc_count). Further, the period / speed measuring unit 16 also obtains an edge interval time (enc_period) as shown in the figure based on the encoder edge detection signal, and based on the obtained period and the slit interval (not shown) of the encoder A phase. The driving speed (enc_velocity) is obtained.

  The addition timing generation unit 18 includes a PWM cycle (pwm_period) from the PWM cycle setting register 23, a constant addition timing (pwm_reload_count) from the constant addition timing setting register 24, and an encoder edge detection signal (enc_trg) from the encoder edge detection unit 13. Based on, timing information for increasing the PWM value at the period Tp is generated and output to the output PWM duty generation unit 4.

  Based on the count number (enc_count) from the position counter 14, the period / speed signal from the period / speed measurement unit 16, and the set values set in the position setting register group 25, the area determination unit 15 It is determined whether the vehicle is in a normal driving region, a deceleration region, or a braking region. In addition, a deceleration time measuring timer 15a (decel_timer) is provided therein, and this timer starts with the start of deceleration. If the braking has not started yet when the measured time becomes equal to or longer than the maximum deceleration time (set_decel_time), the braking is started.

  The information about whether or not the PWM increment amount correction unit 6 should correct (change) the drive PWM increment amount a_param after the reset time with respect to the output PWM duty generation unit 4 every time the PWM value is reset by detecting the encoder edge. Alternatively, correction data indicating how much correction is to be performed when it is to be corrected is generated and output.

  In this embodiment, basically, the drive PWM increment a_param is set to the drive PWM initial increment (accel_param), which is the initial value, but the edge interval time (enc_period) at the time of encoder edge detection, that is, the previous time. When the time from the edge detection to the current edge detection is larger than the edge interval excess detection threshold (det_period_max), the drive PWM increment (a_param) is increased from the previous value by a predetermined amount. Further, when the edge interval time (enc_period) at the time of encoder edge detection is smaller than the edge interval shortage detection threshold (det_period_min), the drive PWM increment amount (a_param) is decreased by a predetermined amount from the previous value. .

  The output PWM duty generation unit 4 generates and outputs data indicating the PWM value of the PWM signal necessary for driving the motor 110, and includes a PWM value setting register group 26, a PWM increase / decrease amount setting register group 27, and the like. The set value of each register of the limited PWM setting register group 28, the timing information from the addition timing generation unit 18, the encoder edge detection signal (enc_trg) from the encoder edge detection unit 13, and the region information from the region determination unit 15 Based on the above, PWM values are generated for normal driving, deceleration, braking, and braking (stop).

  Further, in the present embodiment, each time an encoder edge is detected, information on whether or not the PWM increment amount (a_param) at the time of driving should be corrected, or correction data indicating how much correction should be performed when it should be corrected. Is obtained from the PWM increment correction unit 6 and the drive PWM increment is corrected as necessary. The specific calculation method will be described later.

  The drive signal generation unit 8 generates a PWM signal corresponding to the PWM value from the output PWM duty generation unit 4 and the rotation direction set in the rotation direction setting register 22, and outputs the PWM signal to the motor drive driver circuit 11. Accordingly, the motor drive driver circuit 11 drives the motor 110, and the motor 110 is driven with a desired driving force corresponding to the set PWM value. The various signal processing units 17 perform error processing, interrupt signal output to the CPU 1, and the like. This interrupt signal will be described later.

The clock generation unit 12 generates a clock signal having a period sufficiently shorter than the pulse signal from the encoder 105 and supplies the clock signal to each unit in the ASIC 2.
Control of the motor 110 in the motor control apparatus 10 of the present embodiment configured as described above will be described with reference to FIGS. 4 and 5. 4 and 5 are explanatory diagrams showing examples of motor control according to the present embodiment, in which FIG. 4 shows a control example when the load on the motor 110 increases, and FIG. 5 shows the load on the motor 110. First, as shown in FIG. 4, the PWM initial value at the start of driving is set to start_pwm1, and then a_param (at the start of driving) at a constant period Tp as shown in FIG. (accel_param)). If the PWM value reaches pwm_max_limit before the encoder edge is detected, the PWM value is held at the pwm_max_limit until the edge is detected thereafter.

  When the encoder edge is detected, the PWM value is reset and the drive start PWM value (start_pwm1) is set again. In this embodiment, when the encoder edge is detected for the first time after the drive is started, the drive is started. The hourly PWM increment amount (a_param) is not changed. That is, the PWM initial increment amount during driving (accel_param) remains unchanged. Then, the subsequent PWM increment is set on the basis of the edge interval time at the time of edge detection after the second and subsequent edge detection.

  Specifically, at the second encoder edge detection after the start of driving in FIG. 4 (time t1), the immediately preceding edge interval time T1 exceeds the edge interval excess detection threshold value (det_period_max). Therefore, a correction operation is performed to increase the drive PWM increment (a_param) after reset by a predetermined amount from the initial value accel_param. As a result, the rate of change of the PWM value is increased.

  Thereafter, even if the driving speed increases and the edge interval time at the time of encoder edge detection becomes smaller than det_period_max, as long as the edge interval shortage detection threshold (det_period_min) is exceeded, a_param up to the previous time is held as it is. Therefore, the desired driving speed can be maintained without abruptly decreasing the driving speed of the carriage 102.

  On the other hand, when the motor load increases and the drive speed decreases and the edge interval time T6 at time t2 again exceeds the edge interval excess detection threshold (det_period_max), the subsequent PWM increment amount (a_param) during the drive is A predetermined amount is further increased with respect to a_param. As a result, the rate of change of the PWM value is further increased.

  When the vehicle reaches the deceleration start position (decel_pos), the PWM initial value is set to start_pwm2, and thereafter, the PWM decrement amount during deceleration (decel_param) is decreased every fixed period Tp. After that, when any one of the above-described three braking start conditions is satisfied, the braking is started by setting the PWM value to start_pwm3, and increases by a braking PWM increment amount (break_param) at a constant period Tp. (In the negative direction)

  The operation of the motor drive driver circuit 11 when the PWM value is in a negative range is specifically connected to the ground among the four switching elements S1 to S4 (see FIG. 2) constituting the H bridge circuit. This is done by simultaneously turning on and off only the two switching elements S2 and S4. That is, since braking is applied in a state where both the switching elements S2 and S4 are both turned on, the braking force can be controlled by the on-duty ratio. Of course, the switching operation when the PWM value is in the negative range allows the desired control operation even when the switching elements S1 and S3 are turned on / off instead of the switching elements S2 and S4.

  Therefore, after the braking is started, the ON ratio of both switching elements S2 and S4 gradually increases, and when the PWM value becomes stop_pwm, the motor 110 is always on, that is, the motor 110 passes through both switching elements S2 and S4. As a result, a short-circuited state is established, and the drive target (here, the carriage 102) stops.

  Next, the case where the load of FIG. 5 decreases will be described. In this case, the control up to increasing the change rate of the PWM value at time t1 (increasing the PWM increment during driving) is exactly the same as the control described in FIG.

  As the motor load gradually decreases after the time t1, the drive speed of the motor 110 increases, and the edge interval time (enc_period) at the time of encoder edge detection becomes shorter. When the encoder edge is detected at time t2, the edge interval time T6 is smaller than the edge interval shortage detection threshold (det_period_min).

  Therefore, in the present embodiment, the PWM increment rate (a_param) after time t2 is corrected to be smaller than a_param before time t2, thereby reducing the change rate of the PWM value. That is, since the load is light and the speed may be excessive, the rate of change of the PWM value is reduced to suppress the speed.

  A supplementary explanation will be given on increasing / decreasing the rate of change of the PWM value by changing the PWM increment during driving based on FIG. FIG. 6A shows an initial state, and the drive PWM increment amount (a_param) is the initial value accel_param. The broken line indicates the change rate (slope) of the PWM value in the initial state.

  When a_param is increased from this state to a_param> accel_param, as shown in FIG. 6B, the change rate (slope) of the PWM value increases as represented by a one-dot chain line. Conversely, if a_param is decreased to a_param <accel_param, the rate of change (slope) of the PWM value decreases as shown by the alternate long and short dash line, as shown in FIG.

Then, the correction calculation for increasing or decreasing the drive PWM increment (a_param) is expressed by the following equation (1).
a_param = a_param * (1 ± α * var) (1)
However, the left side a_param is the drive PWM increment after change, the right side a_param is the drive PWM increment before change, the change rate coefficient α = 1, the correction constant var is an arbitrary constant, and the calculation in the right parenthesis The addition / subtraction part in the equation is addition when increasing the rate of change of the PWM value, and subtracting when decreasing the rate of change.

  The correction calculation according to the above formula (1) is performed by the output PWM duty generation unit 4, and among these, the calculation result of “± α * var” is performed by the PWM increment correction unit 6, and the output PWM duty generation unit 4 is input.

  In the right side of the above formula (1), the value obtained by “a_param * α * var” corresponds to the reference increase amount of the present invention, and the value obtained by “a_param * (− α * var)” is the present invention. It corresponds to the standard decrease amount.

  Next, the process executed by the CPU 1 and the process executed by the ASIC 2 in the motor control device 10 of the present embodiment will be described with reference to FIGS. First, FIG. 7 is a flowchart showing an ASIC setting process executed by the CPU 1. After the recording operation is completed in the ink jet printer and the carriage 102 is temporarily stopped in the standby area, this processing (FIGS. 7 to 11) is executed to move to the home position.

