JP2007097329A - Motor controller, image forming apparatus, and method and program for controlling motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor controller by voltage control in which a disturbance observer applied, and also to provide an image forming apparatus, and a method and a program for controlling a motor. <P>SOLUTION: A drive control unit 102 computes a voltage command value, based on the rotation angle of a motor being driven. A command torque value computation unit 104 computes a command torque, based on the voltage command value. A rotation angle acquisition unit 101 acquires the rotation angle of a motor driven, in accordance with the voltage command value. An effective driving torque computation unit 103 computes the effective driving torque, based on the rotation angle of the motor. An estimated disturbance torque computation unit 105 computes the estimated disturbance torque, based on the effective driving torque and the command torque. A command voltage compensation value computation unit 106 computes a command voltage compensation value, that is the voltage equivalent to the estimated disturbance torque. A command voltage compensation unit 107 computes a corrected voltage command value, obtained by correcting the voltage command value, based on the voltage command value and the command voltage compensation value. A voltage control unit 108 applies the corrected voltage command value to the motor. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a motor control device, an image forming apparatus, a motor control method, and a motor control program.

  In recent years, in the motor control, digital control that can reduce the cost by software processing using an inexpensive general-purpose CPU (central processing unit) or DSP (digital signal processor) instead of an analog circuit has been introduced. ing.

  As a motor control technique, feedback control represented by PID (Proportinal Integral Differential) control is often used. In feedback control, there are many application examples of PI control using a combination of a proportional (P) element and an integral (I) element.

  However, in a multi-inertia system in which a motor and a load are connected by gears, a belt, or the like, or a system having a large disturbance element, it is difficult to obtain a desired stop accuracy only by PI control. For the disturbance, a technique of suppressing the control system by increasing the gain is often used, but there is a limit to increasing the gain as a characteristic of the system.

  As a technique for solving such a problem, for example, in a servo control method for driving a feed axis of a machine tool, a technique for predicting a time when a cutting direction is reversed and changing an integration time constant is disclosed (Patent Document). 1).

Japanese Patent No. 3271440

  However, Patent Document 1 is a technique based on the premise that a huge torque is generated in order to cut a machine tool with high hardness. For example, the image forming apparatus does not generate a torque as large as that of metal cutting. The motor control was not appropriate.

  A disturbance observer is used as a method for dealing with disturbances caused by motor rotation. The disturbance observer estimates the input torque from the command value input to the controlled object, and further measures the effective drive torque by measuring the behavior of the controlled object system. By calculating the difference between the two, the disturbance torque is estimated, and this value is fed back to the input command value to reduce the influence of the disturbance.

  However, the disturbance observer has been applied to the current control in which the specified value and the drive torque are in a proportional relationship, but has not been found in the application example in the voltage control in which the command voltage value and the drive torque are not in a proportional relationship.

  SUMMARY An advantage of some aspects of the invention is that it provides a motor control device, an image forming apparatus, a motor control method, and a motor control program based on voltage control to which a disturbance observer is applied.

  In order to solve the above-described problems and achieve the object, the invention according to claim 1 is a drive control means for calculating a voltage command value which is a voltage applied to the motor based on the rotation angle of the motor being driven. Based on the voltage command value calculated by the drive control means, command torque calculation means for calculating a command torque, which is a theoretical torque of the motor driven by the voltage command value, and calculation by the drive control means A rotation angle acquisition means for acquiring a rotation angle of the motor driven according to the voltage command value, and an effective drive that is an actual torque of the motor based on the rotation angle of the motor acquired by the rotation angle acquisition means Effective driving torque calculating means for calculating torque, effective driving torque calculated by the effective driving torque calculating means, and command torque calculating means Thus, based on the calculated command torque, estimated disturbance torque calculating means for calculating an estimated disturbance torque that is estimated to have changed due to the disturbance, and the estimation calculated by the estimated disturbance torque calculating means. Command voltage compensation value calculation means for calculating a command voltage compensation value that is a voltage corresponding to disturbance torque, the voltage command value calculated by the drive control means, and the command voltage calculated by the command voltage compensation value calculation means Command voltage compensation means for calculating a corrected voltage command value obtained by correcting the voltage command value based on a compensation value; and voltage control means for applying the correction voltage command value calculated by the command voltage compensation means to the motor. It is characterized by providing.