  When this ASIC setting process is started, first, in step (hereinafter abbreviated as “S”) 110, each register in the operation mode setting register group 2 is set. Specific setting items are as shown in FIG. Thereafter, in S120, stop interrupt permission is output to ASIC2. The ASIC 2 that has received the stop interrupt permission signal can output a stop interrupt signal during an interrupt signal generation process of FIG.

  Then, by setting the activation setting register 21 in S130, the driving of the motor 110, and thus the driving of the carriage 102, is started. Subsequent control of the motor 110 is basically performed by the ASIC 2, and the CPU 1 waits for a stop interrupt signal in S140. Then, when a stop interrupt signal is output in the process of S990 in FIG. 11 described later, an affirmative determination is made in S140 and the process proceeds to S150 to clear the stop interrupt flag and perform an interrupt mask process so that no interrupt signal will be input thereafter. Do.

  Next, the control of the motor 110 executed by the ASIC 2 will be described. The motor control by the ASIC 2 is performed as a hardware operation as is well known, but here, the hardware operation will be described with a flowchart for easy understanding.

  First, FIG. 8 shows normal drive processing from the start of the motor 110 to the start of deceleration. When the start setting register 21 is set by the CPU 1, first, in S210, the initial PWM drive increment (accel_param), which is the initial value, is set in the variable a_param indicating the drive PWM increment, and the constant addition timing is set. The initial value pwm_reload_count is set to the variable prcnt shown. Furthermore, start_pwm1 is set to pwm_out which is a PWM value actually output from the output PWM duty generation unit 4, and output of the PWM value is started.

  In subsequent S220, based on the constant addition timing prcnt set in S210, the PWM value update interval Tp is determined by the following equation Tp = pwm_period * (prcnt + 1). This calculation is performed by the addition timing generation unit 18.

  In subsequent S230, it is determined whether or not enc_trg is 1, that is, whether or not an encoder edge has been detected, and the process proceeds to S240 until it is determined that it has been detected. In S240, it is determined whether it is the update timing of pwm_out. In other words, this determination is a determination as to whether or not it is the timing for updating the PWM value of the constant period Tp, and is determined based on the timing information from the addition timing generation unit 18. While Tp has not elapsed since the PWM value was updated last time (that is, increased by accel_param), a negative determination is made and the process returns to S230. However, when Tp has elapsed and the PWM value update timing is reached, the process proceeds to S250.

  In S250, an operation of adding a_param (accel_param in the initial state) to the current pwm_out is performed, and the calculation result becomes a new pwm_out. Then, in subsequent S260, it is determined whether or not the new pwm_out is larger than the maximum PWM output value (pwm_max_limit). At this time, if it is equal to or less than pwm_max_limit, the process returns to S230. If it exceeds pwm_max_limit, the process proceeds to S270, and pwm_max_limit is set to the current pwm_out. That is, pwm_out is limited to the maximum pwm_max_limit.

  When the encoder edge is detected, the process proceeds from S230 to S280, and it is determined whether or not the vehicle has reached the deceleration start position (decel_pos) or the braking start position (break_pos).

  Specifically, the determination in S280 is made based on the presence / absence of a position pulse from the region determination unit 15. FIG. 10 is a flowchart showing position detection pulse generation processing executed by the region determination unit 15. When this process is started by inputting the count value from the position counter 14, it is determined in S810 whether or not it is the deceleration start position (decel_pos) based on the count value. If it is not yet the deceleration start position, the process proceeds to S830, and it is determined whether or not it is the braking start position (break_pos).

  When it is determined that the vehicle has reached the braking start position even though it has not been determined that the vehicle has started the deceleration start position, the control is such that the normal drive state is shifted directly to braking without passing through the deceleration period. This is the case. When the deceleration period is included as in the present embodiment, a negative determination is always made in S830 unless the deceleration start position is reached. When the deceleration start position is reached, the process proceeds to S820, and a deceleration position pulse is generated. When the braking start position is reached, a braking position pulse is generated in S840.

  Returning to FIG. 8, if it is determined in S280 that the decel_pos has been reached, the process proceeds to the deceleration / stop process of FIG. 9. However, while the decel_pos is not reached, the process proceeds to S290, and when the encoder edge is detected and the immediately preceding encoder edge It is determined whether or not the edge interval time (enc_period) between detections is greater than the edge interval excess detection threshold (det_period_max). At this time, if enc_period is greater than det_period_max, the process proceeds to S310, and a correction operation for increasing the drive PWM increment (a_param) is performed based on the above-described equation (1) so that the rate of change of the PWM value increases. .

  On the other hand, if the edge interval time (enc_period) at the time of encoder edge detection is equal to or less than the edge interval excess detection threshold (det_period_max), the process proceeds to S300, and it is further determined whether or not it is smaller than the edge interval insufficient detection threshold (det_period_min). If it is smaller than det_period_min at this time, the process proceeds to S320, and a correction operation for decreasing the drive PWM increment (a_param) is performed based on the above-described equation (1) so that the rate of change of the PWM value is decreased.

  When the result in S300 is negative, that is, when the edge interval time (enc_period) is not less than det_period_min and not more than det_period_max, the process directly proceeds to S500. In S500, pwm_out is reset again to start_pwm1, which is the PWM value at the start of driving.

  Next, the processing in the case where an affirmative determination is made in S280, that is, the deceleration / stop processing in the case where the vehicle has reached the deceleration start position will be described based on FIG. FIG. 9 is a flowchart showing the deceleration / stop processing. When the determination is affirmative in S280 in FIG. 8 and the process proceeds to this process, first, start_pwm2 that is the PWM value at the start of deceleration is set to pwm_out in S610. At the same time, the timer 15a (decel_timer) starts counting.

  In S620, enc_count becomes equal to break_pos (that is, the braking start position has been reached), or enc_period becomes greater than or equal to set_enc_period (that is, the cycle of the encoder edge becomes greater than or equal to the braking start encoder cycle), or a timer It is determined whether any one of the time values of 15a is set_decel_time (maximum deceleration time) or more is established, and if any one is established, the process proceeds to S670 and braking is started. Specifically, start_pwm3 that is the PWM value at the start of braking is set as a new pwm_out.

  On the other hand, when braking does not start, the process proceeds from S620 to S630, and it is determined whether or not it is the update timing of pwm_out, as in S240 of FIG. Then, at the update timing, in S640, a value obtained by subtracting the deceleration PWM decrement amount (decel_param) from the current pwm_out is set as a new pwm_out. That is, the PWM value is decreased. Then, the flow shifts to S650, where it is determined whether or not the new pwm_out is smaller than the minimum PWM output value (pwm_min_limit). If it is not smaller, the process returns to S620 as it is, but if it is smaller, pwm_min_limit is set to pwm_out in S660.

  On the other hand, when braking is started and the processing of S670 described above is completed, it is determined in subsequent S680 whether or not it is the update timing of pwm_out, as in S630. Then, at the update timing, the process proceeds to S690, and a value obtained by adding the braking PWM increment (break_param) to the current pwm_out is set as a new pwm_out. Then, it is determined in S700 whether or not the new pwm_out is larger than the brake PWM value (stop_pwm). If it is not larger, the process returns to S680. If it is larger, stop_pwm is set in pwm_out in S710, and the stop pulse is subsequently performed in S720. Is generated. As a result, the motor 110 is completely stopped.

  Next, interrupt signal generation processing executed by the various signal processing units 17 in the ASIC 2 will be described with reference to FIG. When this process is started, it is first determined in S910 whether a position pulse has occurred. This is to check whether or not a corresponding pulse has been generated in each process of S820 or S840 in FIG. 10 and S720 in FIG. 9. If any position pulse has occurred, the process proceeds to S920 and the type Is judged.

  First, if it is a deceleration position pulse, the process proceeds to S930, and a deceleration position interrupt flag is set. Then, in S940, it is determined whether or not the deceleration position interrupt permission is obtained from the CPU1. In this embodiment, since the deceleration position interrupt permission is not obtained, the process returns to S910 here. If it is a braking position pulse, a braking position interrupt flag is set in S950, and it is determined in S960 whether or not the braking position interrupt permission is obtained from the CPU1. Also in this case, since the brake position interruption permission is not obtained in this embodiment, the process returns to S910.

  If it is a stop position pulse, a stop interrupt flag is set in S970, and it is determined in S980 whether stop interrupt permission has been obtained from the CPU1. Here, since the stop interrupt is permitted by the ASIC setting process described with reference to FIG. 7, a CPU interrupt signal is output to the CPU 1 in S990.

  In the motor control device 10 of the present embodiment described in detail above, every time an encoder edge is detected, the change rate of the next PWM value is determined according to the edge interval time (enc_period) at that time. Specifically, the current PWM increment (a_param) is maintained, or is increased or decreased by the above equation (1). Therefore, according to the motor control device 10 configured as described above, even if the load of the motor 110 fluctuates, the drive target (the carriage 102 in this example) can be driven stably.

  Also, when the first encoder edge after the start of driving is detected, the PWM value change rate is not corrected (a_param correction), and a_param is set to the initial value accel_param similarly to the start of driving. Therefore, the driving speed of the carriage 102 can be set to a desired target driving speed more quickly.

  In addition, since the overall loop control is not so-called closed loop control such as speed feedback control or position feedback control, motor control at a minute speed, which is difficult with closed loop control, can be more satisfactorily realized.

  In particular, when applied to a minute speed movement to the home position in the carriage drive of an ink jet printer as in this embodiment, the influence of fluctuations in the motor load during the capping operation is suppressed, and capping can be performed reliably.

  Here, the correspondence between the components of the present embodiment and the components of the present invention will be clarified. In this embodiment, the encoder 105 corresponds to the drive detection means of the present invention, the output PWM duty generation unit 4 corresponds to the control means of the present invention, the motor drive driver circuit 11 corresponds to the motor drive means of the present invention, The PWM increment correction unit 6 corresponds to change rate changing means and elapsed time determining means of the present invention. A driving speed at which the edge interval time (enc_period) at the time of encoder edge detection is a value between det_period_min and det_period_max corresponds to the target driving speed of the present invention. Further, in the normal drive process of FIG. 8, the processes of S290 and S300 are both equivalent to the processes executed by the elapsed time judging means of the present invention, and the processes of S310 and S320 are both executed by the change rate changing means of the present invention. It corresponds to the processing.

[Second Embodiment]
In the first embodiment, by setting α = 1 and var as a predetermined constant, the increase amount when increasing the drive increment (a_param) and the decrease amount when decreasing are both constant values. In this embodiment, it is continuously increased / decreased according to the difference between the edge interval time (enc_period) and each threshold value.

  FIG. 12 shows a schematic configuration of the motor control device 150 of the present embodiment. The motor control device 150 of the present embodiment is significantly different from the motor control device 10 of the first embodiment (see FIG. 1) because the correction constant var is stored in the increment correction value setting register group 41 in the operation mode setting register group 153. It is not set but is obtained by calculation in the PWM increment correction unit 154 and the change rate coefficient α is set to a predetermined coefficient of α> 0. Therefore, the CPU 151 does not set the correction constant var in the increment correction value setting register group 41 as in the first embodiment. Since the other configuration is basically the same as that of the motor control device 150 of the first embodiment, the same components as those of the motor control device 10 of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. .

  FIG. 13 shows normal drive processing from the start of the motor 110 to the start of deceleration, which is executed by the ASIC 152 of the present embodiment. The normal drive process of the present embodiment is different from the normal drive process of the first embodiment (see FIG. 8), that is, the process that is executed after the affirmative determination is made in S290 and S300 and before the process proceeds to S500. This is a process for performing a correction calculation of the PWM increment during driving, and the other processes are exactly the same as in the first embodiment. Therefore, the same step number is attached to the same process as the normal drive process of the first embodiment, and the detailed description thereof is omitted. Parts different from the first embodiment will be described below.

  If an encoder edge is detected (S230: YES) and neither the deceleration start position nor the braking start position has been reached (S280: NO), the edge interval time (enc_period) is detected as an excessive edge interval in S290. It is determined whether or not the threshold value is larger than the threshold value (det_period_max). If it is determined that the threshold value is larger, a calculation of var = enc_period-det_period_max is performed in S331. That is, it is determined how much the edge interval time at this time is larger than the threshold value (det_period_max).

  Then, after the calculation of var, the process proceeds to S490, and a new driving PWM increment is calculated by the previously described equation (1) using the obtained var. As a result, a new a_param larger than the previous a_param is obtained. In the case of the present embodiment, addition is performed in the addition / subtraction part in the right parenthesis of Expression (1).

  If a negative determination is made in S290 and an affirmative determination is made in S300, that is, if it is determined that the edge interval time (enc_period) is smaller than the edge interval shortage detection threshold (det_period_min), var = enc_period-det_period_min is determined in S333. Is calculated. That is, how much the edge interval time at this time is smaller than the threshold value (det_period_min) is obtained. After the calculation of var, the process proceeds to S490, where a_param up to the previous time is corrected and a new a_param is obtained.

  In the motor control device 150 of the present embodiment configured as described above, the difference between the detected edge interval time (enc_period) and each of the threshold values is calculated as var, and the PWM increment amount during driving is corrected based on the var. An operation is performed. As a result, as the edge interval time (enc_period) is larger than det_period_max, the a_param is corrected to a larger value and the change rate of the PWM value becomes larger. Conversely, as the edge interval time (enc_period) is smaller than the det_period_min, the a_param is also corrected to a smaller value. Becomes smaller.

  Therefore, the drive PWM increment (a_param) is corrected more appropriately according to the drive state at the time of encoder edge detection, and the drive target (the carriage 102 in this example) can be driven more stably.

  In the present embodiment, the PWM increment correction unit 154 corresponds to the first difference value calculation means and the second difference value calculation means of the present invention, and is calculated in S331 in the normal drive process of FIG. Var corresponds to the first difference value of the present invention (Claim 29), and var calculated in S333 corresponds to the second difference value of the present invention (Claim 30).

[Third Embodiment]
In the first embodiment, as a specific method of changing the rate of change of the PWM value, the drive PWM increment (a_param) is changed. However, in the present embodiment, conversely, a_param is a PWM initial increase during drive. The amount (accel_param) is fixed, and the PWM value update interval Tp, which is a cycle in which the PWM value is increased by accel_param, is changed.

  FIG. 14 shows a schematic configuration of the motor control device 160 of the present embodiment. The motor control device 160 of the present embodiment is greatly different from the motor control device 10 (see FIG. 1) of the first embodiment in that the change rate coefficient β is added to the increment correction value setting register group 46 in the operation mode setting register group 163. And the correction constant var are set, and based on these β and var, the addition timing generation unit 164 calculates the PWM value update interval Tv (initial value is Tp), and outputs the timing information to the output PWM duty generation unit 165. Is to output. Since the other configuration is basically the same as that of the motor control device 150 of the first embodiment, the same components as those of the motor control device 10 of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. .

  FIG. 15 supplementarily explains increasing / decreasing the rate of change of the PWM value by changing the PWM value update interval Tv, that is, the cycle Tv for increasing accel_param. FIG. 15A shows an initial state, and the PWM value update interval Tv is the initial value Tp. It is. The broken line indicates the change rate (slope) of the PWM value in the initial state.

  If Tv is decreased from this state and Tv <Tp, the rate of change (slope) of the PWM value increases as shown by the alternate long and short dash line, as shown in FIG. On the other hand, when Tv is increased to satisfy Tv> Tp, the change rate (slope) of the PWM value decreases as indicated by the alternate long and short dash line, as shown in FIG.

The correction calculation for increasing or decreasing the PWM value update interval Tv is expressed by the following equations (2) and (3).
Tv = pwm_period * (prcnt + 1) (2)
prcnt = prcnt ± int (β * var) (3)
However, prcnt on the left side of Equation (3) is the constant addition timing after the change, and prcnt on the right side is the constant addition timing before the change, and the initial value is pwm_reload_count described above. Further, the change rate coefficient β = 1, the correction constant var is an arbitrary constant, and the addition / subtraction part in the arithmetic expression on the right side of Expression (3) is subtraction when increasing the change rate of the PWM value, and conversely, the change rate When decreasing the value, add. Further, int on the right side of Expression (3) represents a function that validates only the integer part, and “int (β * var)” represents the integer part of the integration result of β * var. The correction calculation according to the above equations (2) and (3) is performed by the addition timing generation unit 164.

  FIG. 16 shows normal drive processing from the start of the motor 110 to the start of deceleration, which is executed by the ASIC 162 of the present embodiment. The normal drive process of the present embodiment is significantly different from the normal drive process of the first embodiment (see FIG. 8). The process executed after the affirmative determination is made in S290 and S300 until the process proceeds to S500. That is, this is a process for performing a correction calculation of the PWM value update interval Tv. Further, the calculation processing in S225 is substantially the same as S220 in the first embodiment. Since the other processes are the same as those in the first embodiment, the same steps as those in the normal drive process in the first embodiment are denoted by the same step numbers, and detailed description thereof is omitted. Parts different from the first embodiment will be described below.

  If an encoder edge is detected (S230: YES) and neither the deceleration start position nor the braking start position has been reached (S280: NO), the edge interval time (enc_period) is detected as an excessive edge interval in S290. It is determined whether or not the threshold value is larger than the threshold value (det_period_max). If it is determined that the threshold value is larger, the calculation of prcnt = prcnt−int (β * var) is performed in S341.

  Then, after the calculation of the constant addition timing prcnt, the process proceeds to S420, and a new PWM value update interval Tv is calculated by the above-described equation (2) using the obtained prcnt. As a result, a new Tv smaller than the previous Tv is obtained.

  Also, if a negative determination is made in S290 and an affirmative determination is made in S300, that is, if it is determined that the edge interval time (enc_period) is smaller than the edge interval shortage detection threshold (det_period_min), in S343, prcnt = prcnt + int (β * Var) is calculated, and the process proceeds to S420. Thereby, a new Tv larger than the previous Tv is obtained.

  In the motor control device 160 of the present embodiment configured as described above, the PWM value update interval Tv is maintained as it is or the above formulas (2) and (3) are used according to the detected edge interval time (enc_period). Increase or decrease. Therefore, similarly to the first embodiment, even if the load of the motor 110 fluctuates, the drive target (the carriage 102 in this example) can be driven stably.