  According to a second aspect of the present invention, in the motor control device according to the first aspect, the command voltage compensation value calculation means further uses a digital filter having a reverse characteristic of the voltage-current characteristic of the motor, The estimated disturbance torque calculated by the estimated disturbance torque calculating means is converted into the command voltage compensation value.

  According to a third aspect of the present invention, there is provided drive control means for calculating a voltage command value that is a voltage applied to the motor based on a rotation angle of the motor being driven, and the voltage command calculated by the drive control means. A command torque calculating means for calculating a command torque, which is a theoretical torque of the motor driven by the voltage command value based on the value, and a motor of the motor driven according to the voltage command value calculated by the drive control means. A rotation angle acquisition means for acquiring a rotation angle; an effective drive torque calculation means for calculating an effective drive torque that is an actual torque of the motor based on the rotation angle of the motor acquired by the rotation angle acquisition means; Based on the effective driving torque calculated by the effective driving torque calculating means and the command torque calculated by the command torque calculating means. An estimated disturbance torque calculating means for calculating an estimated disturbance torque that is the torque of the motor estimated to have changed due to the disturbance, and a command that is a voltage corresponding to the estimated disturbance torque calculated by the estimated disturbance torque calculating means. Based on the command voltage compensation value calculation means for calculating the voltage compensation value, the voltage command value calculated by the drive control means, and the command voltage compensation value calculated by the command voltage compensation value calculation means, the voltage command A command voltage compensation unit that calculates a corrected voltage command value with a corrected value and a voltage control unit that applies the correction voltage command value calculated by the command voltage compensation unit to the motor are performed by digital signal processing calculation. It is characterized by.

  According to a fourth aspect of the present invention, there is provided drive control means for calculating a voltage command value that is a voltage applied to the motor based on the rotation angle of the motor driving the paper transport belt, and calculation by the drive control means. Command torque calculating means for calculating a command torque, which is a theoretical torque of the motor driven by the voltage command value, based on the voltage command value, and the voltage command value calculated by the drive control means. A rotation angle acquisition unit that acquires a rotation angle of the motor to be driven, and an effective drive torque that calculates an effective drive torque that is an actual torque of the motor based on the rotation angle of the motor acquired by the rotation angle acquisition unit A calculation means; the effective drive torque calculated by the effective drive torque calculation means; and the previous calculation calculated by the command torque calculation means. Corresponding to the estimated disturbance torque calculated by the estimated disturbance torque calculating means and the estimated disturbance torque calculating means for calculating the estimated disturbance torque that is the torque of the motor estimated to have changed due to the disturbance based on the command torque. Based on a command voltage compensation value calculation means for calculating a command voltage compensation value that is a voltage, the voltage command value calculated by the drive control means, and the command voltage compensation value calculated by the command voltage compensation value calculation means A command voltage compensation unit that calculates a corrected voltage command value obtained by correcting the voltage command value, and a voltage control unit that applies the correction voltage command value calculated by the command voltage compensation unit to the motor. Features.

  According to a fifth aspect of the present invention, there is provided a drive control step of calculating a voltage command value that is a voltage applied to the motor based on a rotation angle of the motor being driven, and the voltage command calculated by the drive control step. A command torque calculating step of calculating a command torque that is a theoretical torque of the motor driven by the voltage command value based on the value, and a motor of the motor driven according to the voltage command value calculated by the drive control step. A rotation angle acquisition step of acquiring a rotation angle; an effective drive torque calculation step of calculating an effective drive torque that is an actual torque of the motor based on the rotation angle of the motor acquired by the rotation angle acquisition step; The effective drive torque calculated in the effective drive torque calculation step and the command torque calculation step The estimated disturbance torque calculating step for calculating the estimated disturbance torque that is the torque of the motor estimated to have been changed due to the disturbance based on the command torque calculated in the above, and the estimated disturbance torque calculating step A command voltage compensation value calculation step for calculating a command voltage compensation value that is a voltage corresponding to the estimated disturbance torque, the voltage command value calculated by the drive control step, and the command calculated by the command voltage compensation value calculation step A command voltage compensation step for calculating a corrected voltage command value obtained by correcting the voltage command value based on a voltage compensation value, and a voltage control step for applying the correction voltage command value calculated by the command voltage compensation step to the motor It is characterized by having.

  The invention according to claim 6 is characterized by causing a computer to execute the motor control method according to claim 5.

  According to the first aspect of the present invention, the drive control means calculates a voltage command value that is a voltage to be applied to the motor based on the rotation angle of the motor being driven, and the command torque calculation means based on the voltage command value. The command torque, which is the theoretical torque of the motor driven by the voltage command value, is calculated, the rotation angle of the motor driven according to the voltage command value is acquired by the rotation angle acquisition means, and the motor is calculated by the effective drive torque calculation means. The effective driving torque that is the actual torque of the motor is calculated based on the rotation angle of the motor, and the torque of the motor is estimated to have been changed by the disturbance based on the effective driving torque and the command torque by the estimated disturbance torque calculating means. An estimated disturbance torque is calculated, and a command voltage compensation value that is a voltage corresponding to the estimated disturbance torque is calculated by the command voltage compensation value calculation means, The command voltage compensation means calculates a corrected voltage command value obtained by correcting the voltage command value on the basis of the voltage command value and the command voltage compensation value, and the voltage control means applies the correction voltage command value to the motor. Since it is possible to control the motor by voltage control using an observer, there is an effect that a highly accurate motor control device can be provided.

  According to the invention of claim 2, the command voltage compensation value calculation means further converts the estimated disturbance torque into the command voltage compensation value using a digital filter having a reverse characteristic of the voltage-current characteristic of the motor. Thus, digital control becomes possible, and the motor can be controlled using an inexpensive CPU or DSP, so that an inexpensive motor control device can be provided.

  According to the invention of claim 3, by the digital signal processing calculation, the drive control means calculates a voltage command value that is a voltage to be applied to the motor based on the rotation angle of the motor being driven, and calculates a command torque. Based on the voltage command value, the means calculates a command torque that is the theoretical torque of the motor driven by the voltage command value, and the rotation angle acquisition means acquires the rotation angle of the motor driven according to the voltage command value, The effective driving torque calculating means calculates the effective driving torque, which is the actual torque of the motor based on the rotation angle of the motor, and the estimated disturbance torque calculating means changes the disturbance based on the effective driving torque and the command torque. Calculates the estimated disturbance torque, which is the estimated motor torque, and corresponds to the estimated disturbance torque by the command voltage compensation value calculation means. The command voltage compensation value, which is a voltage to be corrected, is calculated, the command voltage compensation means calculates the corrected voltage command value obtained by correcting the voltage command value based on the voltage command value and the command voltage compensation value, and is corrected by the voltage control means. By applying the voltage command value to the motor, the motor can be controlled by the dedicated processor for digital signal processing, so that it is possible to provide a low-cost motor control device.

  According to the invention of claim 4, the drive control means calculates a voltage command value that is a voltage to be applied to the motor based on the rotation angle of the motor driving the paper transport belt, and the command torque calculation means. Based on the voltage command value, the command torque, which is the theoretical torque of the motor driven by the voltage command value, is calculated, and the rotation angle of the motor driven according to the voltage command value is acquired by the rotation angle acquisition means. The drive torque calculation means calculates the effective drive torque that is the actual torque of the motor based on the rotation angle of the motor, and the estimated disturbance torque calculation means estimates that the change has occurred due to the disturbance based on the effective drive torque and the command torque. The estimated disturbance torque that is the torque of the motor to be calculated is calculated, and the voltage corresponding to the estimated disturbance torque is calculated by the command voltage compensation value calculation means. The command voltage compensation value is calculated, the command voltage compensation means calculates a corrected voltage command value obtained by correcting the voltage command value based on the voltage command value and the command voltage compensation value, and the voltage control means calculates the correction voltage command value. By applying to the motor, it is possible to control the rotation and stop of the motor with high accuracy and to perform high-accuracy alignment for image formation, so that it is possible to form a high-quality image.

  According to the fifth aspect of the present invention, the drive command step calculates a voltage command value that is a voltage to be applied to the motor based on the rotation angle of the motor being driven, and the command torque calculation step calculates the voltage command value. The command torque, which is the theoretical torque of the motor driven by the voltage command value, is calculated, the rotation angle of the motor driven according to the voltage command value is acquired by the rotation angle acquisition step, and the effective drive torque calculation step is performed. The effective driving torque, which is the actual torque of the motor, is calculated based on the rotation angle of the motor, and the estimated motor torque is estimated to have been changed by the disturbance based on the effective driving torque and the command torque in the estimated disturbance torque calculating step. The estimated disturbance torque is calculated, and the voltage corresponding to the estimated disturbance torque is calculated by the command voltage compensation value calculation step. A certain command voltage compensation value is calculated, a corrected voltage command value is calculated by correcting the voltage command value based on the voltage command value and the command voltage compensation value in the command voltage compensation step, and a corrected voltage command value is calculated in the voltage control step. By applying to the motor, it is possible to control the motor by voltage control using a disturbance observer, so that it is possible to provide a highly accurate motor control method.