[Fourth Embodiment]
In the third embodiment, by setting β = 1 and var as a predetermined constant, the increase amount when increasing the PWM value update interval Tv and the decrease amount when decreasing are both constant values. In the embodiment, it is increased or decreased continuously according to the difference between the edge interval time (enc_period) and each threshold value.

  FIG. 17 shows a schematic configuration of the motor control device 170 of the present embodiment. The motor control device 170 of the present embodiment is greatly different from the motor control device 160 (see FIG. 14) of the third embodiment because the correction constant var is stored in the increment correction value setting register group 51 in the operation mode setting register group 173. It is not set, but is obtained by calculation in the addition timing generation unit 174, and the change rate coefficient β is set to a predetermined coefficient of β> 0. For this reason, the CPU 171 does not set the correction constant var in the increment correction value setting register group 51 as in the third embodiment. The rest of the configuration is basically the same as that of the motor control device 160 of the third embodiment, and therefore the same components as those of the motor control device 160 of the third embodiment are denoted by the same reference numerals and detailed description thereof is omitted. .

  FIG. 18 shows a normal driving process from the start of the motor 110 to the start of deceleration, which is executed by the ASIC 172 of the present embodiment. The normal drive process of the present embodiment differs from the normal drive process of the third embodiment (see FIG. 16) in that the process is executed after the affirmative determination is made in S290 and S300 and before the Tv calculation process in S420 is performed. That is, this is a process for performing a correction operation for the constant addition timing prcnt, and other processes are exactly the same as those in the third embodiment. Therefore, the same step number is attached to the same process as the normal drive process of the third embodiment, and the detailed description thereof is omitted. Parts different from the third embodiment will be described below.

  If an encoder edge is detected (S230: YES) and neither the deceleration start position nor the braking start position has been reached (S280: NO), the edge interval time (enc_period) is detected as an excessive edge interval in S290. It is determined whether or not the threshold value is larger than the threshold value (det_period_max). If it is determined that the threshold value is larger, a calculation of var = det_period_max−enc_period is performed in S351. That is, the difference between the threshold value (det_period_max) and the edge interval time is obtained.

  Then, after the calculation of var, the process proceeds to S410, and a new constant addition timing prcnt is calculated by the above-described equation (3) using the obtained var. A new Tv smaller than the previous Tv is obtained by performing the calculation process of the next S420 using the constant addition timing prcnt. In the present embodiment, addition is performed in the addition / subtraction part on the right side of Equation (3).

  If a negative determination is made in S290 and an affirmative determination is made in S300, var = det_period_min-enc_period is calculated in S353, and then the process proceeds to the above-described calculation process in S410. Thereby, a new Tv larger than the previous Tv is obtained.

  In the motor control device 170 of the present embodiment configured as described above, the difference between the detected edge interval time (enc_period) and each of the above threshold values is calculated as var, and the PWM value update interval Tv is corrected based on the var. An operation is performed. As a result, as the edge interval time (enc_period) is larger than det_period_max, Tv is corrected to a smaller value and the change rate of the PWM value becomes larger. Conversely, as it is smaller than det_period_min, Tv is corrected to a larger value and the change rate of the PWM value is increased. Becomes smaller.

Therefore, the correction of the PWM value update interval Tv is more appropriately performed according to the drive state at the time of encoder edge detection, and the drive target can be driven more stably.
[Fifth Embodiment]
In each of the above embodiments, the change rate of the PWM value is changed by changing only one of the drive PWM increment (a_param) or the PWM value update interval Tv. However, in this embodiment, a_param is used. The rate of change can be changed by changing both Tv and Tv.

  FIG. 19 shows a schematic configuration of the motor control device 180 of the present embodiment. The motor control device 180 of the present embodiment and the motor control device 170 of the fourth embodiment (see FIG. 17) are greatly different from each other in the increment correction value setting register group 56 in the operation mode setting register group 183. The two change rate coefficients α and β (α, β> 0) are set, and the decimal part of the calculation of β * var that occurs in the process of calculating the PWM value update timing Tv by the addition timing generation unit 184 The correction parameter γ is output to the PWM increment correction unit 185, and the PWM increment correction unit 185 outputs the integration result of the fine correction parameter γ and the change rate coefficient α to the output PWM duty generation unit 4 as correction data. That is. The rest of the configuration is basically the same as that of the motor control device 170 according to the fourth embodiment. Therefore, the same components as those of the motor control device 170 according to the fourth embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. .

  FIG. 20 shows normal drive processing from the start of the motor 110 to the start of deceleration, which is executed by the ASIC 182 of the present embodiment. The normal drive process of the present embodiment is different from the normal drive process of the fourth embodiment (see FIG. 18). The process of S431 and S433 is newly performed between the Tv calculation process in S420 and the PWM value reset process in S500. Is added, and other processing is exactly the same as in the third embodiment. Therefore, the same step number is attached to the same process as the normal drive process of the third embodiment, and the detailed description thereof is omitted. Parts different from the third embodiment will be described below.

  When the PWM value update interval Tv is newly calculated in S420, the addition timing generation unit 184 outputs a timing signal for increasing the PWM value to the output PWM duty generation unit 4 in the calculated cycle Tv. However, in S431, the calculation of γ = β * var−int (β * var) is performed, whereby the decimal part of β * var is obtained as the fine correction parameter γ, which is the PWM increment correction unit. It is input to 185.

  In subsequent S433, a_param * (1-α * γ) is calculated for the current a_param, and a new a_param is obtained. This calculation is performed by the output PWM duty generation unit 4. Of these, α * γ integration is performed by the PWM increment correction unit 185.

  In the motor control device 180 of this embodiment configured as described above, only the correction result of the PWM value update interval Tv is the same as that of the fourth embodiment, and the decimal part of β * var is not reflected. The portion is reflected by correcting the driving PWM value increment amount a_param. That is, the amount that cannot be corrected by Tv is compensated by the correction of a_param. In addition, if both are corrected with respect to only a_param correction or only Tv correction, the PWM value can be increased smoothly (in small increments). Therefore, the correction (change) of the change rate of the PWM value is more appropriately performed according to the drive state at the time of encoder edge detection, and the drive target can be driven more stably.

  In the present embodiment, the calculation result of int (β * var) corresponds to the pulse width reduction amount of the present invention, and the addition timing generation unit 184 corresponds to the calculation means, cycle shortening means, and cycle increase means of the present invention. The PWM increment correction unit 185 corresponds to the increment increase means and the increment decrease means of the present invention. Further, the calculation processing of S433 in FIG. 20 corresponds to the processing executed by the increment amount increasing means and the increment amount decreasing means of the present invention.

[Sixth Embodiment]
An example in which the change rate of the PWM value can be changed by changing both the PWM increment amount a_param at the time of driving and the PWM value update interval Tv has been exemplified in the fifth embodiment. In the same manner, both a_param and Tv can be changed.

  However, in this embodiment, basically, the change rate of the PWM value is changed by changing only the PWM value update interval Tv. If Tv obtained by the correction calculation is less than a predetermined time (for example, 1 msec.), Tv is set to 1 msec. Without changing to a value less than 1 msec., And a_param is corrected instead. Thus, an appropriate change in the PWM value change rate is realized as a whole. As described above, the reason why Tv is not set to be less than the predetermined time is as follows.

  When driving an object to be driven by a motor, in general, the operation amount is changed (that is, the PWM value is changed in this example) due to the influence of the motor's own time constant, the inertia of the object to be driven, the coupling elements such as gears and springs, etc. Therefore, there is a response delay until the change is reflected in the movement of the drive target. Assuming that the minimum time required for the torque corresponding to the operation amount to be transmitted to the drive target after outputting a certain operation amount is 1 msec., The PWM value update interval Tv is also required to be 1 msec. Or more. Therefore, if the Tv correction calculation result is less than 1 msec. Due to an increase in the motor load, if the Tv is used as it is, there is a possibility that the drive target cannot be stably controlled.

  Therefore, in this embodiment, when Tv becomes less than 1 msec., Tv is set to 1 msec. Which is the minimum allowable value for the time being, and the amount that cannot be corrected by Tv is corrected by a_param instead. I have to.

  A specific calculation method is as shown in the normal drive process of FIG. The normal drive process of FIG. 21 is different from the normal drive process of the fifth embodiment (see FIG. 20) in the process after the Tv calculation in S420. In the present embodiment, when Tv is calculated in S420, it is determined in S441 whether or not the calculated Tv is less than 1 msec. If it is 1 msec. Or more, the process proceeds to S500 as it is and correction of a_param is not performed. However, if it is less than 1 msec., Tv is set to 1 msec. In S443, and in the following S445, A_param is corrected by the calculation of (4).

a_param = a_param * {1 + α * (1-Tv)} (4)
Thus, for example, if Tv should be set to 0.8 msec., The difference of 0.2 msec. Due to the setting to 1 msec. Is reflected by the correction of a_param.

  Therefore, according to the present embodiment, when the correction by Tv reaches the limit, a_param is corrected. Therefore, the correction (change) of the change rate of the PWM value is performed more appropriately and more stably. The drive target can be driven.