  According to the invention of claim 6, since the motor control method according to claim 5 is executed by a computer, the motor can be controlled by voltage control using a disturbance observer. An effect is provided that a simple motor control program can be provided.

  Exemplary embodiments of a motor control device, an image forming apparatus, a motor control method, and a motor control program according to the present invention will be explained below in detail with reference to the accompanying drawings.

  The present embodiment will be described with reference to the accompanying drawings. First, a configuration example of a multifunction peripheral such as a printer or a facsimile including a motor control device to which the present invention is applied will be described. FIG. 1 is a block diagram illustrating a configuration of a multifunction machine including a motor control device according to the present embodiment. Here, the control of the motor that drives the paper conveyance belt of the multifunction machine 1 by the motor control device 100 will be described. The motor control apparatus 100 is not limited to use in an image forming apparatus such as the multifunction machine 1 and can be applied to various apparatuses that control a motor.

  The multifunction machine 1 according to the present embodiment includes a rotation angle acquisition unit 101, a drive control unit 102, an effective drive torque calculation unit 103, a command torque calculation unit 104, an estimated disturbance torque calculation unit 105, and a command voltage compensation. A value calculation unit 106, a command voltage compensation unit 107, and a voltage control unit 108 are provided.

  The rotation angle acquisition unit 101 acquires the rotation angle of the motor detected by the rotation angle detection means. The rotation angle of the motor is an angle at which the motor shaft rotates at a predetermined time. As the rotation angle detection means, for example, an optical sensor device that measures a pulse of a rotary encoder connected to a motor shaft, or an optical that measures a pulse of a rotary encoder connected to a driven shaft connected from a motor by a timing belt or the like A sensor or the like is used.

  As another example, when the multi-function device 1 has a paper conveyance belt connected to the motor shaft or the driven shaft, the rotation angle detection means may detect the moving distance of the belt surface. In such a case, in order to obtain a value corresponding to the rotation angle of the motor, an optical sensor for measuring the moving distance of the belt surface is used. Examples of the optical sensor include a digital encoder and a combination of an analog encoder and an AD (analog-digital) converter. In the following embodiments, application examples using a digital encoder as an optical sensor will be described.

  The drive control unit 102 performs basic motor control. The drive control unit 102 calculates a voltage command value based on the rotation angle of the motor acquired by the rotation angle acquisition unit 101, and outputs the voltage command value to the voltage control unit 108 described later. In addition, the drive control unit 102 outputs a voltage command value to the command torque calculation unit 104 in order to correct the rotation of the motor.

  The voltage command value is a voltage value applied to the motor in order to control the motor. As the drive control unit 102, a DSP board programmed with a control algorithm, a CPU board, or the like may be used. As a control algorithm, general control methods such as PI control, state feedback control, and H∞ control are used.

  The effective drive torque calculation unit 103 calculates the effective drive torque from the rotation angle of the motor acquired by the rotation angle acquisition unit 101. The effective driving torque is torque generated by actual rotation of the motor.

  The command torque calculation unit 104 calculates command torque from the voltage command value calculated by the drive control unit 102. The designated torque is a torque that is theoretically generated in the motor when a voltage having a voltage designated value is applied to the motor.

  The estimated disturbance torque calculation unit 105 calculates the estimated disturbance torque from the effective drive torque calculated by the effective drive torque calculation unit 103 and the specified torque value calculated by the command torque calculation unit 104. The estimated disturbance torque is a torque estimated to have changed due to the disturbance.

  By the way, when a certain voltage value is applied to the motor, a torque corresponding to the theoretically applied voltage value is generated in the motor. However, in reality, there may be a case in which the torque assumed for the motor is not generated due to disturbance such as an error or loss that occurs with the operation of the motor or the belt driven by the motor. Here, the theoretical torque is the command torque calculated by the command torque calculation unit 104, and the actual torque is the effective drive torque calculated by the effective drive torque calculation unit 103. The estimated disturbance torque calculation unit 105 calculates a torque necessary for generating an assumed torque, that is, an estimated disturbance torque, by obtaining a difference value between the command torque and the effective drive torque.