  In this embodiment, if Tv obtained by the correction calculation is 1 msec. Or more, only Tv is changed without changing a_param. However, the present invention is not limited to this, and even if Tv is 1 msec. Or more. As in the fifth embodiment, the decimal part of β * var may be reflected as a fine correction of a_param.

[Seventh Embodiment]
In each of the embodiments described above, the change rate of the PWM value, that is, the correction calculation of a_param or Tv is performed according to the edge interval time (enc_period). However, in this embodiment, the PWM value at the time of encoder edge detection The rate of change is changed by correcting a_param based on.

  FIG. 22 shows a schematic configuration of the motor control device 190 of the present embodiment. The motor control device 190 of the present embodiment is significantly different from the motor control device 150 (see FIG. 12) of the second embodiment in that the PWM mode threshold setting register 62 is provided in the operation mode setting register group 153, and the high The PWM duty detection threshold value (det_pwm_max) and the low PWM duty detection threshold value (det_pwm_min) are set, and the PWM value (pwm_out) input from the output PWM duty generation unit 4 to the drive signal generation unit 8 is the PWM increment amount. It is also input to the correction unit 194. The rest of the configuration is basically the same as that of the motor control device 150 of the second embodiment, and thus the same components as those of the motor control device 150 of the second embodiment are denoted by the same reference numerals and detailed description thereof is omitted. .

  Here, the control of the motor 110 in the motor control device 190 of the present embodiment will be described with reference to FIGS. FIG. 23 shows a control example when the load on the motor 110 increases, and FIG. 24 shows a control example when the load on the motor 110 decreases.

  First, in the control example of FIG. 23, after the start of driving, a_param correction calculation is performed from the second and subsequent edge detection. Then, whether or not to correct the previous a_param is determined based on the PWM value (pwm_out) at the time of edge detection.

  Specifically, the PWM value (pwm_out) exceeds the high PWM duty detection threshold (det_pwm_max) at the second encoder edge detection (time t1) after the start of driving in FIG. Therefore, the change rate of the PWM value is increased by making a change that increases a_param. At the time of edge detection after time t1, the level below det_pwm_max continues for a while, but when the motor load increases and exceeds det_pwm_max again at time t2, a_param is further increased to increase the change rate of the PWM value.

  Next, a control example when the motor load decreases will be described with reference to FIG. In this case, the control is exactly the same as the control described with reference to FIG. 23 until the encoder edge is detected immediately before time t2, and thus detailed description thereof is omitted here.

  As the load gradually decreases from around time t1, the drive speed increases, and the PWM value at the time of encoder edge detection decreases. When the encoder edge is detected at time t2, the PWM value is smaller than det_pwm_min. Therefore, the change rate of the PWM value is reduced by reducing a_param.

  FIG. 25 shows a normal drive process executed by the ASIC 192 of this embodiment. The normal drive process of the present embodiment differs from the normal drive process of the second embodiment (see FIG. 13) in the process from the negative determination in S280 until the correction calculation of a_param is performed in S490. . Since the other processes are the same as those in the second embodiment, the same steps as those in the normal drive process in the second embodiment are denoted by the same step numbers, and detailed description thereof is omitted.

  As shown in FIG. 25, if a negative determination is made in S280, it is determined in S361 whether or not the PWM value (pwm_out) at the time of edge detection is larger than det_pwm_max. If it is determined that the value is larger, the process proceeds to S365. Then, the difference between pwm_out and det_pwm_max is calculated as var.

  If pwm_out is equal to or less than det_pwm_max, the process proceeds from S361 to S363, and it is determined whether or not it is smaller than det_pwm_min. Here, if it is not less than det_pwm_min, the process proceeds to S500 as it is, but if it is smaller than det_pwm_min, the difference between pwm_out and det_pwm_min is calculated as var in S367.

In the a_param correction calculation in S490, a new a_param is calculated using the var obtained in S365 or S367.
Therefore, according to the motor control device 190 of the present embodiment configured as described above, the a_param is changed according to the PWM value at the time of edge detection, and further the change rate of the PWM value is changed. Even if the load fluctuates, the drive target can be driven stably.

  In this embodiment, the high PWM duty detection threshold value (det_pwm_max) corresponds to the driving force upper limit threshold value of the present invention, the low PWM duty detection threshold value (det_pwm_min) corresponds to the driving force lower limit threshold value of the present invention, and the PWM increment amount. The correction unit 194 corresponds to the driving force determination unit of the present invention.

  Further, the PWM increment correction unit 194 corresponds to the first difference value calculation means (claim 33) and the second difference value calculation means (claim 34) of the present invention. In the normal drive process of FIG. The var calculated in S365 corresponds to the first difference value of claim 33, and the var calculated in S367 corresponds to the second difference value of claim 34.

[Eighth Embodiment]
In the first to sixth embodiments, the change rate of the PWM value is changed based on the edge interval time (enc_period). In the seventh embodiment, the PWM value is changed based on the PWM value (pwm_out) at the time of edge detection. Although the change rate of the value is changed, in this embodiment, an example will be described in which the change rate of the PWM value is changed based on the speed (enc_velocity) of the drive target at the time of edge detection.

  FIG. 26 shows a schematic configuration of the motor control device 200 of the present embodiment. The motor control device 200 of the present embodiment is significantly different from the motor control device 150 (see FIG. 12) of the second embodiment in that a speed threshold setting register 67 is provided in the operation mode setting register group 203, and this is a high drive. The speed detection threshold value (micro_velo_max) and the low drive speed detection threshold value (micro_velo_min) are set, and the drive speed (enc_velocity) obtained from the period / speed measurement unit 16 in the PWM increment correction unit 204 and the above threshold values. And the correction data corresponding to the comparison result is output to the output PWM duty generation unit 4. The rest of the configuration is basically the same as that of the motor control device 150 of the second embodiment, and thus the same components as those of the motor control device 150 of the second embodiment are denoted by the same reference numerals and detailed description thereof is omitted. .

  FIG. 27 shows a normal drive process executed by the ASIC 202 of this embodiment. The normal drive process of the present embodiment differs from the normal drive process of the second embodiment (see FIG. 13) in the process from the negative determination in S280 until the correction calculation of a_param is performed in S490. . Since the other processes are the same as those in the second embodiment, the same steps as those in the normal drive process in the second embodiment are denoted by the same step numbers, and detailed description thereof is omitted.

  As shown in FIG. 27, if a negative determination is made in S280, it is determined in S371 whether or not the driving speed (enc_velocity) at the time of edge detection is smaller than micro_velo_min. If it is determined that the driving speed is small, the process proceeds to S375. Then, the difference between micro_velo_min and enc_velocity is calculated as var.

  If enc_velocity is greater than or equal to micro_velo_min, the process proceeds from S371 to S373, where it is determined whether or not it is greater than micro_velo_max. Here, if it is equal to or smaller than micro_velo_max, the process proceeds to S500 as it is. If it is larger than micro_velo_max, the difference between micro_velo_max and enc_velocity is calculated as var in S377.

In the a_param correction calculation in S490, a new a_param is calculated using the var obtained in S375 or S377.
Therefore, according to the motor control device 200 of the present embodiment configured as described above, the a_param is changed according to the driving speed at the time of edge detection, and further the change rate of the PWM value is changed. Even if the load fluctuates, the drive target can be driven stably.

  In the present embodiment, the high drive speed detection threshold (micro_velo_max) corresponds to the speed upper limit threshold of the present invention, the low drive speed detection threshold (micro_velo_min) corresponds to the speed lower limit threshold of the present invention, and the PWM increment correction unit 204 corresponds to the speed judgment means of the present invention.

  Further, the PWM increment correction unit 204 corresponds to the first difference value calculating means (claim 31) and the second difference value calculating means (claim 32) of the present invention, and in the normal drive process of FIG. The var calculated in S375 corresponds to the first difference value of claim 31, and the var calculated in S377 corresponds to the second difference value of claim 32.

[Modification]
The embodiment of the present invention is not limited to the above embodiment, and it goes without saying that various forms can be adopted as long as they belong to the technical scope of the present invention.

  For example, in the fourth embodiment, the example in which the change rate of the PWM value is changed by changing the PWM value update period Tv based on the edge interval time (enc_period) at the time of encoder edge detection has been described. For example, as shown in FIG. 28, the change rate of the PWM value can be changed based on the PWM value (pwm_out) at the time of encoder edge detection, or, for example, as shown in FIG. It can also be performed based on the driving speed (enc_velocity) at the time of detection.

  FIG. 28 shows a normal drive process when Tv is changed based on the PWM value (pwm_out) at the time of encoder edge detection. S290 in the normal drive process (see FIG. 18) of the fourth embodiment is changed to S361. , S300 is replaced with S363, S351 is replaced with S381, and S353 is replaced with S383.

  That is, if pwm_out is larger than det_pwm_max at the time of edge detection, the difference between det_pwm_max and pwm_out is set as var in S381, and if pwm_out is smaller than det_pwm_min, the difference between det_pwm_min and pwm_out is set as var in S383.

  FIG. 29 shows normal drive processing when Tv is changed based on the drive speed (enc_velocity) at the time of encoder edge detection, and S290 in the normal drive processing (see FIG. 18) of the fourth embodiment. In S371, S300 is replaced with S373, S351 is replaced with S391, and S353 is replaced with S393.