  The command voltage compensation value calculation unit 106 calculates a command voltage compensation value from the estimated disturbance torque calculated by the estimated disturbance torque value calculation unit 105. The command voltage compensation value is a voltage value corresponding to the estimated disturbance torque, that is, a voltage value for compensating the voltage command value. The command voltage compensation value calculation unit 106 further includes a digital filter unit 201 having a reverse characteristic of the voltage-current characteristic of the motor, a low-pass filter unit 202, and a gain application unit 203.

  FIG. 2 is a block diagram illustrating a configuration of the command voltage compensation value calculation unit. The digital filter unit 201 converts the estimated disturbance torque into a voltage value by the inverse characteristic of the voltage-current characteristic of the motor. Specifically, the digital filter unit 201 is obtained by converting an inverse filter of a voltage-current characteristic of a motor that is generally given as an analog circuit into a digital circuit by Z conversion such as bilinear conversion.

  The low-pass filter unit 202 passes the frequency at a cutoff frequency lower than the resonance frequency of the control target system. The gain application unit 203 multiplies the input by a gain and outputs a command voltage compensation value. The gain is a value obtained by multiplying the reciprocal of the torque constant of the motor by the feedback gain. The torque constant is a constant indicating the relationship between the input current and the torque. The feedback gain is a value between 0 and 1. This value is adaptively determined by experiment, simulation, or the like.

  The command voltage compensator 107 calculates a corrected voltage command value by adding the command voltage compensation value calculated by the command voltage compensation value calculator 106 to the voltage command value calculated by the drive controller 102. In this way, in order to realize the command torque that is to be generated by applying the voltage command value to the motor, the correction voltage command value is calculated as a voltage value in consideration of disturbance.

  The voltage control unit 108 controls the motor based on the corrected voltage command value calculated by the command voltage compensation unit 107. The voltage control unit 108 controls the motor using, for example, a commercially available voltage control driver. The voltage, which is the output of the voltage control driver, becomes the drive input for the motor.

  Each unit constituting the motor control device 100 can also be configured by programming a general-purpose computer or a general-purpose digital signal processor (DSP).

  A motor control process by the multifunction machine 1 including the motor control device 100 configured as described above will be described. FIG. 3 illustrates a motor control process performed by the rotation angle acquisition unit, the drive control unit, the execution drive torque calculation unit, the command torque calculation unit, the estimated disturbance torque calculation unit, the command voltage compensation value calculation unit, the command voltage compensation unit, and the voltage control unit. It is a flowchart which shows a procedure.

  The operation of the motor control device according to the present embodiment will be described. As a premise, the drive control unit 102 performs basic motor control based on the rotation angle of the motor acquired by the rotation angle acquisition unit 101, and outputs a voltage designation value to the voltage control unit 108. Thereby, the motor is controlled.

  The motor control process according to the present embodiment will be described with reference to the flowchart of FIG. First, the drive control unit 102 sets a voltage designation value (step S301). The drive control unit 102 holds the set voltage command value in a memory.

  The designated torque calculation unit 104 calculates a command torque to the motor from the voltage designation value set by the drive control unit 102 (step S302). The command torque is calculated using the voltage-current characteristics of the motor and the torque constant of the motor. The command torque is calculated using the voltage value currently applied to the motor among the voltage command values held by the drive control unit 102.

  The rotation angle acquisition unit 101 acquires the rotation angle of the motor (step S303). The effective drive torque calculation unit 103 calculates the effective drive torque of the motor from the rotation angle of the motor acquired by the rotation angle acquisition unit 101 (step S304). The effective driving torque of the motor can be approximately obtained by multiplying the value obtained by rigid body approximation of the entire moment of inertia of the motor system by the acceleration of the rotation angle. In order to calculate accurately, there is also a method in which all controlled systems are modeled and calculated. However, since the calculation amount is generally large, the calculation is performed by appropriately approximating the calculation capacity and the maintenance of the system complexity. The acceleration is obtained by calculating the difference between the speed difference value obtained from the current and previous acquired measurement values and the speed difference value obtained from the previous and previous acquired measurement values.

  The estimated disturbance torque calculation unit 105 calculates the estimated disturbance torque (step S305). Specifically, the estimated disturbance torque is calculated by obtaining a difference value between the command torque calculated by the designated torque calculation unit 104 and the effective drive torque calculated by the effective drive torque calculation unit 103.

  The designated voltage compensation value calculation unit 106 calculates a designated voltage compensation value corresponding to the estimated disturbance torque calculated by the estimated disturbance torque calculation unit 105 (step S306). Specifically, the estimated disturbance torque is input to the digital filter unit 201, and a specific component is extracted or removed by a digital filter having a reverse characteristic of the voltage-current characteristic of the motor.

  Next, the output of the digital filter unit 201 is input to the low-pass filter unit 202, and the low-pass filter unit 202 passes a frequency lower than the resonance frequency of the control target system. The output of the low-pass filter unit 202 is input to the gain applying unit 203, and a value obtained by multiplying the input by the feedback gain to the reciprocal of the torque constant of the motor is output. Such an output is a command voltage compensation value.

  The command voltage compensation unit 107 calculates a corrected voltage command value from the voltage command value calculated by the drive control unit 102 and the specified voltage compensation value calculated by the command voltage compensation value calculation unit 106 (step S307). The voltage control driver unit 108 controls the motor with the correction voltage command value calculated by the command voltage compensation unit 107, that is, applies the correction voltage command value (step S308).

  With the above operation, the motor control using the feedback of the estimated disturbance by the voltage control and the disturbance observer becomes possible. Note that all the processes performed in the motor control device described above may be performed by digital signal processing calculation.

  As described above, in an image forming apparatus such as a copying machine or a printer, in particular, an image forming apparatus having an ink jet printing mechanism, a motor can be accurately rotated and stopped at a desired angle, so that a high-quality image can be obtained. Can be formed.

  Further, when the estimated disturbance torque is converted into a voltage value, a motor control device by voltage control using a disturbance observer can be realized by giving a reverse characteristic of the voltage-current characteristic of the motor as a digital filter. .

  In addition, since the motor can be controlled by digital control, the motor can be controlled by software processing using an inexpensive general-purpose CPU or DSP. Therefore, a low-cost motor control device can be provided.

  FIG. 4 is a block diagram showing a hardware configuration of the multifunction machine 1 according to the present embodiment. As shown in the figure, the multi-function device 1 has a configuration in which a controller 10 and an engine unit (Engine) 60 are connected by a PCI (Peripheral Component Interconnect) bus. The controller 10 is a controller that controls the entire MFP 1 and controls drawing, communication, and input from the operation unit 20. The engine unit 60 is a printer engine that can be connected to a PCI bus, and is, for example, a monochrome plotter, a one-drum color plotter, a four-drum color plotter, a scanner, or a fax unit. The engine unit 60 includes an image processing part such as error diffusion and gamma conversion in addition to a so-called engine part such as a plotter.

  The controller 10 includes a CPU 11, a north bridge (NB) 13, a system memory (MEM-P) 12, a south bridge (SB) 14, a local memory (MEM-C) 17, and an ASIC (Application Specific Integrated Circuit). 16 and a hard disk drive (HDD) 18, and the north bridge (NB) 13 and the ASIC 16 are connected by an AGP (Accelerated Graphics Port) bus 15. The MEM-P 12 further includes a ROM (Read Only Memory) 12a and a RAM (Random Access Memory) 12b.

  The CPU 11 performs overall control of the multifunction machine 1 and includes a chip set including the NB 13, the MEM-P 12, and the SB 14, and is connected to other devices via the chip set.

  The NB 13 is a bridge for connecting the CPU 11 to the MEM-P 12, SB 14, and AGP 15, and includes a memory controller that controls reading and writing to the MEM-P 12, a PCI master, and an AGP target.

  The MEM-P 12 is a system memory used as a memory for storing programs and data, a memory for developing programs and data, a memory for drawing a printer, and the like, and includes a ROM 12a and a RAM 12b. The ROM 12a is a read-only memory used as a memory for storing programs and data, and the RAM 12b is a writable and readable memory used as a program / data development memory, a printer drawing memory, and the like.

  The SB 14 is a bridge for connecting the NB 13 to a PCI device and peripheral devices. The SB 14 is connected to the NB 13 via a PCI bus, and a network interface (I / F) unit and the like are also connected to the PCI bus.