  In other words, if enc_velocity is smaller than micro_velo_min at the time of edge detection, the difference between enc_velocity and micro_velo_min is set as var in S391, and if enc_velocity is larger than micro_velo_max, enc_velocity is set to be the difference of enc_velocity in S393.

  Thus, the PWM value update interval Tv can also be changed by the PWM value (pwm_out) or the driving speed (enc_velocity) at the time of encoder edge detection.

  In the first embodiment, when a_param is changed (increased or decreased) by a certain amount based on the edge interval time (enc_period), it is increased or decreased with respect to the previous a_param. However, the present invention is not limited to this. For example, three types of driving PWM increments (accel_param, accel_param1, accel_param2) may be prepared and switched according to the edge interval time (enc_period). A specific example is shown in FIG. 30 is a process corresponding to a portion surrounded by a broken line in the normal driving process of FIG. 8, and the above-described three types of PWM during driving are replaced by replacing the broken line part of FIG. 8 with the broken line part of FIG. A process of switching the increment amount is realized. In this example, there is a relationship of accel_param1 <accel_param <accel_param2.

  Specifically, as shown in FIG. 30, if enc_period is larger than det_period_max, acc_param2 is set as a_param in S401, and if enc_period is smaller than det_period_min, acc_param is set as 1 if a_param is other than a_param. In S403, acc_param (that is, the above-described initial value) is set as a_param.

  Further, in the third embodiment, the PWM value update interval Tv is increased or decreased with respect to the previous constant addition timing prcnt. However, the present invention is not limited to this, as shown in FIG. Alternatively, three types of constant addition timings (pwm_reload_count, pwm_reload_count1, and pwm_reload_count2) may be prepared and switched according to the edge interval time (enc_period).

  FIG. 31 is a process corresponding to the portion surrounded by the broken line in the normal driving process of FIG. 8 as in FIG. 30 described above. By replacing the broken line part of FIG. 8 with the broken line part of FIG. A process for switching the three types of PWM value update intervals described above is realized. In this example, there is a relationship of pwm_reload_count1 <pwm_reload_count <pwm_reload_count2.

  In addition, the example of switching the three types of a_param shown in FIG. 30 and the method of switching the three types of prcnt shown in FIG. 31 both change the rate of change based on the PWM value (pwm_out) at the time of encoder edge detection. Needless to say, the present invention can be similarly applied to the control to change the rate of change based on the control to perform and the drive speed (enc_velocity) at the time of encoder edge detection.

  The method of changing the change rate of the PWM value by changing both a_param and Tv described in the fifth and sixth embodiments is also based on the PWM value (pwm_out) at the time of encoder edge detection. The present invention can be similarly applied to control for changing the rate of change and control for changing the rate of change based on the driving speed (enc_velocity) at the time of encoder edge detection.

  Further, as examples of changing the rate of change of the PWM value, in each of the above-described embodiments, an example in which the amount is increased or decreased by a certain amount, and an example in which the rate is continuously changed according to the driving state (enc_period, pwm_out, etc.) at the time of encoder edge detection are described. However, it may be changed stepwise according to the drive state at the time of encoder edge detection.

  In the above embodiment, the motor drive driver circuit 11 is operated by inputting drive signals for the switching elements S1 to S4 constituting the H-bridge as shown in FIG. However, the present invention is not limited to this. For example, a motor drive driver circuit 11b shown in FIG. 32 or a motor drive driver circuit 11a shown in FIG. 33 may be used.

  The motor drive driver circuit 11b shown in FIG. 32 detects the torque of the motor 110 by detecting the energization current of the motor 110 as the voltage of the current detection resistor Rd, and the detected torque matches the target torque command. In addition, the torque control unit 87 in the DC motor driving IC 86 generates a control signal for controlling the energization of the motor 110. The drive signal generation unit 8b generates a PWM signal corresponding to the PWM value from the output PWM duty generation unit 4 and drives the drive direction according to the set value of the rotation direction setting register 22 and the set value of the start setting register 21. (Direction to rotate motor 110) command and a drive command indicating whether or not to energize motor 110 are output.

  The target torque command (target current command) is obtained by integrating the PWM signal with an integrating circuit including resistors R1 and R2 and a capacitor C1. The DC motor driving IC 86 has an H bridge circuit similar to that shown in FIG. 2 although not shown. Finally, the H bridge is based on a control signal from the torque control unit 87. The switching operation of the switching elements constituting the circuit is controlled.

  When the motor drive driver circuit 11b configured as described above is used, the torque of the motor 110 in the motor drive driver circuit 11 is compared with the case where the motor drive driver circuit 11 in FIG. Therefore, the carriage 102 and the like can be driven with a stable motor torque.

  33 is different from the motor drive driver circuit 11b described in FIG. 32 in that there is no integration circuit composed of resistors R1 and R2 and a capacitor C1, and the DC drive circuit 11a shown in FIG. The motor driving IC is exactly the same.

  On the other hand, the drive signal generator 8 a generates and outputs a drive command based on the set value of the activation setting register 21. Further, a drive direction command is generated and output based on the set value of the rotation direction setting register 22. The steps so far are the same as those of the drive signal generation unit 8b of FIG. Then, the drive signal generation unit 8a multiplies the PWM value from the output PWM duty generation unit 4 by a predetermined gain so as to be data representing the current value, and then analogizes it by a D / A converter (not shown). The value is output to the DC motor driving IC 86 as a target current command.

  In each of the above embodiments, as an example, the micro speed control when capping is performed in the motor 110 that drives the carriage 102 of the ink jet printer (FIG. 34) has been described. However, the application of the present invention is a micro speed at the time of capping. Needless to say, the drive target (the carriage 102 in the above example) is driven by a certain amount such as the minute speed control in the gap adjustment region described above and the minute speed control when the nozzle unit 107 is wiped. The present invention can be widely applied to motor control in which the motor driving force (PWM value in the above example) is increased by a predetermined increment in a predetermined cycle every time (in the above example, every encoder edge detection).

  Especially when the motor load fluctuates, such as when the motor load gradually increases as in micro speed control during capping, or when the motor load suddenly changes before and after the end of the wipe operation. It is more effective to apply the method (apparatus) of the present invention as the motor control method (apparatus).

  Further, the motor 110 is not limited to the DC motor but can be applied to an AC motor, and the present invention can be applied to any motor except a motor driven by a rectangular pulse such as a step motor.

It is a block diagram which shows schematic structure of the motor control apparatus of 1st Embodiment. It is explanatory drawing which shows schematic structure of a motor drive driver circuit. It is explanatory drawing for demonstrating the relationship of an encoder edge detection signal, an encoder edge count value, edge space | interval time, and a driving speed with respect to the pulse signal from an encoder. It is a time chart which shows the example of control in case the motor load in the motor control apparatus of 1st Embodiment increases. It is a time chart which shows the example of control in case the motor load in the motor control apparatus of 1st Embodiment decreases. It is explanatory drawing for demonstrating increasing / decreasing the change rate of a PWM value by changing the PWM increment amount at the time of a drive. It is a flowchart which shows the ASIC setting process which CPU performs. It is a flowchart which shows the normal drive process from starting of a motor to a deceleration start performed by ASIC of 1st Embodiment. It is a flowchart which shows the deceleration / stop process performed by ASIC. It is a flowchart which shows the position detection pulse production | generation process performed with ASIC. It is a flowchart which shows the interruption signal production | generation process performed with ASIC. It is a block diagram which shows schematic structure of the motor control apparatus of 2nd Embodiment. It is a flowchart which shows the normal drive process from starting of a motor to the start of deceleration performed by ASIC of 2nd Embodiment. It is a block diagram which shows schematic structure of the motor control apparatus of 3rd Embodiment. It is explanatory drawing for demonstrating increasing / decreasing the change rate of a PWM value by changing a PWM value update space | interval. It is a flowchart which shows the normal drive process from starting of a motor to a deceleration start performed by ASIC of 3rd Embodiment. It is a block diagram which shows schematic structure of the motor control apparatus of 4th Embodiment. It is a flowchart which shows the normal drive process from starting of a motor to the start of deceleration performed with ASIC of 4th Embodiment. It is a block diagram which shows schematic structure of the motor control apparatus of 5th Embodiment. It is a flowchart which shows the normal drive process from starting of a motor to the start of deceleration performed with ASIC of 5th Embodiment. It is a flowchart which shows the normal drive process from starting of a motor to a deceleration start performed by ASIC of 6th Embodiment. It is a block diagram which shows schematic structure of the motor control apparatus of 7th Embodiment. It is a time chart which shows the control example in case the motor load in the motor control apparatus of 7th Embodiment increases. It is a time chart which shows the example of control in case the motor load in the motor control apparatus of 7th Embodiment decreases. It is a flowchart which shows the normal drive process from starting of a motor to the start of deceleration performed with ASIC of 7th Embodiment. It is a block diagram which shows schematic structure of the motor control apparatus of 8th Embodiment. It is a time chart which shows the control example in case the motor load in the motor control apparatus of 8th Embodiment reduces. It is a flowchart which shows the modification of a normal drive process. It is a flowchart which shows the modification of a normal drive process. It is a flowchart which shows the modification of a normal drive process. It is a flowchart which shows the modification of a normal drive process. It is explanatory drawing which shows the modification of a motor drive driver circuit. It is explanatory drawing which shows the modification of a motor drive driver circuit. It is explanatory drawing which shows schematic structure of the recording mechanism of an inkjet printer. It is explanatory drawing which shows the conventional DC motor control method, (a) is a control example in case a motor load is constant, (b) is a control example in case a motor load increases. It is explanatory drawing which shows that a PWM value resets every encoder edge detection, and a PWM value increases for every fixed period.