  The ASIC 16 is an IC (Integrated Circuit) for image processing applications having hardware elements for image processing, and has a role of a bridge for connecting the AGP 15, PCI bus, HDD 18 and MEM-C 17. The ASIC 16 includes a PCI target and an AGP master, an arbiter (ARB) that is the core of the ASIC 16, a memory controller that controls the MEM-C 17, and a plurality of DMACs (Direct Memory) that perform rotation of image data by hardware logic. Access Controller) and a PCI unit that performs data transfer between the engine unit 60 via the PCI bus. An FCU (Fax Control Unit) 30, a USB (Universal Serial Bus) 40, and an IEEE 1394 (the Institute of Electrical and Electronics Engineers 1394) interface 50 are connected to the ASIC 16 via a PCI bus.

  The MEM-C 17 is a local memory used as an image buffer for copying and a code buffer, and an HDD (Hard Disk Drive) 18 is a storage for storing image data, programs, font data, and forms. It is.

  The AGP 15 is a bus interface for a graphics accelerator card proposed for speeding up graphics processing. The AGP 15 speeds up the graphics accelerator card by directly accessing the MEM-P 12 with high throughput. .

  The motor control program executed by the multifunction machine 1 of the present embodiment is provided by being incorporated in advance in a DSP, a ROM, or the like.

  The motor control program executed by the multifunction device 1 of the present embodiment is a file in an installable or executable format, such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), or the like. You may comprise so that it may record and provide on a computer-readable recording medium.

  Furthermore, the motor control program executed by the multifunction device 1 of the present embodiment may be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network. In addition, the motor control program executed by the multifunction machine 1 of the present embodiment may be provided or distributed via a network such as the Internet.

  The motor control program executed by the MFP 1 of the present embodiment includes the above-described units (rotation angle acquisition unit, drive control unit, execution drive torque calculation unit, command torque calculation unit, estimated disturbance torque calculation unit, command voltage compensation). The module configuration includes a value calculation unit, a command voltage compensation unit, a voltage control unit, and the like. As actual hardware, a CPU (processor) reads out and executes a motor control program from the ROM, and each unit is Loaded on the main storage, rotation angle acquisition unit, drive control unit, execution drive torque calculation unit, command torque calculation unit, estimated disturbance torque calculation unit, command voltage compensation value calculation unit, command voltage compensation unit, voltage control unit, etc. Are generated on the main memory.

  The present embodiment described above is an example for explanation, and the present invention is not limited to the embodiment described here.

It is a block diagram which shows the structure of the multifunctional machine containing the motor control apparatus concerning this Embodiment. It is a block diagram which shows the structure of a command voltage compensation value calculation part. The flowchart which shows the motor control processing procedure which a rotation angle acquisition part, a drive control part, an execution drive torque calculation part, a command torque calculation part, an estimated disturbance torque calculation part, a command voltage compensation value calculation part, a command voltage compensation part, and a voltage control part performs It is. 1 is a block diagram showing a hardware configuration of a multifunction machine 1 according to an embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Multifunction device 100 Motor control apparatus 101 Rotation angle acquisition part 102 Drive control part 103 Effective drive torque calculation part 104 Command torque calculation part 105 Estimated disturbance torque calculation part 106 Command voltage compensation value calculation part 107 Command voltage compensation part 108 Voltage control part 201 Digital filter unit 202 Low-pass filter unit 203 Gain application unit

Claims (6)