Explanation of symbols

3,153,163,173,183,193,203 ... operation mode setting register group, 4,165 ... output PWM duty generation unit, 6,154,185,194,204 ... PWM increment correction , 8... Drive signal generation unit, 10, 150, 160, 170, 180, 190, 200... Motor control device, 11... Motor drive driver circuit, 12.・ ・ ・ Encoder edge detection unit, 14 ... Position counter, 15 ... Area determination unit, 15a ... Deceleration time measurement timer, 16 ... Cycle / speed measurement unit, 17 ... Various signal processing units , 18, 164, 174, 184 ... addition timing generation unit, 21 ... start setting register, 22 ... rotation direction setting register, 23 ... PWM cycle setting register, 24 ... Constant addition timing setting register, 25... Position setting register group, 26... PWM value setting register group, 27... PWM increase / decrease amount setting register group, 28. 41, 46, 51, 56, 61, 66 ... increment amount correction value setting register group, 30 ... edge interval time threshold value setting register group, 62 ... PWM duty threshold value setting register, 67 ... speed threshold value Setting register, 100 ... recording mechanism, 101 ... guide shaft, 102 ... carriage, 103 ... recording head, 104 ... moving belt, 105 ... encoder, 106 ... cap device, 107 ... Nozzle part, 110 ... Motor, 121 ... Cap, 122 ... Spring, 123 ... Slope

Claims (45)