Drive control means for calculating a voltage command value that is a voltage applied to the motor based on the rotation angle of the motor being driven;
Based on the voltage command value calculated by the drive control unit, a command torque calculation unit that calculates a command torque that is a theoretical torque of the motor driven by the voltage command value;
Rotation angle acquisition means for acquiring the rotation angle of the motor driven according to the voltage command value calculated by the drive control means;
Effective drive torque calculating means for calculating an effective drive torque that is an actual torque of the motor based on the rotation angle of the motor acquired by the rotation angle acquiring means;
Based on the effective driving torque calculated by the effective driving torque calculating means and the command torque calculated by the command torque calculating means, an estimated disturbance torque that is estimated to have changed due to a disturbance is calculated. Estimated disturbance torque calculating means for
Command voltage compensation value calculating means for calculating a command voltage compensation value which is a voltage corresponding to the estimated disturbance torque calculated by the estimated disturbance torque calculating means;
Command voltage compensation for calculating a corrected voltage command value obtained by correcting the voltage command value based on the voltage command value calculated by the drive control unit and the command voltage compensation value calculated by the command voltage compensation value calculation unit Means,
Voltage control means for applying the correction voltage command value calculated by the command voltage compensation means to the motor;
A motor control device comprising:   The command voltage compensation value calculation means further converts the estimated disturbance torque calculated by the estimated disturbance torque calculation means into the command voltage compensation value using a digital filter having a reverse characteristic of the voltage-current characteristic of the motor. The motor control device according to claim 1, wherein: Drive control means for calculating a voltage command value that is a voltage applied to the motor based on the rotation angle of the motor being driven;
Based on the voltage command value calculated by the drive control unit, a command torque calculation unit that calculates a command torque that is a theoretical torque of the motor driven by the voltage command value;
Rotation angle acquisition means for acquiring the rotation angle of the motor driven according to the voltage command value calculated by the drive control means;
Effective drive torque calculating means for calculating an effective drive torque that is an actual torque of the motor based on the rotation angle of the motor acquired by the rotation angle acquiring means;
Based on the effective driving torque calculated by the effective driving torque calculating means and the command torque calculated by the command torque calculating means, an estimated disturbance torque that is estimated to have changed due to a disturbance is calculated. Estimated disturbance torque calculating means for
Command voltage compensation value calculating means for calculating a command voltage compensation value that is a voltage corresponding to the estimated disturbance torque calculated by the estimated disturbance torque calculating means;
Command voltage compensation for calculating a corrected voltage command value obtained by correcting the voltage command value based on the voltage command value calculated by the drive control unit and the command voltage compensation value calculated by the command voltage compensation value calculation unit Means,
Voltage control means for applying the correction voltage command value calculated by the command voltage compensation means to the motor;
Is performed by digital signal processing calculation. Drive control means for calculating a voltage command value, which is a voltage applied to the motor, based on the rotation angle of the motor driving the paper transport belt;
Based on the voltage command value calculated by the drive control unit, a command torque calculation unit that calculates a command torque that is a theoretical torque of the motor driven by the voltage command value;
Rotation angle acquisition means for acquiring the rotation angle of the motor driven according to the voltage command value calculated by the drive control means;
Effective drive torque calculating means for calculating an effective drive torque that is an actual torque of the motor based on the rotation angle of the motor acquired by the rotation angle acquiring means;
Based on the effective driving torque calculated by the effective driving torque calculating means and the command torque calculated by the command torque calculating means, an estimated disturbance torque that is estimated to have changed due to a disturbance is calculated. Estimated disturbance torque calculating means for
Command voltage compensation value calculating means for calculating a command voltage compensation value that is a voltage corresponding to the estimated disturbance torque calculated by the estimated disturbance torque calculating means;
Command voltage compensation for calculating a corrected voltage command value obtained by correcting the voltage command value based on the voltage command value calculated by the drive control unit and the command voltage compensation value calculated by the command voltage compensation value calculation unit Means,
Voltage control means for applying the correction voltage command value calculated by the command voltage compensation means to the motor;
An image forming apparatus comprising: A drive control step of calculating a voltage command value which is a voltage applied to the motor based on a rotation angle of the motor being driven;
Based on the voltage command value calculated by the drive control step, a command torque calculation step for calculating a command torque that is a theoretical torque of the motor driven by the voltage command value;
A rotation angle acquisition step of acquiring a rotation angle of the motor driven according to the voltage command value calculated by the drive control step;
An effective drive torque calculating step of calculating an effective drive torque that is an actual torque of the motor based on the rotation angle of the motor acquired by the rotation angle acquiring step;
Based on the effective drive torque calculated in the effective drive torque calculation step and the command torque calculated in the command torque calculation step, an estimated disturbance torque that is estimated to have changed due to the disturbance is calculated. An estimated disturbance torque calculating step,
A command voltage compensation value calculating step for calculating a command voltage compensation value which is a voltage corresponding to the estimated disturbance torque calculated by the estimated disturbance torque calculating step;
Command voltage compensation for calculating a corrected voltage command value obtained by correcting the voltage command value based on the voltage command value calculated by the drive control step and the command voltage compensation value calculated by the command voltage compensation value calculation step Steps,
A voltage control step of applying the correction voltage command value calculated by the command voltage compensation step to the motor;
A motor control method characterized by comprising:   A motor control program for causing a computer to execute the motor control method according to claim 5.

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