A motor control method for increasing a driving force of the motor by a predetermined increment from a preset initial driving force by a predetermined cycle every time a driving target driven by the motor is driven by a certain amount,
Each time the drive target is driven by the fixed amount, the ratio between the increment amount and the cycle so that the drive target is driven at the target drive speed according to the time required to drive the fixed amount. A motor control method comprising: changing a change rate of the driving force. A motor control method for increasing a driving force of the motor by a predetermined increment from a preset initial driving force by a predetermined cycle every time a driving target driven by the motor is driven by a certain amount,
Each time the drive target is driven by the fixed amount, the increment amount and the drive unit are driven at a target drive speed according to the drive speed of the drive target when the fixed amount is driven. A motor control method characterized by changing a change rate of the driving force, which is a ratio of cycles. A motor control method for increasing a driving force of the motor by a predetermined increment from a preset initial driving force by a predetermined cycle every time a driving target driven by the motor is driven by a certain amount,
The ratio between the increment amount and the period so that the driving target is driven at a target driving speed according to the driving force when the driving target is driven by the constant amount. A motor control method comprising: changing a change rate of the driving force. The motor control method according to claim 1,
A motor control method characterized in that at least one of the following processes (a) and (b) is executed each time the drive target is driven by the predetermined amount.
(A) When the time required to drive the fixed amount is longer than a preset elapsed time upper limit threshold, the rate of change is increased. (B) The time required to drive the fixed amount is preset. If the elapsed time lower limit threshold is shorter, the rate of change is decreased. The motor control method according to claim 2,
Each time the drive target is driven by the predetermined amount, at least one of the following processes (a) and (b) is executed.
(A) When the driving speed when the fixed amount is driven is smaller than a predetermined speed lower limit threshold, the change rate is increased. (B) The driving speed when the fixed amount is driven is a predetermined speed. If greater than the upper threshold, decrease the rate of change The motor control method according to claim 3,
A motor control method characterized in that at least one of the following processes (a) and (b) is executed each time the drive target is driven by the predetermined amount.
(A) When the driving force when the fixed amount is driven is larger than a preset driving force upper limit threshold, the change rate is increased. (B) The driving force when the fixed amount is driven is set in advance. If the driving force is lower than the lower threshold, the rate of change is decreased. A motor control method according to any one of claims 4 to 6,
The amount of increase in the case of increasing in the process (a) is a predetermined reference increase amount set in advance.
The motor control method characterized in that the reduction amount in the case of the reduction in the process (b) is a predetermined reference reduction amount. The motor control method according to claim 4,
The amount of increase in the case of increasing in the process of (a) increases continuously or stepwise as the difference between the time required for driving the drive target by the fixed amount and the elapsed time upper limit threshold increases. Is set to be
The amount of decrease in the case of decreasing in the process of (b) increases continuously or stepwise as the difference between the elapsed time lower limit threshold and the time required for driving the target to be driven by the fixed amount increases. A motor control method characterized by being set to be The motor control method according to claim 5,
The amount of increase in the case of increasing in the processing of (a) increases continuously or stepwise as the difference between the speed lower limit threshold and the drive speed when the drive target is driven by the fixed amount is larger. Is set to
The amount of decrease in the case of the decrease in the process (b) increases continuously or stepwise as the difference between the drive speed when the drive target is driven by the fixed amount and the speed upper limit threshold is larger. A motor control method characterized by being set as follows. The motor control method according to claim 6, comprising:
The amount of increase in the case of increasing in the process of (a) increases continuously or stepwise as the difference between the driving force and the driving force upper limit threshold when the driving target is driven by the fixed amount is larger. Is set to be
In the process (b), the amount of decrease when decreasing is increased continuously or stepwise as the difference between the driving force lower limit threshold and the driving force when the driving target is driven by the fixed amount is larger. A motor control method characterized by being set to be The motor control method according to any one of claims 4 to 10,
The increase in the change rate in the processing of (a) is performed by at least one of decreasing the period and increasing the increment amount,
The motor control method characterized in that the reduction of the change rate in the process (b) is performed by at least one of increasing the period and decreasing the increment. Drive detection means for outputting a drive detection signal indicating that every time a drive target driven by a motor is driven by a certain amount;
Each time the drive detection signal is output from the drive detection means, a drive force control signal for increasing the drive force of the motor from the preset initial drive force by a predetermined increment in a predetermined cycle is output. Control means;
Motor driving means for rotationally driving the motor based on the driving force control signal from the control means;
A motor control device comprising:
Each time the drive detection signal is output from the drive detection means, the drive target is driven at a target drive speed according to the elapsed time from the output of the drive detection signal to the output of the current time. As described above, the motor control device further comprises a change rate changing means for changing a change rate of the driving force that is a ratio of the increment amount and the cycle. Drive detection means for outputting a drive detection signal indicating that every time a drive target driven by a motor is driven by a certain amount;
Each time the drive detection signal is output from the drive detection means, a drive force control signal for increasing the drive force of the motor from the preset initial drive force by a predetermined increment in a predetermined cycle is output. Control means;
Motor driving means for rotationally driving the motor based on the driving force control signal from the control means;
A motor control device comprising:
Each time the drive detection signal is output from the drive detection unit, the increment amount and the period are set so that the drive target is driven at the target drive speed according to the drive speed of the drive target at the time of output. A motor control device comprising: a change rate changing means for changing the change rate of the driving force, which is a ratio of Drive detection means for outputting a drive detection signal indicating that every time a drive target driven by a motor is driven by a certain amount;
Each time the drive detection signal is output from the drive detection means, a drive force control signal for increasing the drive force of the motor from the preset initial drive force by a predetermined increment in a predetermined cycle is output. Control means;
Motor driving means for rotationally driving the motor based on the driving force control signal from the control means;
A motor control device comprising:
Each time the drive detection signal is output from the drive detection means, the ratio between the increment and the cycle is set so that the drive target is driven at a target drive speed according to the drive force at the time of output. A motor control device comprising a change rate changing means for changing a change rate of the driving force. The motor control device according to claim 12,
Elapsed time determination means for determining whether the elapsed time is longer than a preset elapsed time upper limit threshold each time the drive detection signal is output,
The motor control device, wherein the change rate changing means increases the change rate when the elapsed time judging means judges that the elapsed time judging means is longer than the elapsed time upper limit threshold. The motor control device according to claim 12,
Elapsed time determination means for determining whether the elapsed time is shorter than a preset elapsed time lower limit threshold every time the drive detection signal is output,
The change rate changing means decreases the change rate when the elapsed time judging means judges that the elapsed time judging means is shorter than the elapsed time lower limit threshold value. The motor control device according to claim 16, comprising:
The elapsed time determining means further determines whether or not the elapsed time exceeds a predetermined elapsed time upper limit threshold greater than the elapsed time lower limit threshold,
The motor control apparatus, wherein the change rate changing means increases the change rate when the elapsed time judging means judges that the elapsed time upper limit threshold is exceeded. The motor control device according to claim 17,
The change rate changing means is:
Increasing and decreasing the rate of change with respect to the rate of change when the drive detection signal was last output,
When the drive detection signal is output, if the elapsed time determining means determines that the elapsed time is not less than the elapsed time lower limit threshold and not more than the elapsed time upper limit threshold, the change rate is not changed. The motor control apparatus characterized by the above-mentioned. The motor control device according to claim 13,
Each time the drive detection signal is output, it comprises a speed determination means for determining whether the drive speed at the time of output is smaller than a preset lower speed threshold,
The motor control device, wherein the change rate changing means increases the change rate when the speed judging means judges that the speed is less than the speed lower limit threshold. The motor control device according to claim 13,
Each time the drive detection signal is output, it comprises a speed determination means for determining whether or not the drive speed at the time of output is larger than a preset speed upper limit threshold,
The motor control apparatus according to claim 1, wherein the change rate changing unit decreases the change rate when the speed determining unit determines that the speed is higher than the speed upper limit threshold value. The motor control device according to claim 20, wherein
The speed determination means further determines whether or not the drive speed at the time of the drive detection signal output is below a predetermined speed lower limit threshold smaller than the speed upper limit threshold,
The motor control apparatus characterized in that the change rate changing means increases the change rate when the speed judging means judges that the speed lower limit threshold is below the lower limit threshold. The motor control device according to claim 21,
The change rate changing means is:
Increasing and decreasing the rate of change with respect to the rate of change when the drive detection signal was last output,
When the drive detection signal is output, if the speed determination means determines that the drive speed is not less than the speed lower limit threshold and not more than the speed upper limit threshold, the rate of change is not changed. A motor control device. The motor control device according to claim 14,
Driving force determination means for determining whether the driving force at the time of output is larger than a preset driving force upper limit threshold each time the driving detection signal is output;
The motor control device according to claim 1, wherein the change rate changing means increases the change rate when the driving force judging means judges that the driving force judging means is larger than the driving force upper limit threshold value. The motor control device according to claim 14,
Driving force determination means for determining whether the driving force at the time of output is smaller than a preset driving force lower limit threshold every time the driving detection signal is output;
The change rate changing means decreases the change rate when the drive force determining means determines that the change is less than the drive force lower limit threshold value. A motor control device according to claim 24,
The driving force determining means further determines whether or not the driving force at the time of outputting the driving detection signal exceeds a predetermined driving force upper limit threshold value that is greater than the driving force lower limit threshold value,
The motor control device according to claim 1, wherein the change rate changing means increases the change rate when the driving force judging means judges that the driving force upper limit threshold is exceeded. The motor control device according to claim 25,
The change rate changing means is:
Increasing and decreasing the rate of change with respect to the rate of change when the drive detection signal was last output,
When the driving detection signal is output, if the driving force determining means determines that the driving force is not less than the driving force lower limit threshold and not more than the driving force upper limit threshold, the change rate is not changed. The motor control apparatus characterized by the above-mentioned. A motor control device according to any one of claims 15, 17, 18, 19, 21, 22, 23, 25 or 26,
The motor control device according to claim 1, wherein an increase amount when the change rate changing means increases the change rate is a predetermined reference increase amount set in advance. The motor control device according to any one of claims 16 to 18, claim 20 to 22, or claim 24 to 26,
The motor control device according to claim 1, wherein the change amount when the change rate changing unit decreases the change rate is a predetermined reference reduction amount set in advance. The motor control device according to any one of claims 15, 17 and 18,
A first difference value calculation that calculates a first difference value that is the difference between the elapsed time and the elapsed time upper limit threshold when the elapsed time is determined by the elapsed time determination means to be longer than the elapsed time upper limit threshold With means,
The change rate changing means increases the change rate when increasing the change rate, and the change rate increases continuously or stepwise as the first difference value calculated by the first difference value calculating means increases. The motor control device is set based on the first difference value. The motor control device according to any one of claims 16 to 18,
Second difference value calculation that calculates a second difference value that is a difference between the elapsed time lower limit threshold and the elapsed time when the elapsed time is determined by the elapsed time determination means to be shorter than the elapsed time lower limit threshold With means,
The change rate changing means decreases the change rate when decreasing the change rate, and the change rate decreases continuously or stepwise as the second difference value calculated by the second difference value calculating means increases. As described above, the motor control device is set based on the second difference value. The motor control device according to any one of claims 19, 21 and 22,
A first difference value that is a difference between the speed lower limit threshold and the drive speed is calculated when the speed determination means determines that the drive speed when the drive detection signal is output is smaller than the speed lower limit threshold. One difference value calculating means,
The change rate changing means increases the change rate when increasing the change rate, and the change rate increases continuously or stepwise as the first difference value calculated by the first difference value calculating means increases. The motor control device is set based on the first difference value. The motor control device according to any one of claims 20 to 22,
When the speed determining means determines that the driving speed when the drive detection signal is output is greater than the speed upper threshold, a second difference value that is a difference between the driving speed and the speed upper threshold is calculated. It has two difference value calculation means,
The change rate changing means decreases the change rate when decreasing the change rate, and the change rate decreases continuously or stepwise as the second difference value calculated by the second difference value calculating means increases. As described above, the motor control device is set based on the second difference value. A motor control device according to any one of claims 23, 25 or 26,
When the driving force determining means determines that the driving force when the driving detection signal is output is larger than the driving force upper limit threshold, a first difference value that is a difference between the driving force and the driving force upper limit threshold is set. A first difference value calculating means for calculating,
The change rate changing means increases the change rate when increasing the change rate, and the change rate increases continuously or stepwise as the first difference value calculated by the first difference value calculating means increases. The motor control device is set based on the first difference value. The motor control device according to any one of claims 24 to 26, wherein:
When the driving force determining means determines that the driving force when the driving detection signal is output is smaller than the driving force lower limit threshold, a second difference value that is a difference between the driving force lower limit threshold and the driving force is calculated. A second difference value calculating means for calculating,
The change rate changing means decreases the change rate when decreasing the change rate, and the change rate decreases continuously or stepwise as the second difference value calculated by the second difference value calculating means increases. As described above, the motor control device is set based on the second difference value. A motor control device according to any one of claims 15, 17, 18, 19, 21, 22, 23, 25, 26, 27, 29, 31 or 33,
The change rate changing means increases the change rate by at least one of shortening the cycle and increasing the increment amount. A motor control device according to any one of claims 16 to 18, claim 20 to 22, claim 24 to 26, claim 28, 30, 32 or 34,
The change rate changing means reduces the change rate by at least one of lengthening the period and decreasing the increment amount. The motor control device according to claim 35, which is dependent on claim 27,
The change rate changing means increases the change rate by at least one of shortening the cycle by a certain amount and increasing the increment by a certain amount. The motor control device according to claim 36, which is dependent on claim 28,
The change rate changing means reduces the change rate by at least one of increasing the period by a certain amount and decreasing the increment by a certain amount. 36. The motor control device according to claim 35, which is dependent on any one of claims 29, 31, or 33,
The change rate changing means sets the cycle so that the cycle increases as the first difference value increases, and the cycle is shortened continuously or stepwise, and the first difference value is large. The motor control device is characterized in that it is performed by at least one of setting the increment amount so that the increment amount increases continuously or stepwise. 37. A motor control device according to claim 36 subordinate to any of claims 30, 32 or 34, comprising:
The rate-of-change changing means sets the period of decrease of the rate of change so that the period becomes longer continuously or stepwise as the second difference value is larger, and the second difference value is larger. The motor control device is characterized in that it is performed by at least one of setting the increment amount so that the increment amount decreases continuously or stepwise. A motor control device according to claim 39,
The change rate changing means is:
Period setting means for setting the period based on the first difference value;
A period determining means for determining whether or not the period set by the period setting means is shorter than a predetermined period lower limit value,
If it is determined by the cycle determining means that the cycle is lower than the lower limit value, the rate of change is increased by using the set cycle,
If it is determined by the cycle determining means that the cycle is shorter than the cycle lower limit value, the cycle is set to the cycle lower limit value, and the difference between the cycle lower limit value and the cycle set by the cycle setting unit is set. Accordingly, the rate of change is increased by increasing the increment amount accordingly. The motor control device according to any one of claims 12 to 41, wherein
The motor driving means is configured to rotationally drive the motor with a driving force corresponding to an input PWM signal,
The control means is configured to output the PWM signal indicating a PWM duty value as the driving force control signal, and each time the driving detection signal is output, the PWM duty value corresponds to the initial driving force. A motor control device characterized by increasing the initial PWM duty value by a predetermined PWM increment amount in the cycle. A motor control device according to claim 42, which is dependent on claim 39,
The period is an integer multiple of the width of a pulse constituting the PWM signal,
The change rate changing means is:
A calculation means for calculating a pulse width shortening amount representing how many times the width of the pulse should be shortened based on the first difference value;
A period shortening means for setting the period short based on an integer part of the pulse width shortening amount calculated by the calculating means;
Increment amount increasing means for increasing the PWM increment amount according to a fractional part of the pulse width shortening amount;
A motor control device comprising: A motor control device according to claim 42, which is dependent on claim 40,
The period is an integer multiple of the width of a pulse constituting the PWM signal,
The change rate changing means is:
A calculation means for calculating a pulse width increase amount indicating how many times the width of the pulse should be increased based on the second difference value;
A period increasing means for setting the period longer based on an integer part of the pulse width increase calculated by the calculating means;
Increment amount decreasing means for decreasing the PWM increment amount in accordance with a fractional part of the pulse width increase amount;
A motor control device comprising: The motor control device according to any one of claims 12 to 44, wherein:
The change rate changing means does not change the change rate when the drive detection signal is first output from the drive detection means after the drive of the drive target is started.